diff --git a/Editor/AnimationRigging/FullBodyDeformationConstraintEditor.cs b/Editor/AnimationRigging/FullBodyDeformationConstraintEditor.cs index 601d1abc..5645f076 100644 --- a/Editor/AnimationRigging/FullBodyDeformationConstraintEditor.cs +++ b/Editor/AnimationRigging/FullBodyDeformationConstraintEditor.cs @@ -101,6 +101,7 @@ private static class Content private SerializedProperty _leftShoulderWeightProperty; private SerializedProperty _rightShoulderWeightProperty; + private SerializedProperty _shoulderRollWeightProperty; private SerializedProperty _leftArmWeightProperty; private SerializedProperty _rightArmWeightProperty; private SerializedProperty _leftHandWeightProperty; @@ -111,6 +112,9 @@ private static class Content private SerializedProperty _rightToesWeightProperty; private SerializedProperty _squashProperty; private SerializedProperty _stretchProperty; + private SerializedProperty _originalSpinePositionsWeight; + private SerializedProperty _originalSpineBoneCount; + private SerializedProperty _originalSpineUseHipsToHeadToScale; private SerializedProperty _hipsToHeadBonesProperty; private SerializedProperty _hipsToHeadBoneTargetsProperty; @@ -148,6 +152,7 @@ private void OnEnable() _leftShoulderWeightProperty = data.FindPropertyRelative("_leftShoulderWeight"); _rightShoulderWeightProperty = data.FindPropertyRelative("_rightShoulderWeight"); + _shoulderRollWeightProperty = data.FindPropertyRelative("_shoulderRollWeight"); _leftArmWeightProperty = data.FindPropertyRelative("_leftArmWeight"); _rightArmWeightProperty = data.FindPropertyRelative("_rightArmWeight"); _leftHandWeightProperty = data.FindPropertyRelative("_leftHandWeight"); @@ -159,6 +164,9 @@ private void OnEnable() _alignFeetWeightProperty = data.FindPropertyRelative("_alignFeetWeight"); _squashProperty = data.FindPropertyRelative("_squashLimit"); _stretchProperty = data.FindPropertyRelative("_stretchLimit"); + _originalSpinePositionsWeight = data.FindPropertyRelative("_originalSpinePositionsWeight"); + _originalSpineBoneCount = data.FindPropertyRelative("_originalSpineBoneCount"); + _originalSpineUseHipsToHeadToScale = data.FindPropertyRelative("_originalSpineUseHipsToHeadToScale"); _hipsToHeadBonesProperty = data.FindPropertyRelative("_hipsToHeadBones"); _hipsToHeadBoneTargetsProperty = data.FindPropertyRelative("_hipsToHeadBoneTargets"); @@ -292,6 +300,7 @@ private void DisplaySettingsFoldoutContent() GUILayout.Label(new GUIContent("Body"), EditorStyles.boldLabel); GUILayout.EndHorizontal(); EditorGUILayout.PropertyField(_spineTranslationCorrectionTypeProperty); + EditorGUILayout.PropertyField(_originalSpinePositionsWeight); EditorGUILayout.PropertyField(_spineLowerAlignmentWeightProperty); EditorGUILayout.PropertyField(_spineUpperAlignmentWeightProperty); EditorGUILayout.PropertyField(_chestAlignmentWeightProperty); @@ -303,6 +312,7 @@ private void DisplaySettingsFoldoutContent() GUILayout.EndHorizontal(); AverageWeightSlider(Content.ShouldersWeight, new[] { _leftShoulderWeightProperty, _rightShoulderWeightProperty }); + EditorGUILayout.PropertyField(_shoulderRollWeightProperty); EditorGUILayout.Space(); GUILayout.BeginHorizontal(); @@ -356,6 +366,8 @@ private void DisplayAdvancedSettingsFoldoutContent() } EditorGUILayout.PropertyField(_squashProperty); EditorGUILayout.PropertyField(_stretchProperty); + EditorGUILayout.PropertyField(_originalSpineBoneCount); + EditorGUILayout.PropertyField(_originalSpineUseHipsToHeadToScale); EditorGUILayout.Space(); GUILayout.BeginHorizontal(); diff --git a/Editor/AnimationRigging/RetargetingLayerEditor.cs b/Editor/AnimationRigging/RetargetingLayerEditor.cs index 9f3b2212..5a49a8fc 100644 --- a/Editor/AnimationRigging/RetargetingLayerEditor.cs +++ b/Editor/AnimationRigging/RetargetingLayerEditor.cs @@ -15,11 +15,22 @@ public class RetargetingLayerEditor : Editor /// public override void OnInspectorGUI() { + var retargetingLayer = serializedObject.targetObject as RetargetingLayer; + var animatorComponent = retargetingLayer.GetComponent(); + + if (!IsAnimatorProperlyConfigured(animatorComponent)) + { + GUILayout.BeginHorizontal(); + EditorGUILayout.HelpBox("Requires Animator component with a humanoid " + + "avatar, and Translation DoF enabled in avatar's Muscles & Settings.", MessageType.Error); + GUILayout.EndVertical(); + } + base.OnInspectorGUI(); if (GUILayout.Button("Calculate Adjustments")) { - var retargetingLayer = serializedObject.targetObject as RetargetingLayer; + if (retargetingLayer != null) { var animator = retargetingLayer.GetComponent(); @@ -32,5 +43,12 @@ public override void OnInspectorGUI() serializedObject.ApplyModifiedProperties(); } + + internal static bool IsAnimatorProperlyConfigured(Animator animatorComponent) + { + return animatorComponent != null && animatorComponent.avatar != null && + animatorComponent.avatar.isHuman && + animatorComponent.avatar.humanDescription.hasTranslationDoF; + } } } diff --git a/Editor/BodyTrackingForFitness.meta b/Editor/BodyTrackingForFitness.meta new file mode 100644 index 00000000..4d263c3f --- /dev/null +++ b/Editor/BodyTrackingForFitness.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: c149578ad842f1140bebe960e46dfdf7 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Editor/BodyTrackingForFitness/BodyBoneVisualsEditor.cs b/Editor/BodyTrackingForFitness/BodyBoneVisualsEditor.cs new file mode 100644 index 00000000..b666e1a1 --- /dev/null +++ b/Editor/BodyTrackingForFitness/BodyBoneVisualsEditor.cs @@ -0,0 +1,60 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using Oculus.Movement.Utils; +using UnityEditor; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// Adds button features in the inspector: + /// * Connect to + /// * Generate a default bone prefab + /// * Generate and/or refresh positions of bone visuals childed to bone transforms + /// * Delete all bone visuals + /// + [CustomEditor(typeof(BodyPoseBoneVisuals))] + public class BodyBoneVisualsEditor : Editor + { + private InspectorGuiHelper[] helpers; + private InspectorGuiHelper[] Helpers => helpers != null ? helpers : helpers = new InspectorGuiHelper[] + { + new InspectorGuiHelper(IsSkeletonInvalid, PopulateSkeleton, "Missing target skeleton", + "Find Target Skeleton", InspectorGuiHelper.OptionalIcon.Warning), + new InspectorGuiHelper(IsBoneVisualEmpty, GenerateBoneVisualPrefab, "Needs bone prefab", + "Generate Bone Prefab", InspectorGuiHelper.OptionalIcon.Warning), + new InspectorGuiHelper(IsShowingRefreshButton, Refresh, null, + "Refresh Bone Visuals", InspectorGuiHelper.OptionalIcon.None), + new InspectorGuiHelper(IsPopulatedWithBones, Clear, null, + "Clear Bone Visuals", InspectorGuiHelper.OptionalIcon.None), + }; + + private BodyPoseBoneVisuals Target => (BodyPoseBoneVisuals)target; + + /// + public override void OnInspectorGUI() + { + Array.ForEach(Helpers, helper => helper.DrawInInspector()); + DrawDefaultInspector(); + } + + private bool IsShowingRefreshButton() => !IsSkeletonInvalid(); + + private bool IsBoneVisualEmpty() => Target.BoneVisualPrefab == null; + + private bool IsSkeletonInvalid() => Target.Skeleton == null; + + private bool IsPopulatedWithBones() => Target.BoneVisuals.Count != 0; + + private void Refresh() => Target.RefreshVisualsInEditor(); + + private void GenerateBoneVisualPrefab() => Target.CreatePrimitiveCubeVisualPrefab(); + + private void PopulateSkeleton() => Target.Skeleton = FindBestSkeletonOwner(); + + private void Clear() => Target.ClearBoneVisuals(); + + private BodyPoseBoneTransforms FindBestSkeletonOwner() => + FindFirstObjectByType(); + } +} diff --git a/Editor/BodyTrackingForFitness/BodyBoneVisualsEditor.cs.meta b/Editor/BodyTrackingForFitness/BodyBoneVisualsEditor.cs.meta new file mode 100644 index 00000000..ffc86548 --- /dev/null +++ b/Editor/BodyTrackingForFitness/BodyBoneVisualsEditor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 9d72a5372704cb34b8ad84f623e70246 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Editor/BodyTrackingForFitness/BodyPoseAlignmentDetectorConfigDrawer.cs b/Editor/BodyTrackingForFitness/BodyPoseAlignmentDetectorConfigDrawer.cs new file mode 100644 index 00000000..41767bae --- /dev/null +++ b/Editor/BodyTrackingForFitness/BodyPoseAlignmentDetectorConfigDrawer.cs @@ -0,0 +1,46 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using UnityEditor; +using UnityEngine; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// Used to simplify drawing of a + /// element. + /// + [CustomPropertyDrawer(typeof(BodyPoseAlignmentDetector.AlignmentState))] + public class BodyPoseAlignmentDetectorStateEditor : PropertyDrawer + { + /// + public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) + { + BoneTupleGUI(position, property, label); + } + + /// + /// Call from OnGUI to draw a . + /// + /// + /// + /// + private static void BoneTupleGUI(Rect position, SerializedProperty property, + GUIContent label) { + SerializedProperty angle = property.FindPropertyRelative( + nameof(BodyPoseAlignmentDetector.AlignmentState.AngleDelta)); + EditorGUI.BeginProperty(position, label, property); + const string ElementLabel = "Element "; + if (!label.text.StartsWith(ElementLabel)) + { + position = EditorGUI.PrefixLabel(position, + GUIUtility.GetControlID(FocusType.Passive), label); + } + int indent = EditorGUI.indentLevel; + EditorGUI.indentLevel = 0; + Rect rect = new Rect(position.x, position.y, position.width, position.height); + EditorGUI.Slider(rect, "", angle.floatValue, 0, 180); + EditorGUI.indentLevel = indent; + EditorGUI.EndProperty(); + } + } +} diff --git a/Editor/BodyTrackingForFitness/BodyPoseAlignmentDetectorConfigDrawer.cs.meta b/Editor/BodyTrackingForFitness/BodyPoseAlignmentDetectorConfigDrawer.cs.meta new file mode 100644 index 00000000..ee2ffc0a --- /dev/null +++ b/Editor/BodyTrackingForFitness/BodyPoseAlignmentDetectorConfigDrawer.