private static void CalibrateLeg(Settings settings, Transform tracker, IKSolverVR.Leg leg, Transform lastBone, Vector3 rootForward, bool isLeft)
{
string name = isLeft ? "Left" : "Right";
Transform target = leg.target == null ? (new GameObject(name + " Foot Target")).transform : leg.target;
// Space of the tracker heading
Quaternion trackerSpace = tracker.rotation * Quaternion.LookRotation(settings.footTrackerForward, settings.footTrackerUp);
Vector3 f = trackerSpace * Vector3.forward;
f.y = 0f;
trackerSpace = Quaternion.LookRotation(f);
// Target position
float inwardOffset = isLeft ? settings.footInwardOffset : -settings.footInwardOffset;
target.position = tracker.position + trackerSpace * new Vector3(inwardOffset, 0f, settings.footForwardOffset);
target.position = new Vector3(target.position.x, lastBone.position.y, target.position.z);
// Target rotation
target.rotation = lastBone.rotation;
// Rotate target forward towards tracker forward
Vector3 footForward = AxisTools.GetAxisVectorToDirection(lastBone, rootForward);
if (Vector3.Dot(lastBone.rotation * footForward, rootForward) < 0f)
{
footForward = -footForward;
}
Vector3 fLocal = Quaternion.Inverse(Quaternion.LookRotation(target.rotation * footForward)) * f;
float angle = Mathf.Atan2(fLocal.x, fLocal.z) * Mathf.Rad2Deg;
float headingOffset = isLeft ? settings.footHeadingOffset : -settings.footHeadingOffset;
target.rotation = Quaternion.AngleAxis(angle + headingOffset, Vector3.up) * target.rotation;
target.parent = tracker;
leg.target = target;
leg.positionWeight = 1f;
leg.rotationWeight = 1f;
// Bend goal
Transform bendGoal = leg.bendGoal == null ? (new GameObject(name + " Leg Bend Goal")).transform : leg.bendGoal;
bendGoal.position = lastBone.position + trackerSpace * Vector3.forward + trackerSpace * Vector3.up;// * 0.5f;
bendGoal.parent = tracker;
leg.bendGoal = bendGoal;
leg.bendGoalWeight = 1f;
}
private static void CalibrateLeg(CalibrationData data, Transform tracker, IKSolverVR.Leg leg, Transform lastBone, Vector3 rootForward, bool isLeft)
{
if (isLeft && data.leftFoot == null)
{
return;
}
if (!isLeft && data.rightFoot == null)
{
return;
}
string name = isLeft ? "Left" : "Right";
Transform target = leg.target == null ? (new GameObject(name + " Foot Target")).transform : leg.target;
target.parent = tracker;
if (isLeft)
{
data.leftFoot.SetTo(target);
}
else
{
data.rightFoot.SetTo(target);
}
leg.target = target;
leg.positionWeight = 1f;
leg.rotationWeight = 1f;
// Bend goal
Transform bendGoal = leg.bendGoal == null ? (new GameObject(name + " Leg Bend Goal")).transform : leg.bendGoal;
bendGoal.parent = tracker;
if (isLeft)
{
data.leftLegGoal.SetTo(bendGoal);
}
else
{
data.rightLegGoal.SetTo(bendGoal);
}
leg.bendGoal = bendGoal;
leg.bendGoalWeight = 1f;
}
} // 0x00000001807D6FA0-0x00000001807D8960
private static void CalibrateLeg(Settings settings, Transform tracker, IKSolverVR.Leg leg, Transform lastBone, Vector3 rootForward, bool isLeft)
{
} // 0x00000001807D65D0-0x00000001807D6FA0
