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The IK target component can now mirror the pose, which can be convenient.

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This commit is contained in:
Emiliana 2020-02-13 20:18:05 +01:00
parent 1f3bf30166
commit de16fc9ff9
2 changed files with 25 additions and 2 deletions
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24
Unity/OpenSeeIKTarget.cs
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@ -11,6 +11,8 @@ public class OpenSeeIKTarget : MonoBehaviour
public bool calibrate = true;
[Tooltip("This sets which face id to look for in the OpenSee data.")]
public int faceId = 0;
[Tooltip("When this is enabled, rotations and movement are mirrored.")]
public bool mirrorMotion = false;
[Tooltip("Often, the translation vector's scale is too high. Setting this somewhere between 0.05 to 0.3 seems stabilize things, but it also reduces the range of motion.")]
public float translationScale = 0.3f;
[Tooltip("This smoothed out the detected motion. Values can be between 0 (no smoothing) and 1 (no motion). The appropriate value probably depends on the camera's frame rate.")]
@ -38,6 +40,7 @@ public class OpenSeeIKTarget : MonoBehaviour
private Vector3 lastT;
private Quaternion currentR;
private Vector3 currentT;
private bool lastMirror = false;
void Interpolate() {
if (!interpolate || interpolateState < 2)
@ -47,6 +50,14 @@ public class OpenSeeIKTarget : MonoBehaviour
transform.localRotation = Quaternion.Lerp(lastR, currentR, t);
interpolationCount++;
}
Quaternion MirrorQuaternion(Quaternion q) {
return new Quaternion(-q.x, q.y, q.z, -q.w);
}
Vector3 MirrorTranslation(Vector3 v) {
return new Vector3(-v.x, v.y, v.z);
}
void RunUpdate() {
var openSeeData = openSee.trackingData;
@ -74,13 +85,24 @@ public class OpenSeeIKTarget : MonoBehaviour
t.z = -t.z;
if (calibrate) {
calibrate = false;
dR = convertedQuaternion;
dR = Quaternion.Inverse(dR);
dT = t;
rotationOffset = new Vector3(dR.eulerAngles.x, dR.eulerAngles.y, dR.eulerAngles.z);
translationOffset = new Vector3(dT.x, dT.y, dT.z);
}
if (mirrorMotion != lastMirror || (mirrorMotion && calibrate)) {
dR = Quaternion.Inverse(MirrorQuaternion(Quaternion.Inverse(dR)));
dT = MirrorTranslation(dT);
lastMirror = mirrorMotion;
}
calibrate = false;
if (mirrorMotion) {
convertedQuaternion = MirrorQuaternion(convertedQuaternion);
t = MirrorTranslation(t);
}
if (interpolateState > 1)
avgInterps = Mathf.Lerp(avgInterps, (float)interpolationCount, 0.15f);