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 0ea509bba11da8d44bdaf5834ac033e3 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Editor/BodyTrackingForFitness/BodyPoseBoneTransformsEditor.cs b/Editor/BodyTrackingForFitness/BodyPoseBoneTransformsEditor.cs new file mode 100644 index 00000000..fea78782 --- /dev/null +++ b/Editor/BodyTrackingForFitness/BodyPoseBoneTransformsEditor.cs @@ -0,0 +1,60 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using Oculus.Movement.Utils; +using UnityEditor; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// Adds button features in the inspector: + /// * Generate and/or refresh positions of bone visuals childed to bone transforms + /// + [CustomEditor(typeof(BodyPoseBoneTransforms))] + public class BodyPoseBoneTransformsEditor : Editor + { + private InspectorGuiHelper[] _helpers; + private InspectorGuiHelper[] Helpers => + _helpers != null ? _helpers : _helpers = new InspectorGuiHelper[] + { + new InspectorGuiHelper(IsShowingRefreshButton, Refresh, null, + "Refresh Transforms", InspectorGuiHelper.OptionalIcon.None), + new InspectorGuiHelper(IsAbleToTPose, RefreshTPose, null, + "Refresh T-Pose", InspectorGuiHelper.OptionalIcon.None), + new InspectorGuiHelper(IsAbleToSave, SaveAsset, null, + "Export Asset", InspectorGuiHelper.OptionalIcon.None), + }; + + private BodyPoseBoneTransforms Target => (BodyPoseBoneTransforms)target; + + /// + public override void OnInspectorGUI() + { + Array.ForEach(Helpers, helper => helper.DrawInInspector()); + DrawDefaultInspector(); + } + + private bool IsShowingRefreshButton() => Target.BodyPose != null; + + private bool IsAbleToTPose() => true; + + private bool IsAbleToSave() => Target.BoneContainer != null; + + private void Refresh() + { + Target.RefreshHierarchyDuringEditor(); + EditorTransformAwareness.RefreshSystem(); + EditorBodyPoseLineSkeleton.RefreshSystem(); + } + + private void RefreshTPose() + { + Target.RefreshTPose(); + } + + private void SaveAsset() + { + BodyPoseControllerEditor.SaveAsset(Target); + } + } +} diff --git a/Editor/BodyTrackingForFitness/BodyPoseBoneTransformsEditor.cs.meta b/Editor/BodyTrackingForFitness/BodyPoseBoneTransformsEditor.cs.meta new file mode 100644 index 00000000..852d188a --- /dev/null +++ b/Editor/BodyTrackingForFitness/BodyPoseBoneTransformsEditor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: b0f63ea977eb8a14088a3b67d11d4a7f +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Editor/BodyTrackingForFitness/BodyPoseControllerEditor.cs b/Editor/BodyTrackingForFitness/BodyPoseControllerEditor.cs new file mode 100644 index 00000000..2dfe9fbe --- /dev/null +++ b/Editor/BodyTrackingForFitness/BodyPoseControllerEditor.cs @@ -0,0 +1,140 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using System.IO; +using Oculus.Interaction.Body.Input; +using Oculus.Interaction.Body.PoseDetection; +using Oculus.Movement.Utils; +using UnityEditor; +using UnityEngine; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// Adds button features in the inspector: + /// * Refresh bone pose data from the controller's data source + /// * Refresh bone pose data from the static T-Pose + /// * Export bone pose data to a new ScriptableObject in the Assets folder + /// + [CustomEditor(typeof(BodyPoseController))] + public class BodyPoseControllerEditor : Editor + { + /// + /// Internal wrapper for treating as , for + /// serialization. + /// + private class IBodyWrapperForIBodyPose : IBody + { + public IBodyPose _iBodyPose; + + public event Action WhenBodyUpdated = delegate { }; + + public ISkeletonMapping SkeletonMapping => new FullBodySkeletonTPose(); + + public bool IsConnected => true; + + public bool IsHighConfidence => true; + + public bool IsTrackedDataValid => true; + + public float Scale => 1; + + public int CurrentDataVersion => 1; + + public IBodyWrapperForIBodyPose(IBodyPose iBodyPose) => _iBodyPose = iBodyPose; + + public bool GetRootPose(out Pose pose) + { + pose = new Pose(Vector3.zero, Quaternion.identity); + return true; + } + + public bool GetJointPose(BodyJointId bodyJointId, out Pose pose) => + _iBodyPose.GetJointPoseFromRoot(bodyJointId, out pose); + + public bool GetJointPoseLocal(BodyJointId bodyJointId, out Pose pose) => + _iBodyPose.GetJointPoseLocal(bodyJointId, out pose); + + public bool GetJointPoseFromRoot(BodyJointId bodyJointId, out Pose pose) => + _iBodyPose.GetJointPoseFromRoot(bodyJointId, out pose); + } + + private const string POSE_DIRECTORY = "BodyPoses"; + + private InspectorGuiHelper[] helpers; + + private InspectorGuiHelper[] Helpers => helpers != null + ? helpers + : helpers = new InspectorGuiHelper[] + { + new InspectorGuiHelper(IsAbleToRefreshSource, RefreshSource, null, + "Refresh Source Data", InspectorGuiHelper.OptionalIcon.None), + new InspectorGuiHelper(IsAbleToTPose, RefreshTPose, null, + "Refresh T-Pose", InspectorGuiHelper.OptionalIcon.None), + new InspectorGuiHelper(IsAbleToSave, SaveAsset, null, + "Export Asset", InspectorGuiHelper.OptionalIcon.None), + }; + + private BodyPoseController Target => (BodyPoseController)target; + + /// + public override void OnInspectorGUI() + { + DrawDefaultInspector(); + Array.ForEach(Helpers, helper => helper.DrawInInspector()); + } + + private bool IsAbleToSave() => Target.BonePoses.Length != 0; + + private bool IsAbleToTPose() => true; + + private bool IsAbleToRefreshSource() => Target.BodyPose != null; + + private void SaveAsset() + { + SaveAsset(Target); + } + + internal static void SaveAsset(IBodyPose data) + { + string name = $"BodyPose-{System.DateTime.Now.ToString("yyyyMMdd-HHmmss")}"; + SaveAsset(data, name); + } + + internal static void SaveAsset(IBodyPose data, string assetName) + { + BodyPoseData assetToWrite = GeneratePoseAsset(assetName); + assetToWrite.SetBodyPose(new IBodyWrapperForIBodyPose(data)); + string path = AssetDatabase.GetAssetPath(assetToWrite); + Debug.Log($"Captured Body Pose into {AssetDatabase.GetAssetPath(assetToWrite)}"); + EditorUtility.SetDirty(assetToWrite); + AssetDatabase.SaveAssetIfDirty(assetToWrite); + AssetDatabase.Refresh(); + EditorGUIUtility.PingObject(assetToWrite); + } + + private static BodyPoseData GeneratePoseAsset(string name) + { + var poseDataAsset = ScriptableObject.CreateInstance(); + string parentDir = Path.Combine("Assets", POSE_DIRECTORY); + if (!Directory.Exists(parentDir)) + { + Directory.CreateDirectory(parentDir); + } + AssetDatabase.CreateAsset(poseDataAsset, Path.Combine(parentDir, $"{name}.asset")); + return poseDataAsset; + } + + private void RefreshTPose() + { + Target.RefreshTPose(); + } + + private void RefreshSource() + { + Target.RefreshFromSourceData(); + EditorTransformAwareness.RefreshSystem(); + EditorBodyPoseLineSkeleton.RefreshSystem(); + } + } +} diff --git a/Editor/BodyTrackingForFitness/BodyPoseControllerEditor.cs.meta b/Editor/BodyTrackingForFitness/BodyPoseControllerEditor.cs.meta new file mode 100644 index 00000000..e99fcaf4 --- /dev/null +++ b/Editor/BodyTrackingForFitness/BodyPoseControllerEditor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 8a65d218c6fa98748a30802e76ff2e74 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Editor/BodyTrackingForFitness/EditorBodyPoseLineSkeleton.cs b/Editor/BodyTrackingForFitness/EditorBodyPoseLineSkeleton.cs new file mode 100644 index 00000000..b0b2b9e0 --- /dev/null +++ b/Editor/BodyTrackingForFitness/EditorBodyPoseLineSkeleton.cs @@ -0,0 +1,408 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System.Collections.Generic; +using Oculus.Interaction.Body.Input; +using Oculus.Interaction.Body.PoseDetection; +using UnityEditor; +using UnityEditor.SceneManagement; +using UnityEngine; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// Uses to automatically connect + /// & + /// scripts at editor time, also drawing a line visualization in the editor + /// of the most relevant on a GameObject. + /// + public class EditorBodyPoseLineSkeleton + { + /// + /// Private singleton so some editor time functionality can be static. + /// + private static EditorBodyPoseLineSkeleton _instance; + + /// + /// Any GameObject with a script could draw a skeleton + /// + private Dictionary _drawList = + new Dictionary(); + + /// [InitializeOnLoadMethod] will trigger the static constructor + [InitializeOnLoadMethod] + static void OnProjectLoadedInEditor() { } + + /// + /// Look for objects with components, add them + /// to a list of poses to draw, and update when transforms change + /// with + /// . + /// + static EditorBodyPoseLineSkeleton() + { + RefreshSystem(); + } + + /// + /// Re-initializes the system + /// + public static void RefreshSystem() + { + _instance = new EditorBodyPoseLineSkeleton(); + SceneView.duringSceneGui -= OnGui; + SceneView.duringSceneGui += OnGui; + EditorSceneManager.sceneOpened -= OnScene; + EditorSceneManager.sceneOpened += OnScene; + ObjectChangeEvents.changesPublished -= OnChange; + ObjectChangeEvents.changesPublished += OnChange; + EditorApplication.delayCall += _instance.BecomeAwareOfInitialIBodyPoseObjects; + } + + private static void OnGui(SceneView sceneView) => _instance.DrawIBodyPoseObjects(sceneView); + private static void OnScene(UnityEngine.SceneManagement.Scene scene, OpenSceneMode mode) => + RefreshSystem(); + private static void OnChange(ref ObjectChangeEventStream stream) => + _instance.UpdateChangedIBodyPoseObjects(ref stream); + + private void BecomeAwareOfInitialIBodyPoseObjects() + { + GameObject[] list = Object.FindObjectsByType(FindObjectsSortMode.None); + foreach (var item in list) + { + UpdateIBodyPoseUiOn(item); + } + } + + private bool UpdateIBodyPoseUiOn(GameObject gameObject) + { + bool change = UpdateBodyPoseSkeletonToDraw(gameObject); + change |= UpdateTransformAwareness(gameObject); + return change; + } + + private bool UpdateBodyPoseSkeletonToDraw(GameObject gameObject) + { + IBodyPose pose = GetMostConsequentialBodyPose(gameObject); + if (pose != null) + { + _drawList[gameObject] = pose; + return true; + } + _drawList.Remove(gameObject); + return false; + } + + private static IBodyPose GetMostConsequentialBodyPose(GameObject gameObject) + { + IBodyPose[] bodyPoses = gameObject.GetComponents(); + if (bodyPoses == null || bodyPoses.Length == 0) + { + return null; + } + IBodyPose bestCandidate = bodyPoses[0]; + bool candidateIsTransient = IsTransientBodyPose(bestCandidate); + for (int i = 1; i < bodyPoses.Length && candidateIsTransient; ++i) + { + IBodyPose pose = bodyPoses[i]; + bool isTransient = IsTransientBodyPose(pose); + if (!isTransient) + { + bestCandidate = pose; + candidateIsTransient = false; + } + } + return bestCandidate; + } + + /// + /// Check if the data source refers to other poses, or to real data accessed at runtime. + /// + private static bool IsTransientBodyPose(IBodyPose body) + { + Component reference = null; + switch (body) + { + case OVRBodyPose: + return true; + case BodyPoseBoneTransforms skeleton: + reference = skeleton.BodyPose as Component; + break; + case BodyPoseController controller: + reference = controller.BodyPose as Component; + break; + } + return reference != null && !(reference is IBody); + } + + private bool UpdateTransformAwareness(GameObject gameObject) + { + bool change = false; + BodyPoseController[] controllers = gameObject.GetComponents(); + foreach (var controller in controllers) + { + BodyPoseBoneTransforms skeleton = controller.SkeletonTransforms; + if (skeleton != null) + { + EditorTransformAwareness.SetBoneListener(controller, skeleton.OwnsBone, Notify); + change = true; + } + } + BodyPoseBoneTransforms[] skeletons = gameObject.GetComponents(); + foreach (var skeleton in skeletons) + { + EditorTransformAwareness.SetBoneListener(skeleton, skeleton.OwnsBone, Notify); + change = true; + } + return change; + } + + private static void Notify(Transform movedBone) + { + IEnumerable owners = EditorTransformAwareness.GetOwners(movedBone); + foreach (Object obj in owners) + { + switch (obj) + { + case BodyPoseController controller: + NotifyPoseList(controller); + break; + case BodyPoseBoneTransforms skeleton: + NotifySkeleton(skeleton); + break; + } + } + } + + private static void NotifyPoseList(BodyPoseController controller) + { + ApplyBoneTransformsToBodyPose(controller); + } + + private static void NotifySkeleton(BodyPoseBoneTransforms skeleton) + { + skeleton.NotifyBodyPoseUpdate(); + } + + private void UpdateChangedIBodyPoseObjects(ref ObjectChangeEventStream stream) + { + for (int i = 0; i < stream.length; ++i) + { + ObjectChangeKind kind = stream.GetEventType(i); + Object obj = null; + switch (kind) + { + case ObjectChangeKind.ChangeGameObjectStructure: + stream.GetChangeGameObjectStructureEvent(i, + out ChangeGameObjectStructureEventArgs structArgs); + obj = EditorUtility.InstanceIDToObject(structArgs.instanceId); + break; + case ObjectChangeKind.ChangeAssetObjectProperties: + stream.GetChangeAssetObjectPropertiesEvent(i, + out ChangeAssetObjectPropertiesEventArgs propArgs); + obj = EditorUtility.InstanceIDToObject(propArgs.instanceId); + break; + default: + continue; + } + AddBodyPoseTransformsFromThisObject(obj as GameObject); + } + } + + private void AddBodyPoseTransformsFromThisObject(GameObject gameObject) + { + if (gameObject == null) + { + return; + } + if (UpdateIBodyPoseUiOn(gameObject)) + { + EditorTransformAwareness.RefreshCallbacks(); + } + } + + private void DrawIBodyPoseObjects(SceneView sceneView) + { + bool missingSomething = false; + foreach (var kvp in _drawList) + { + if (kvp.Key == null) + { + missingSomething = true; + continue; + } + if (kvp.Value != null) + { + DrawIBodyPoseGizmos(kvp.Value); + } + } + if (missingSomething) + { + _drawList = EditorTransformAwareness.SameDictionaryWithoutNullKey(_drawList); + } + } + + private static void DrawIBodyPoseGizmos(IBodyPose self) + { + if (self is Behaviour behaviour && (behaviour == null || !behaviour.enabled || + !behaviour.gameObject.activeInHierarchy)) + { + return; + } + Gizmos.color = Color.blue; + DrawIBodyPoseGizmos(self, 10); + } + + private static void DrawIBodyPoseGizmos(IBodyPose self, float thick) + { + Transform container = null; + IList transforms = null; + IBodyPose sourceData = null; + Component selfComponent = null; + switch (self) + { + case BodyPoseController controller: + selfComponent = controller; + BodyPoseBoneTransforms skeletonPartner = controller.SkeletonTransforms; + if (skeletonPartner != null) + { + transforms = skeletonPartner.BoneTransforms; + container = skeletonPartner.BoneContainer; + } + else + { + container = controller.transform; + } + sourceData = controller.BodyPose; + break; + case BodyPoseBoneTransforms skeleton: + selfComponent = skeleton; + transforms = skeleton.BoneTransforms; + container = skeleton.BoneContainer; + sourceData = skeleton.BodyPose; + break; + } + Component sourceComponent = sourceData as Component; + bool bodyDataSomewhereElse = sourceComponent != null && + sourceComponent.transform != selfComponent.transform && !(sourceComponent is IBody); + if (!bodyDataSomewhereElse) + { + DrawSkeletonGizmo(self, container, thick, transforms); + } + else + { + DrawReferenceArrow(selfComponent.transform.position, + sourceComponent.transform.position, thick); + } + } + + /// what skeleton to draw + /// where in the scene to draw it (position + rotation) + /// how thick the line of the skeleton should be + /// transforms mapped to bones, for checking selection + private static void DrawSkeletonGizmo(IBodyPose body, Transform root, float thick, + IList transforms) + { + Color color = Gizmos.color; + for (int i = 0; i < FullBodySkeletonTPose.TPose.ExpectedBoneCount; ++i) + { + bool isSelected = transforms != null && i < transforms.Count && + EditorTransformAwareness.IsSelected(transforms[i]); + Gizmos.color = !isSelected ? color : + new Color(1 - color.r, 1 - color.g, 1 - color.b); + body.GetJointPoseFromRoot((BodyJointId)i, out Pose pose); + DrawBoneGizmo(i, pose, root, thick); + } + } + + private static void DrawReferenceArrow(Vector3 start, Vector3 end, float thick) + { + Vector3 delta = end - start; + float distance = delta.magnitude; + Vector3 direction = delta / distance; + Vector3 cross = Vector3.Cross(direction, Vector3.right); + Vector3 arrowFlangeA = end + (-direction + cross) * (distance / 16); + Vector3 arrowFlangeB = end + (-direction - cross) * (distance / 16); + Handles.DrawBezier(start, end, + start, end, Gizmos.color, null, thick); + Handles.DrawBezier(arrowFlangeA, end, + arrowFlangeA, end, Gizmos.color, null, thick); + Handles.DrawBezier(arrowFlangeB, end, + arrowFlangeB, end, Gizmos.color, null, thick); + } + + private static void DrawBoneGizmo(int boneIndex, Pose pose, Transform root, float thick) + { + int next = FullBodySkeletonTPose.TPose.GetNext(boneIndex); + if (next < 0) + { + return; + } + Vector3 start = pose.position; + if (root != null) + { + start = root.TransformPoint(start); + } + Quaternion boneRotation = pose.rotation * + FullBodySkeletonTPose.TPose.GetForwardRotation(boneIndex); + if (root != null) + { + boneRotation = root.rotation * boneRotation; + } + float boneLength = FullBodySkeletonTPose.TPose.GetBoneLength(boneIndex); + if (boneLength < EditorTransformAwareness.Epsilon) + { + boneLength = EditorTransformAwareness.Epsilon; + } + Vector3 end = boneRotation * Vector3.forward * boneLength + start; + Handles.DrawBezier(start, end, start, end, + Gizmos.color, null, thick); + } + + /// + /// Applies values to a list + /// + /// + private static void ApplyBoneTransformsToBodyPose(BodyPoseController self) + { + if (self.SkeletonTransforms == null) + { + self.SkeletonTransforms = self.GetComponent(); + if (self.SkeletonTransforms == null) + { + return; + } + } + Transform boneRoot = self.SkeletonTransforms.BoneContainer; + if (boneRoot == null) + { + return; + } + IList bones = self.SkeletonTransforms.BoneTransforms; + Quaternion boneRootRotationOffset = Quaternion.Inverse(boneRoot.rotation); + const float rotationAngleEpsilon = 1f / 1024; + bool boneMoved = false; + bool boneRotated = false; + for (int id = 0; id < bones.Count; ++id) + { + BodyJointId boneId = (BodyJointId)id; + if (!self.GetJointPoseFromRoot(boneId, out Pose oldBoneData)) + { + continue; + } + Transform bone = bones[id]; + Pose newPose = new Pose( + boneRoot.InverseTransformPoint(bone.position), + bone.rotation * boneRootRotationOffset); + Vector3 moveDiff = newPose.position - oldBoneData.position; + boneMoved |= moveDiff != Vector3.zero; + Quaternion rotateDiff = newPose.rotation * Quaternion.Inverse(oldBoneData.rotation); + float angleDiff = Quaternion.Angle(Quaternion.identity, rotateDiff); + boneRotated |= angleDiff > rotationAngleEpsilon; + } + if (boneMoved || boneRotated) + { + self.ApplyTransformsToBonePoses(); + } + } + } +} diff --git a/Editor/BodyTrackingForFitness/EditorBodyPoseLineSkeleton.cs.meta b/Editor/BodyTrackingForFitness/EditorBodyPoseLineSkeleton.cs.meta new file mode 100644 index 00000000..b6c039e8 --- /dev/null +++ b/Editor/BodyTrackingForFitness/EditorBodyPoseLineSkeleton.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 0f99aefec238bb4478adf9b945e0e07e +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Editor/BodyTrackingForFitness/EditorTransformAwareness.cs b/Editor/BodyTrackingForFitness/EditorTransformAwareness.cs new file mode 100644 index 00000000..4e138492 --- /dev/null +++ b/Editor/BodyTrackingForFitness/EditorTransformAwareness.cs @@ -0,0 +1,379 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System.Collections.Generic; +using UnityEditor; +using UnityEngine; +using System; +using UnityEditor.SceneManagement; +using Object = UnityEngine.Object; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// This class attaches itself to the Unity Editor at editor time to enable + /// transform-dependent logic. It watches the editor's Selection, and if a + /// transform that this class cares about is modified, it notifies a + /// function associated with that transform's owner object. This solves the + /// problem of how to propagate transform changes at editor time. + /// + public class EditorTransformAwareness + { + /// + /// What is a large enough difference to trigger non-match by + /// + public const float Epsilon = 1f / 1024; + + /// + /// Private singleton so some editor time functionality can be static. + /// + private static EditorTransformAwareness _instance; + + /// + /// Set of currently selected tracked transforms + /// + private HashSet _activeTransforms = new HashSet(); + + /// + /// Cached owners of active transforms + /// + private Dictionary> _ownersOfActiveTransform = + new Dictionary>(); + + /// + /// Last known position of tracked transforms + /// + private Dictionary> _lastKnownPose = + new Dictionary>(); + + /// + /// Objects that own lists of transforms (eg: bone managers). + /// Allows clusters of transforms to use the same callback. + /// + private Dictionary> _transformsFromOwner = + new Dictionary>(); + + /// + /// Callback methods to notify when a tracked transform has moved + /// + private Dictionary> _transformOwnerListener = + new Dictionary>(); + + /// + /// Intermediary list, because activeTransforms could change while iterating callbacks + /// + private List _toNotify = new List(); + + /// [InitializeOnLoadMethod] will trigger the static constructor + [InitializeOnLoadMethod] + static void OnProjectLoadedInEditor() { } + + /// + /// static constructor called Once during editor runtime. Adds a + /// listener that looks for special transforms that are being + /// explicitly watched by + /// + static EditorTransformAwareness() + { + RefreshSystem(); + } + + /// + /// Re-initializes the system + /// + public static void RefreshSystem() + { + _instance = new EditorTransformAwareness(); + EditorApplication.update -= OnUpdate; + EditorApplication.update += OnUpdate; + EditorSceneManager.sceneOpened -= OnScene; + EditorSceneManager.sceneOpened += OnScene; + Selection.selectionChanged -= OnSelectionChanged; + Selection.selectionChanged += OnSelectionChanged; + EditorApplication.delayCall += _instance.AddActiveTransformsToActiveListener; + } + + private static void OnUpdate() => _instance.Update(); + private static void OnScene(UnityEngine.SceneManagement.Scene scene, OpenSceneMode mode) => + RefreshSystem(); + private static void OnSelectionChanged() => _instance.AddActiveTransformsToActiveListener(); + + private void Update() + { + if (!IsActive()) + { + return; + } + UpdateActiveTransforms(); + } + + private bool IsActive() => UnityEditorInternal.InternalEditorUtility.isApplicationActive && + _activeTransforms.Count > 0; + + /// + /// Identifies that some group of transforms managed by an owner should + /// be passed into a specific callback whenever the transform changes + /// position or rotation while selected in the Unity editor. + /// + /// key object referencing the transforms + /// function identifies transform group + /// callback for members of this group + public static void SetBoneListener(Object owner, Func isTransformOwned, + Action notifyMovedCallback) => + _instance.SetTransformGroupListener(owner, isTransformOwned, notifyMovedCallback); + + /// + /// Removes the special logic for the group of transforms managed by the given key + /// + /// + public static void Remove(Object owner) => _instance.ClearTransformGroup(owner); + + /// + /// Call this if a key object may have been deleted + /// + public static void RefreshCallbacks() => _instance.RemoveDeletedOwners(); + + /// + /// Check if the given object is a key owner of logic related to a group of transforms + /// + public static bool IsWatching(Object owner) => + _instance._transformsFromOwner.ContainsKey(owner); + + /// + /// Check if the given transform is a managed transform, and it is selected. + /// + public static bool IsSelected(Transform transform) => + _instance._activeTransforms.Contains(transform); + + /// + /// Returns the list of key objects that manage the given transform + /// + public static IEnumerable GetOwners(Transform transform) => + _instance.GetOwnersList(transform); + + /// + /// Adds a group of transforms to monitor, bound to a specific key object + /// + /// the key object + /// method to get if transform is associated with key + /// callback to notify when transforms move + private void SetTransformGroupListener(Object owner, Func isTransformOwned, + Action notifyMovedCallback) + { + _transformsFromOwner[owner] = isTransformOwned; + _lastKnownPose[owner] = new Dictionary(); + if (notifyMovedCallback != null) + { + _transformOwnerListener[owner] = notifyMovedCallback; + } + } + + /// + /// Stops listening to transforms keyed to the given owner object + /// + private void ClearTransformGroup(Object owner) + { + _transformsFromOwner.Remove(owner); + _lastKnownPose.Remove(owner); + _transformOwnerListener.Remove(owner); + } + + private void RemoveDeletedOwners() + { + bool ownerWasDeleted = false; + foreach (var kvp in _transformsFromOwner) + { + if (kvp.Key == null) + { + ownerWasDeleted = true; + break; + } + } + if (ownerWasDeleted) + { + _transformsFromOwner = SameDictionaryWithoutNullKey(_transformsFromOwner); + _lastKnownPose = SameDictionaryWithoutNullKey(_lastKnownPose); + _transformOwnerListener = SameDictionaryWithoutNullKey(_transformOwnerListener); + } + } + + /// + /// Because Unity can create dictionaries with objects that can be + /// deleted, a function should be able to clean them up. + /// + public static Dictionary SameDictionaryWithoutNullKey(Dictionary original) + { + Dictionary result = new Dictionary(); + foreach (var kvp in original) + { + if (kvp.Key == null) + { + continue; + } + result[kvp.Key] = kvp.Value; + } + return result; + } + + private void AddActiveTransformsToActiveListener() + { + Transform[] selectedTransforms = Selection.GetTransforms(SelectionMode.Editable); + ClearActiveTransforms(); + for (int i = 0; i < selectedTransforms.Length; ++i) + { + AddActiveTransformSelection(selectedTransforms[i]); + } + } + + private void ClearActiveTransforms() + { + _activeTransforms.Clear(); + _ownersOfActiveTransform.Clear(); + } + + private void AddActiveTransformSelection(Transform selectedTransform) + { + IEnumerable owners = GetKnownOwnersOfTransform(selectedTransform, true); + if (owners == null) + { + return; + } + _activeTransforms.Add(selectedTransform); + _ownersOfActiveTransform[selectedTransform] = owners; + } + + private IEnumerable GetKnownOwnersOfTransform(Transform transform, bool getAll) + { + List owners = null; + foreach (var kvp in _transformsFromOwner) + { + if (kvp.Value == null) + { + continue; + } + Func isTransformOwned = kvp.Value; + if (isTransformOwned == null) + { + continue; + } + if (isTransformOwned.Invoke(transform)) + { + if (owners == null) + { + owners = new List(); + } + owners.Add(kvp.Key); + if (getAll == false) + { + return owners; + } + } + } + return owners; + } + + private void UpdateActiveTransforms() + { + _toNotify.Clear(); + foreach (Transform transform in _activeTransforms) + { + if (!TryGetLastKnownPose(transform, out Pose pose) || !IsMatch(transform, pose)) + { + _toNotify.Add(transform); + } + } + if (_toNotify.Count == 0) + { + return; + } + for (int i = 0; i < _toNotify.Count; ++i) + { + Transform transform = _toNotify[i]; + NotifyTransformChange(transform); + } + } + + private bool TryGetLastKnownPose(Transform transform, out Pose pose) + { + IEnumerable owners = GetOwnersList(transform); + foreach (Object owner in owners) + { + if (_lastKnownPose[owner].TryGetValue(transform, out pose)) + { + return true; + } + } + pose = default; + return false; + } + + private IEnumerable GetOwnersList(Transform transform) + { + if (!_ownersOfActiveTransform.TryGetValue(transform, + out IEnumerable owners)) + { + owners = GetKnownOwnersOfTransform(transform, true); + if (owners != null) + { + _ownersOfActiveTransform[transform] = owners; + } + } + return owners; + } + + private void NotifyTransformChange(Transform activeTransform) + { + IEnumerable owners = GetOwnersList(activeTransform); + if (owners != null) + { + foreach (Object owner in owners) + { + if (_transformOwnerListener.TryGetValue(owner, out Action callback)) + { + callback.Invoke(activeTransform); + } + _lastKnownPose[owner][activeTransform] = ConvertToPose(activeTransform); + } + } + } + + /// + /// Converts a 's postion/rotation to a + /// + /// + /// + public static Pose ConvertToPose(Transform transform) + { + return new Pose(transform.position, transform.rotation); + } + + /// + /// Determines if is reasonably close to a + /// + public static bool IsMatch(Transform transform, Pose pose) + { + return IsMatch(transform.position, pose.position) && + IsMatch(transform.rotation, pose.rotation); + } + + /// + /// Determines if vectors are reasonably close (within in a dimension) + /// + public static bool IsMatch(Vector3 a, Vector3 b) + { + return Mathf.Abs(a.x - b.x) <= Epsilon && + Mathf.Abs(a.y - b.y) <= Epsilon && + Mathf.Abs(a.z - b.z) <= Epsilon; + } + + /// + /// Determines if vectors are reasonably close (within in a dimension) + /// + public static bool IsMatch(Quaternion a, Quaternion b) + { + return Mathf.Abs(a.x - b.x) <= Epsilon && + Mathf.Abs(a.y - b.y) <= Epsilon && + Mathf.Abs(a.z - b.z) <= Epsilon && + Mathf.Abs(a.w - b.w) <= Epsilon; + } + } +} diff --git a/Editor/BodyTrackingForFitness/EditorTransformAwareness.cs.meta b/Editor/BodyTrackingForFitness/EditorTransformAwareness.cs.meta new file mode 100644 index 00000000..6804ff13 --- /dev/null +++ b/Editor/BodyTrackingForFitness/EditorTransformAwareness.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: ee17a89a42d13ec4287404316d49ed27 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Editor/Utils/EnumNamedArrayDrawer.cs b/Editor/Utils/EnumNamedArrayDrawer.cs new file mode 100644 index 00000000..e6ffe6ee --- /dev/null +++ b/Editor/Utils/EnumNamedArrayDrawer.cs @@ -0,0 +1,41 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using UnityEngine; +using UnityEditor; + +namespace Oculus.Movement.Utils +{ + /// + /// Use this attribute on lists that are exposed in the Unity inspector to name the elements + /// after enum values. + /// + [CustomPropertyDrawer(typeof(EnumNamedArrayAttribute))] + public class EnumNamedArrayDrawer : PropertyDrawer + { + /// + public override float GetPropertyHeight(SerializedProperty property, GUIContent label) + => EditorGUI.GetPropertyHeight(property, label, property.isExpanded); + + /// + public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) + { + if (attribute == null || property == null) + { + return; + } + try + { + EnumNamedArrayAttribute namedAttribute = attribute as EnumNamedArrayAttribute; + int index = int.Parse(property.propertyPath.Split('[', ']')[1]); + string[] names = namedAttribute.GetNames(); + string enumLabel = ObjectNames.NicifyVariableName(names[index]); + label = new GUIContent(enumLabel); + } + catch + { + // ignored, just use default label + } + EditorGUI.PropertyField(position, property, label, property.isExpanded); + } + } +} diff --git a/Editor/Utils/EnumNamedArrayDrawer.cs.meta b/Editor/Utils/EnumNamedArrayDrawer.cs.meta new file mode 100644 index 00000000..939a223b --- /dev/null +++ b/Editor/Utils/EnumNamedArrayDrawer.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 35f00c541c00d7a4fa11e8888e95a0a0 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Editor/Utils/InspectorGuiHelper.cs b/Editor/Utils/InspectorGuiHelper.cs new file mode 100644 index 00000000..d78fc6d8 --- /dev/null +++ b/Editor/Utils/InspectorGuiHelper.cs @@ -0,0 +1,118 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using UnityEditor; +using UnityEngine; + +namespace Oculus.Movement.Utils +{ + /// + /// Use this class in custom s to simplify insertion of Inspector + /// warnings or feature buttons. + /// + public class InspectorGuiHelper + { + /// + /// What kind of warning icon to show + /// + public enum OptionalIcon { None, Warning } + + /// + /// Delegate to test if this additional Inspector UI should be added + /// + private Func IsRequired; + + /// + /// Optional text of this additional Inspector UI + /// + private string Message; + + /// + /// Text for the button in this additional Inspector UI + /// + private string Button; + + /// + /// Delegate to trigger when the optional Inspector button is pressed + /// + private Action ActivateHelp; + + /// + /// What kind of warning icon to show + /// + private OptionalIcon Icon; + + /// + /// Call to conditionally add an inspector GUI + /// + /// Delegate to test if this additional Inspector UI should be + /// added + /// Delegate to trigger when the optional Inspector button + /// is pressed + /// Optional text of this additional Inspector UI + /// Text for the button in this additional Inspector UI + /// What kind of warning icon to show + public InspectorGuiHelper(Func isRequired, Action activateHelp, string message, + string button, OptionalIcon icon) + { + IsRequired = isRequired; + Message = message; + Button = button; + ActivateHelp = activateHelp; + Icon = icon; + } + + /// + /// Call this in the method of a custom Editor. + /// + public void DrawInInspector() + { + if (IsRequired() && RenderWarningWithButton(Message, Button, Icon)) + { + ActivateHelp(); + } + } + + private static bool RenderWarningWithButton(string labelString, string buttonString, + OptionalIcon Icon) + { + bool isButtonClicked = false; + GUIContent icon = Icon switch + { + OptionalIcon.Warning => EditorGUIUtility.IconContent("console.warnicon@2x"), + _ => null + }; + var alignByCenter = new GUIStyle(GUI.skin.label) + { + alignment = TextAnchor.MiddleCenter + }; + using (var z = new EditorGUILayout.VerticalScope("HelpBox")) + { + float horizontalSpace = 0; + bool hasLabel = !string.IsNullOrEmpty(labelString); + if (icon != null) + { + EditorGUI.LabelField(z.rect, icon, EditorStyles.helpBox); + GUILayout.Space(EditorGUIUtility.standardVerticalSpacing); + horizontalSpace = EditorGUIUtility.singleLineHeight + 5 + + (hasLabel ? EditorGUIUtility.standardVerticalSpacing * 5 : 0); + } + if (hasLabel) + { + GUILayout.BeginHorizontal(); + GUILayout.Space(horizontalSpace); + GUILayout.Label(labelString, alignByCenter); + GUILayout.EndHorizontal(); + } + if (!string.IsNullOrEmpty(buttonString)) + { + GUILayout.BeginHorizontal(); + GUILayout.Space(horizontalSpace); + isButtonClicked = GUILayout.Button(buttonString); + GUILayout.EndHorizontal(); + } + } + return isButtonClicked; + } + } +} diff --git a/Editor/Utils/InspectorGuiHelper.cs.meta b/Editor/Utils/InspectorGuiHelper.cs.meta new file mode 100644 index 00000000..5318e8c1 --- /dev/null +++ b/Editor/Utils/InspectorGuiHelper.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: a800fbe90a06a4949b164f2cb3edad5a +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/README.md b/README.md index ce8a1ab2..7e29fe17 100644 --- a/README.md +++ b/README.md @@ -6,7 +6,7 @@ The Unity-Movement package is released under the [Oculus License](https://github ### Requirements - Unity 2021.3.26f1 (2021 LTS) or newer installed. For Unity 2022, use 2022.3.11f1 (2022 LTS) or newer. For Unity 2023, use 2023.1.17f1 or newer (Unity 2023.1.x). Unity 2023.2+ however will not currently work due to the fact TMPro has been deprecated. -- v60.0 or newer of the Meta XR SDK. You will need the Meta XR Core SDK and the Meta XR Interaction SDK OVR Integration packages found [on this page](https://assetstore.unity.com/publishers/25353). +- v63.0 or newer of the Meta XR SDK. You will need the Meta XR Core SDK and the [Meta XR Interaction SDK OVR Integration](https://assetstore.unity.com/packages/tools/integration/meta-xr-interaction-sdk-ovr-integration-265014) packages found [on this page](https://assetstore.unity.com/publishers/25353). - A project set up with these [configuration settings](https://developer.oculus.com/documentation/unity/unity-conf-settings/) ## Getting Started @@ -24,8 +24,8 @@ The sample scenes are located under the **Samples/Scenes** folder. If the new scene or an existing scene doesn’t have a GameObject with the OVRCameraRig component, follow the steps: 1. From the Hierarchy tab, look for a Main Camera GameObject. 2. If the Main Camera GameObject is present, right-click Main Camera and click Delete. -3. In the Project tab, expand the Assets > Oculus > VR > Prefab folder and drag and drop the OVRCameraRig prefab into the scene. You can also drag and drop it into the Hierarchy tab. -4. On the Inspector tab, go to OVR Manager > Quest Features. +3. Using the top level file menus, navigate to **Oculus->Tools->Building Blocks**. Select the (+) icon on the lower right of the Camera Rig option. +4. Select the Camera Rig object in the Hierarchy, and in the Inspector tab, go to OVR Manager > Quest Features. 5. In the General tab, there are options to enable body, face, and eye tracking support. Select Supported or Required for the type of tracking support you wish to add. 6. Under OVRManager's "Permission Requests On Startup" section, enable Body, Face and Eye Tracking. 7. Ensure that OVRManager's "Tracking Origin Type" is set to "Floor Level". @@ -37,7 +37,7 @@ Layer index 10, layer index 11, and the HiddenMesh layer must be present in the Some Project Settings can be validated via **Movement->Check Project Settings**. For a more thorough check, please use **Oculus->Tools->Project Setup Tool**. ## Rendering Quality -Navigate to your Project Settings (Edit->Project Settings...) and click on +Navigate to your Project Settings (**Edit->Project Settings...**) and click on the "Quality" section. If your project uses URP, then some of these settings might be part the rendering pipeline asset currently in use. The pipeline picked will be shown in the Quality menu. @@ -60,10 +60,10 @@ Make sure that the color space is set to Linear. ## Build Settings -In order for the SceneSelectMenu buttons to work, add the scenes located in the **Samples/Scenes** folder of the package. +In order for the SceneSelectMenu buttons to work, add the scenes located in **Packages/Meta Movement/Samples/Scenes** folder. ## Samples -The project contains several sample scenes. To test the samples, add the scenes located in the **Packages/com.meta.movement/Samples/Scenes** folder to the project's Assets folder. +The project contains several sample scenes. To test the samples, add the scenes located in the **Packages/com.meta.movement/Samples/Scenes** folder to the project's Assets folder. To view those scenes in the editor or make edits, you may need to make copies of those scenes in the **Assets** folder. For more information about body tracking, please refer to [this page](https://developer.oculus.com/documentation/unity/move-body-tracking/). diff --git a/Runtime/Scripts/AnimationRigging/BoneMappingsExtension.cs b/Runtime/Scripts/AnimationRigging/BoneMappingsExtension.cs index 21187dbc..933a7a11 100644 --- a/Runtime/Scripts/AnimationRigging/BoneMappingsExtension.cs +++ b/Runtime/Scripts/AnimationRigging/BoneMappingsExtension.cs @@ -1,7 +1,7 @@ // Copyright (c) Meta Platforms, Inc. and affiliates. - -using System.Collections.Generic; -using UnityEngine; + +using System.Collections.Generic; +using UnityEngine; namespace Oculus.Movement.AnimationRigging { @@ -84,6 +84,68 @@ public static readonly Dictionary { HumanBodyBones.RightLittleDistal, AvatarMaskBodyPart.RightArm } }; + /// + /// Maps HumanBodyBones to avatar mask body part. Includes legs as well. + /// + public static readonly AvatarMaskBodyPart[] HumanBoneToAvatarBodyPartArray = new AvatarMaskBodyPart[] + { + AvatarMaskBodyPart.Body, // Hips + AvatarMaskBodyPart.LeftLeg, // LeftUpperLeg + AvatarMaskBodyPart.RightLeg, // RightUpperLeg + AvatarMaskBodyPart.LeftLeg, // LeftLowerLeg + AvatarMaskBodyPart.RightLeg, // RightLowerLeg + AvatarMaskBodyPart.LeftLeg, // LeftFoot + AvatarMaskBodyPart.RightLeg, // RightFoot + AvatarMaskBodyPart.Body, // Spine + AvatarMaskBodyPart.Body, // Chest + AvatarMaskBodyPart.Head, // Neck + AvatarMaskBodyPart.Head, // Head + AvatarMaskBodyPart.LeftArm, // LeftShoulder + AvatarMaskBodyPart.RightArm, // RightShoulder + AvatarMaskBodyPart.LeftArm, // LeftUpperArm + AvatarMaskBodyPart.RightArm, // RightUpperArm + AvatarMaskBodyPart.LeftArm, // LeftLowerArm + AvatarMaskBodyPart.RightArm, // RightLowerArm + AvatarMaskBodyPart.LeftArm, // LeftHand + AvatarMaskBodyPart.RightArm, // RightHand + AvatarMaskBodyPart.LeftLeg, // LeftToes + AvatarMaskBodyPart.RightLeg, // RightToes + AvatarMaskBodyPart.Head, // LeftEye + AvatarMaskBodyPart.Head, // RightEye + AvatarMaskBodyPart.Head, // Jaw + AvatarMaskBodyPart.LeftArm, // Left Hand Fingers + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.LeftArm, + AvatarMaskBodyPart.RightArm, // Right Hand Fingers + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.RightArm, + AvatarMaskBodyPart.Body, // UpperChest + }; + /// /// Maps OVRSkeletonBoneId to avatar mask body part. /// @@ -265,4 +327,4 @@ public static readonly Dictionary { OVRSkeleton.BoneId.FullBody_RightFootBall, AvatarMaskBodyPart.RightLeg }, }; } -} +} diff --git a/Runtime/Scripts/AnimationRigging/DeformationUtilities.cs b/Runtime/Scripts/AnimationRigging/DeformationUtilities.cs index 43eb88fa..ab46c410 100644 --- a/Runtime/Scripts/AnimationRigging/DeformationUtilities.cs +++ b/Runtime/Scripts/AnimationRigging/DeformationUtilities.cs @@ -3,8 +3,10 @@ using System; using System.Collections; using System.Collections.Generic; +using Oculus.Interaction.Input; using Oculus.Movement.Utils; using UnityEngine; +using UnityEngine.Animations; using UnityEngine.Animations.Rigging; using static OVRUnityHumanoidSkeletonRetargeter; @@ -47,6 +49,11 @@ public struct BonePairData /// The proportion of this bone relative to its limb. /// public float LimbProportion; + + /// + /// Start to end vector of original character, in local space of end bone. + /// + public Vector3 EndBoneLocalOffsetFromStart; } /// @@ -118,6 +125,11 @@ public struct ArmPosData /// public Vector3 ShoulderLocalPos; + /// + /// The local rotation of the shoulder. + /// + public Quaternion ShoulderLocalRot; + /// /// The axis of the lower arm to the hand. /// @@ -210,7 +222,7 @@ public void ClearTransformData() } /// - /// Ordered HumanBodyBones for the spine, arms, and legs. + /// Ordered HumanBodyBones for the spine, arms, legs, and hands. /// private static readonly HumanBodyBones[] _humanBodyBonesOrder = { @@ -235,7 +247,38 @@ public void ClearTransformData() HumanBodyBones.RightUpperLeg, HumanBodyBones.RightLowerLeg, HumanBodyBones.RightFoot, - HumanBodyBones.RightToes + HumanBodyBones.RightToes, + // Finger bones. + HumanBodyBones.LeftThumbProximal, + HumanBodyBones.LeftThumbIntermediate, + HumanBodyBones.LeftThumbDistal, + HumanBodyBones.LeftIndexProximal, + HumanBodyBones.LeftIndexIntermediate, + HumanBodyBones.LeftIndexDistal, + HumanBodyBones.LeftMiddleProximal, + HumanBodyBones.LeftMiddleIntermediate, + HumanBodyBones.LeftMiddleDistal, + HumanBodyBones.LeftRingProximal, + HumanBodyBones.LeftRingIntermediate, + HumanBodyBones.LeftRingDistal, + HumanBodyBones.LeftLittleProximal, + HumanBodyBones.LeftLittleIntermediate, + HumanBodyBones.LeftLittleDistal, + HumanBodyBones.RightThumbProximal, + HumanBodyBones.RightThumbIntermediate, + HumanBodyBones.RightThumbDistal, + HumanBodyBones.RightIndexProximal, + HumanBodyBones.RightIndexIntermediate, + HumanBodyBones.RightIndexDistal, + HumanBodyBones.RightMiddleProximal, + HumanBodyBones.RightMiddleIntermediate, + HumanBodyBones.RightMiddleDistal, + HumanBodyBones.RightRingProximal, + HumanBodyBones.RightRingIntermediate, + HumanBodyBones.RightRingDistal, + HumanBodyBones.RightLittleProximal, + HumanBodyBones.RightLittleIntermediate, + HumanBodyBones.RightLittleDistal, }; /// @@ -246,6 +289,15 @@ public void ClearTransformData() { HumanBodyBones.Head, HumanBodyBones.LastBone }, + { + HumanBodyBones.LeftEye, HumanBodyBones.LastBone + }, + { + HumanBodyBones.RightEye, HumanBodyBones.LastBone + }, + { + HumanBodyBones.Jaw, HumanBodyBones.LastBone + }, { HumanBodyBones.LeftToes, HumanBodyBones.LastBone }, @@ -257,6 +309,36 @@ public void ClearTransformData() }, { HumanBodyBones.RightHand, HumanBodyBones.LastBone + }, + { + HumanBodyBones.LeftThumbDistal, HumanBodyBones.LastBone + }, + { + HumanBodyBones.LeftIndexDistal, HumanBodyBones.LastBone + }, + { + HumanBodyBones.LeftMiddleDistal, HumanBodyBones.LastBone + }, + { + HumanBodyBones.LeftRingDistal, HumanBodyBones.LastBone + }, + { + HumanBodyBones.LeftLittleDistal, HumanBodyBones.LastBone + }, + { + HumanBodyBones.RightThumbDistal, HumanBodyBones.LastBone + }, + { + HumanBodyBones.RightIndexDistal, HumanBodyBones.LastBone + }, + { + HumanBodyBones.RightMiddleDistal, HumanBodyBones.LastBone + }, + { + HumanBodyBones.RightRingDistal, HumanBodyBones.LastBone + }, + { + HumanBodyBones.RightLittleDistal, HumanBodyBones.LastBone } }; @@ -318,21 +400,63 @@ public static BoneAdjustmentData[] GetDeformationBoneAdjustments(Animator animat // Calculate an adjustment alignment if needed, using the desired right and forward from the // rest pose humanoid, which is Vector3.right and Vector3.forward. var adjustmentAlignment = - GetHipsRightForwardAlignmentForAdjustments(animator, Vector3.right, Vector3.forward); + GetHipsAlignmentForAdjustments(animator, Vector3.right, Vector3.forward); + + // Flatten out the spine adjustments, as the adjustment should only be along one axis by + // previewing the hips adjustment, and taking the largest value. + var adjustmentAxis = GetHipsAdjustmentAxis(adjustmentAlignment, + boneAdjustments[0].Adjustment.eulerAngles); + for (int i = 0; i < boneAdjustments.Count; i++) { var adjustment = boneAdjustments[i]; // We use euler angles here as we want to rotate the adjustment point with the alignment rotation, // rather than combine the rotations. var adjustmentPoint = adjustment.Adjustment.eulerAngles; - adjustment.Adjustment = - Quaternion.Euler(adjustmentAlignment * adjustmentPoint); + var adjustmentResult = adjustmentAlignment * adjustmentPoint; + switch (adjustmentAxis) + { + case Axis.X: + adjustmentResult = Vector3.right * adjustmentResult.x; + break; + case Axis.Y: + adjustmentResult = Vector3.up * adjustmentResult.y; + break; + case Axis.Z: + adjustmentResult = Vector3.forward * adjustmentResult.z; + break; + } + adjustment.Adjustment = Quaternion.Euler(adjustmentResult); boneAdjustments[i] = adjustment; } + boneAdjustments.AddRange(shoulderBoneAdjustments); return boneAdjustments.ToArray(); } + private static Axis GetHipsAdjustmentAxis(Quaternion adjustmentAlignment, Vector3 hipsAdjustmentEulerAngles) + { + var hipsPreviewAdjustmentEuler = + Quaternion.Euler(adjustmentAlignment * hipsAdjustmentEulerAngles).eulerAngles; + var worldAdjustmentX = Mathf.Abs(hipsPreviewAdjustmentEuler.x > 180 ? + hipsPreviewAdjustmentEuler.x - 360 : hipsPreviewAdjustmentEuler.x); + var worldAdjustmentY = Mathf.Abs(hipsPreviewAdjustmentEuler.y > 180 ? + hipsPreviewAdjustmentEuler.y - 360 : hipsPreviewAdjustmentEuler.y); + var worldAdjustmentZ = Mathf.Abs(hipsPreviewAdjustmentEuler.z > 180 ? + hipsPreviewAdjustmentEuler.z - 360 : hipsPreviewAdjustmentEuler.z); + var largestWorldAdjustment = + Mathf.Max(worldAdjustmentX, Mathf.Max(worldAdjustmentY, worldAdjustmentZ)); + if (Mathf.Approximately(largestWorldAdjustment, worldAdjustmentZ)) + { + return Axis.Z; + } + if (Mathf.Approximately(largestWorldAdjustment, worldAdjustmentY)) + { + return Axis.Y; + } + return Axis.X; + } + /// /// Returns joint adjustments required for retargeting. /// @@ -344,15 +468,7 @@ public static JointAdjustment[] GetJointAdjustments(Animator animator, RestPoseO FullBodyDeformationConstraint constraint = null) { var adjustments = new List(); - BoneAdjustmentData[] boneAdjustmentData; - if (constraint != null) - { - boneAdjustmentData = (constraint.data as IFullBodyDeformationData).BoneAdjustments; - } - else - { - boneAdjustmentData = GetDeformationBoneAdjustments(animator, restPoseObject); - } + var boneAdjustmentData = GetDeformationBoneAdjustments(animator, restPoseObject); foreach (var boneAdjustment in boneAdjustmentData) { var rotationTweak = boneAdjustment.Adjustment; @@ -409,7 +525,7 @@ private static JointAdjustment[] GetFeetAdjustments(Animator animator, RestPoseO var legDotProduct = Vector3.Dot(leftLeg.forward, rightLeg.forward); var shouldMirrorLegs = legDotProduct < 0.0f; var adjustmentAlignment = - GetHipsRightForwardAlignmentForAdjustments(animator, Vector3.right, Vector3.forward); + GetHipsAlignmentForAdjustments(animator, Vector3.right, Vector3.forward); var leftFootAdjustment = GetFootJointAdjustment(animator, restPoseObject, HumanBodyBones.LeftFoot, HumanBodyBones.LeftToes, @@ -481,7 +597,7 @@ private static HumanBodyBones GetValidShoulderParentBone(Animator animator) /// The alignment right direction. /// The alignment forward direction. /// Rotation to align the hips right with the alignment right direction. - private static Quaternion GetHipsRightForwardAlignmentForAdjustments(Animator animator, + private static Quaternion GetHipsAlignmentForAdjustments(Animator animator, Vector3 alignmentRightDirection, Vector3 alignmentForwardDirection) { @@ -513,10 +629,12 @@ private static BoneAdjustmentData[] GetSpineJointAdjustments(Animator animator, var spineHumanBodyBone = spineHumanBodyBones[i]; if (animator.GetBoneTransform(spineHumanBodyBone) != null) { + // Find children going UP the spine. var spineChildBone = FindChildHumanBodyBones(animator, spineHumanBodyBone); - var mappingChildBone = OVRHumanBodyBonesMappings.BoneToJointPair[spineHumanBodyBone].Item2; + var ovrMappingChildBone = OVRHumanBodyBonesMappings.BoneToJointPair[spineHumanBodyBone].Item2; var adjustment = restPoseObject.CalculateRotationDifferenceFromRestPoseToAnimatorBonePair( - animator, spineHumanBodyBone, mappingChildBone, + animator, + spineHumanBodyBone, ovrMappingChildBone, spineHumanBodyBone, spineChildBone); var adjustmentData = new BoneAdjustmentData { @@ -634,7 +752,7 @@ private static HumanBodyBones[] GetValidShoulderBones(Animator animator) /// The target HumanBodyBones to find the child HumanBodyBone. /// The optional childIndex, if the target HumanBodyBone has multiple children. /// HumanBodyBones corresponding to the child index of the target HumanBodyBones. - private static HumanBodyBones FindChildHumanBodyBones(Animator animator, HumanBodyBones target, int childIndex = 0) + public static HumanBodyBones FindChildHumanBodyBones(Animator animator, HumanBodyBones target, int childIndex = 0) { // Handle hips. if (target == HumanBodyBones.Hips) diff --git a/Runtime/Scripts/AnimationRigging/ExternalBoneTargets.cs b/Runtime/Scripts/AnimationRigging/ExternalBoneTargets.cs index 2e377f2e..f19882e6 100644 --- a/Runtime/Scripts/AnimationRigging/ExternalBoneTargets.cs +++ b/Runtime/Scripts/AnimationRigging/ExternalBoneTargets.cs @@ -97,6 +97,9 @@ private void Initialize() { retargetedBoneTarget.BoneId = humanBodyBoneToOVRBoneId[retargetedBoneTarget.HumanBodyBone]; } + + // Sort by bone id. + _boneTargets = _boneTargets.OrderBy(x => x.BoneId).ToArray(); _initialized = true; } @@ -110,22 +113,23 @@ public void ProcessSkeleton(OVRSkeleton skeleton) { return; } + Initialize(); - IList bones = skeleton.Bones; + var retargetedBoneTargetIndex = 0; + var bones = skeleton.Bones; for (var i = 0; i < bones.Count; i++) { - foreach (var retargetedBoneTarget in _boneTargets) + var retargetedBoneTarget = _boneTargets[retargetedBoneTargetIndex]; + if (bones[i].Id == retargetedBoneTarget.BoneId) { - if (bones[i].Id == retargetedBoneTarget.BoneId) + retargetedBoneTargetIndex++; + var targetBone = bones[i].Transform; + if (targetBone == null) { - var targetBone = bones[i].Transform; - if (targetBone == null) - { - continue; - } - retargetedBoneTarget.Target.SetPositionAndRotation( - targetBone.position, targetBone.rotation); + continue; } + retargetedBoneTarget.Target.SetPositionAndRotation( + targetBone.position, targetBone.rotation); } } } diff --git a/Runtime/Scripts/AnimationRigging/FullBodyDeformationConstraint.cs b/Runtime/Scripts/AnimationRigging/FullBodyDeformationConstraint.cs index 0da7a142..7359ffea 100644 --- a/Runtime/Scripts/AnimationRigging/FullBodyDeformationConstraint.cs +++ b/Runtime/Scripts/AnimationRigging/FullBodyDeformationConstraint.cs @@ -265,6 +265,11 @@ public interface IFullBodyDeformationData /// public string AlignFeetWeightFloatProperty { get; } + /// + /// + /// + public string ShoulderRollFloatProperty { get; } + /// /// The distance between the hips and head bones. /// @@ -275,6 +280,27 @@ public interface IFullBodyDeformationData /// public float HipsToFootDistance { get; } + /// + /// Attempts to match the original spine positions. + /// Excludes heads and head. + /// WARNING! EXPERIMENTAL!: increasing this value might cause + /// inaccuracy wrt to body tracking. + /// + public string OriginalSpinePositionsWeightProperty { get; } + + /// + /// Control how many bones to straighten. + /// WARNING! EXPERIMENTAL! + /// + public string OriginalSpineBoneCountIntProperty { get; } + + /// + /// Indicates if the original spine positions should scale based on + /// the hips to head distance (proportionally). + /// WARNING! EXPERIMENTAL! + /// + public string OriginalSpineUseHipsToHeadScaleBoolProperty { get; } + /// /// Sets up hips and head bones. /// @@ -496,15 +522,32 @@ bool IFullBodyDeformationData.ShouldUpdate string IFullBodyDeformationData.RightToesWeightFloatProperty => ConstraintsUtils.ConstructConstraintDataPropertyName(nameof(_rightToesWeight)); + /// string IFullBodyDeformationData.AlignFeetWeightFloatProperty => ConstraintsUtils.ConstructConstraintDataPropertyName(nameof(_alignFeetWeight)); + /// + string IFullBodyDeformationData.ShoulderRollFloatProperty => + ConstraintsUtils.ConstructConstraintDataPropertyName(nameof(_shoulderRollWeight)); + /// float IFullBodyDeformationData.HipsToHeadDistance => _hipsToHeadDistance; /// float IFullBodyDeformationData.HipsToFootDistance => _hipsToFootDistance; + /// + string IFullBodyDeformationData.OriginalSpinePositionsWeightProperty => + ConstraintsUtils.ConstructConstraintDataPropertyName(nameof(_originalSpinePositionsWeight)); + + /// + string IFullBodyDeformationData.OriginalSpineBoneCountIntProperty => + ConstraintsUtils.ConstructConstraintDataPropertyName(nameof(_originalSpineBoneCount)); + + /// + string IFullBodyDeformationData.OriginalSpineUseHipsToHeadScaleBoolProperty => + ConstraintsUtils.ConstructConstraintDataPropertyName(nameof(_originalSpineUseHipsToHeadToScale)); + /// [SyncSceneToStream, SerializeField, IntAsEnumAttribute(typeof(DeformationBodyType))] [Tooltip(DeformationDataTooltips.DeformationBodyType)] @@ -587,6 +630,17 @@ public bool AffectArmsBySpineCorrection set => _affectArmsBySpineCorrection = value; } + /// + /// The weight for the deformation shoulder roll. + /// + [SyncSceneToStream, SerializeField, Range(0.0f, 1.0f)] + private float _shoulderRollWeight; + public float ShoulderRollWeight + { + get => _shoulderRollWeight; + set => _shoulderRollWeight = value; + } + /// /// The weight for the deformation on the left shoulder. /// @@ -749,6 +803,48 @@ public float AlignFeetWeight set => _alignFeetWeight = value; } + /// + /// Attempts to match the original spine positions. + /// Excludes heads and head. + /// WARNING: increasing this value might cause + /// inaccuracy wrt to body tracking. + /// + [SyncSceneToStream, SerializeField, Range(0.0f, 1.0f)] + [Tooltip(DeformationDataTooltips.OriginalSpinePositionsWeight)] + private float _originalSpinePositionsWeight; + public float OriginalSpinePositionsWeight + { + get => _originalSpinePositionsWeight; + set => _originalSpinePositionsWeight = value; + } + + /// + /// Number of spine bones to fix when matching the original spine. + /// Usually hips, spine, chest, upper chest, and neck. + /// + [SyncSceneToStream, SerializeField, Range(0, 5)] + [FormerlySerializedAs("_straightSpineBoneCount")] + [Tooltip(DeformationDataTooltips.OriginalSpineBoneCount)] + private int _originalSpineBoneCount; + public int OriginalSpineBoneCount + { + get => _originalSpineBoneCount; + set => _originalSpineBoneCount = value; + } + + /// + /// When using the original spine bone positions to influence + /// the current ones, scale them based on the current hips to head. + /// + [SyncSceneToStream, SerializeField] + [Tooltip(DeformationDataTooltips.OriginalSpineUseHipsToHeadToScale)] + private bool _originalSpineUseHipsToHeadToScale; + public bool OriginalSpineUseHipsToHeadToScale + { + get => _originalSpineUseHipsToHeadToScale; + set => _originalSpineUseHipsToHeadToScale = value; + } + /// [SyncSceneToStream, SerializeField, IntAsEnumAttribute(typeof(SpineTranslationCorrectionType))] [Tooltip(DeformationDataTooltips.SpineTranslationCorrectionType)] @@ -924,6 +1020,7 @@ public void SetUpLeftArmData() LowerArmBone = lowerArmBone, HandBone = handBone, ShoulderLocalPos = shoulder != null ? shoulder.localPosition : upperArmBone.localPosition, + ShoulderLocalRot = shoulder != null ? shoulder.localRotation : upperArmBone.localRotation, LowerArmToHandAxis = lowerArmBone.InverseTransformDirection(handBone.position - lowerArmBone.position).normalized }; @@ -943,6 +1040,7 @@ public void SetUpRightArmData() LowerArmBone = lowerArmBone, HandBone = handBone, ShoulderLocalPos = shoulder != null ? shoulder.localPosition : upperArmBone.localPosition, + ShoulderLocalRot = shoulder != null ? shoulder.localRotation : upperArmBone.localRotation, LowerArmToHandAxis = lowerArmBone.InverseTransformDirection(handBone.position - lowerArmBone.position).normalized }; @@ -1029,6 +1127,7 @@ public void SetUpBonePairs() }; bonePairs.Add(bonePair); } + _originalSpineBoneCount = _hipsToHeadBones.Length - 1; // Check for optional bones and update accordingly. var chestBone = FindBoneTransform(OVRSkeleton.BoneId.FullBody_Chest); @@ -1182,6 +1281,14 @@ public void SetUpBonePairs() } _bonePairData = bonePairs.ToArray(); + for (int i = 0; i < _bonePairData.Length; i++) + { + var startToEndVector = + (_bonePairData[i].EndBone.position - _bonePairData[i].StartBone.position); + var endBoneWorldToLocal = _bonePairData[i].EndBone.worldToLocalMatrix; + _bonePairData[i].EndBoneLocalOffsetFromStart = + endBoneWorldToLocal.MultiplyVector(startToEndVector); + } } /// @@ -1352,6 +1459,9 @@ void IAnimationJobData.SetDefaultValues() _alignRightLegWeight = 0.0f; _leftToesWeight = 0.0f; _rightToesWeight = 0.0f; + _originalSpinePositionsWeight = 0.0f; + _originalSpineBoneCount = 0; + _originalSpineUseHipsToHeadToScale = false; _startingScale = Vector3.one; _bonePairData = null; diff --git a/Runtime/Scripts/AnimationRigging/FullBodyDeformationJob.cs b/Runtime/Scripts/AnimationRigging/FullBodyDeformationJob.cs index 4386aee9..e346bc66 100644 --- a/Runtime/Scripts/AnimationRigging/FullBodyDeformationJob.cs +++ b/Runtime/Scripts/AnimationRigging/FullBodyDeformationJob.cs @@ -232,6 +232,11 @@ public struct BoneDeformationAdjustmentData /// public NativeArray BoneDirections; + /// + /// Original bone directions of the character. + /// + public NativeArray EndBoneOffsetsLocal; + /// /// The array containing 1 element for the current scale ratio. /// @@ -362,6 +367,26 @@ public struct BoneDeformationAdjustmentData /// public FloatProperty AlignFeetWeight; + /// + /// Original spine positions weight. + /// + public FloatProperty OriginalSpinePositionsWeight; + + /// + /// Shoulder roll weight. + /// + public FloatProperty ShoulderRollWeight; + + /// + /// Number of bones to fix when straightening the spine. + /// + public IntProperty OriginalSpineBoneCount; + + /// + /// Use the current hips to head to scale original spine positions. + /// + public BoolProperty OriginalSpineUseHipsToHeadToScale; + /// /// True if the arms should be affected by spine correction. /// @@ -402,6 +427,11 @@ public struct BoneDeformationAdjustmentData /// public float LowerBodyProportion; + /// + /// Hips to head distance on original character. + /// + public float OriginalHipsToHeadDistance; + private Vector3 _targetHipsPos; private Vector3 _targetHeadPos; private Vector3 _preDeformationLeftUpperArmLocalPos; @@ -416,8 +446,8 @@ public struct BoneDeformationAdjustmentData private Vector3 _hipsGroundingOffset; private Vector3 _requiredSpineOffset; - private int _leftShoulderBoneAnimIndex => HipsToHeadBones.Length - 1; - private int _rightShoulderBoneAnimIndex => _leftShoulderBoneAnimIndex + 1; + private int _leftShoulderEndBoneAnimIndex => HipsToHeadBones.Length - 1; + private int _rightShoulderEndBoneAnimIndex => _leftShoulderEndBoneAnimIndex + 1; private int _leftUpperLegBoneAnimIndex => BoneAnimData.Length - 6; private int _rightUpperLegBoneAnimIndex => _leftUpperLegBoneAnimIndex + 1; private int _leftLowerLegBoneAnimIndex => _leftUpperLegBoneAnimIndex + 2; @@ -459,6 +489,9 @@ private Vector3 _rightFootTargetPos /// public FloatProperty jobWeight { get; set; } + public Quaternion RightShoulderOriginalLocalRot { get; set; } + public Quaternion LeftShoulderOriginalLocalRot { get; set; } + /// public void ProcessRootMotion(AnimationStream stream) { @@ -489,12 +522,13 @@ public void ProcessAnimation(AnimationStream stream) CalculateOffsets(stream, weight); InterpolateLegs(stream, weight); ApplySpineCorrection(stream, weight); + ApplyOriginalSpineOffsets(stream, weight); ApplyShouldersCorrection(stream, weight); InterpolateArms(stream, weight); InterpolateHands(stream, weight); ApplyAccurateFeet(stream, weight); AlignFeet(stream, weight); - InterpolateToesY(stream, weight); + InterpolateAllToes(stream, weight); } else { @@ -507,6 +541,7 @@ public void ProcessAnimation(AnimationStream stream) EnforceOriginalSkeletalProportions(stream, weight); CalculateOffsets(stream, weight); ApplySpineCorrection(stream, weight); + ApplyOriginalSpineOffsets(stream, weight); ApplyShouldersCorrection(stream, weight); InterpolateArms(stream, weight); InterpolateHands(stream, weight); @@ -699,6 +734,81 @@ private void AlignSpine(AnimationStream stream, float weight) } } + /// + /// Tries to align the spine bones with the original character's bone directions. + /// We still need to maintain the original hip rotation, and that the head bone is + /// not touched since we don't to lose head tracking accuracy. + /// + /// Animation stream. + /// Weight. + private void ApplyOriginalSpineOffsets(AnimationStream stream, float weight) + { + float originalSpinePositionsWeight = OriginalSpinePositionsWeight.Get(stream); + if (originalSpinePositionsWeight <= float.Epsilon) + { + return; + } + originalSpinePositionsWeight *= weight; + bool scaleBasedOnCurrentHeadToHips = OriginalSpineUseHipsToHeadToScale.Get(stream); + + // make sure the requested bone count does not exceed the head index + int requestedBoneCount = OriginalSpineBoneCount.Get(stream); + int numBonesToCorrect = (HeadIndex - 1) < requestedBoneCount ? + HeadIndex - 1 : requestedBoneCount; + float currentToOriginalSpineScale = ComputeCurrentToOriginalSpineScale(stream); + + for (int i = HipsIndex; i < numBonesToCorrect; i++) + { + var boneToAffect = EndBones[i]; + // we need the offset from the bone before to tell us where our + // current spine bone should be + var boneOffset = EndBoneOffsetsLocal[i]; + + if (scaleBasedOnCurrentHeadToHips) + { + boneOffset *= currentToOriginalSpineScale; + } + + AffectBoneByFixedLocalPosition( + stream, + boneToAffect, + boneOffset, + originalSpinePositionsWeight); + + EndBones[i] = boneToAffect; + } + } + + private float ComputeCurrentToOriginalSpineScale(AnimationStream stream) + { + // accumulate the distance from hips to head + float currentTotalHipsToHeadDistance = 0.0f; + for (int i = HipsIndex; i < HeadIndex; i++) + { + var spineVector = EndBones[i].GetPosition(stream) - StartBones[i].GetPosition(stream); + currentTotalHipsToHeadDistance += spineVector.magnitude; + } + return Mathf.Abs(OriginalHipsToHeadDistance) > Mathf.Epsilon ? + currentTotalHipsToHeadDistance / OriginalHipsToHeadDistance : 0.0f; + } + + private void AffectBoneByFixedLocalPosition( + AnimationStream stream, + ReadWriteTransformHandle boneToAffect, + Vector3 boneFixedLocalPosition, + float originalSpinePositionsWeight) + { + if (!boneToAffect.IsValid(stream)) + { + return; + } + + var boneOriginalLocalPos = boneToAffect.GetLocalPosition(stream); + var lerpPosition = Vector3.Lerp(boneOriginalLocalPos, + boneFixedLocalPosition, originalSpinePositionsWeight); + boneToAffect.SetLocalPosition(stream, lerpPosition); + } + /// /// Optionally interpolate from the current position to the original local position of the shoulders, /// as the tracked positions may be mismatched. @@ -731,7 +841,7 @@ private void InterpolateShoulders(AnimationStream stream, float weight) } else { - var rightUpperArmPos = LeftUpperArmBone.GetLocalPosition(stream); + var rightUpperArmPos = RightUpperArmBone.GetLocalPosition(stream); var rightUpperArmOffset = Vector3.Lerp(Vector3.zero, RightShoulderOriginalLocalPos - rightUpperArmPos, weight * RightShoulderOffsetWeight.Get(stream)); RightUpperArmBone.SetLocalPosition(stream, rightUpperArmPos + rightUpperArmOffset); @@ -849,7 +959,7 @@ private void ApplySpineCorrection(AnimationStream stream, float weight) { var rightShoulderPos = RightShoulderBone.GetPosition(stream); var rightShoulderOffset = (shouldersParentPos - rightShoulderPos).normalized * - shoulderHeightAdjustment * BoneAnimData[_rightShoulderBoneAnimIndex].LimbProportion; + shoulderHeightAdjustment * BoneAnimData[_rightShoulderEndBoneAnimIndex].LimbProportion; RightUpperArmBone.SetPosition(stream, RightUpperArmBone.GetPosition(stream) + Vector3.Lerp(Vector3.zero, rightShoulderOffset, weight)); } @@ -857,7 +967,7 @@ private void ApplySpineCorrection(AnimationStream stream, float weight) { var leftShoulderPos = LeftShoulderBone.GetPosition(stream); var leftShoulderOffset = (shouldersParentPos - leftShoulderPos).normalized * - shoulderHeightAdjustment * BoneAnimData[_leftShoulderBoneAnimIndex].LimbProportion; + shoulderHeightAdjustment * BoneAnimData[_leftShoulderEndBoneAnimIndex].LimbProportion; LeftUpperArmBone.SetPosition(stream, LeftUpperArmBone.GetPosition(stream) + Vector3.Lerp(Vector3.zero, leftShoulderOffset, weight)); } @@ -1181,12 +1291,15 @@ private void EnforceOriginalSkeletalProportions(AnimationStream stream, float we private void ApplyShouldersCorrection(AnimationStream stream, float weight) { // Adjust the y value of the shoulders. - UpdateShoulderY(stream, weight, _leftShoulderBoneAnimIndex); - UpdateShoulderY(stream, weight, _rightShoulderBoneAnimIndex); + UpdateShoulderY(stream, weight, _leftShoulderEndBoneAnimIndex); + UpdateShoulderY(stream, weight, _rightShoulderEndBoneAnimIndex); // Adjust the width of the shoulders. - UpdateShoulderWidth(stream, weight, _leftShoulderBoneAnimIndex); - UpdateShoulderWidth(stream, weight, _rightShoulderBoneAnimIndex); + UpdateShoulderWidth(stream, weight, _leftShoulderEndBoneAnimIndex); + UpdateShoulderWidth(stream, weight, _rightShoulderEndBoneAnimIndex); + + // Rotate shoulders, but keep upper arm rotations. + UpdateShoulderRoll(stream, weight); } private void UpdateShoulderY(AnimationStream stream, float weight, int index) @@ -1222,6 +1335,34 @@ private void UpdateShoulderWidth(AnimationStream stream, float weight, int index EndBones[index] = shoulderBone; } + private void UpdateShoulderRoll(AnimationStream stream, float weight) + { + var shoulderRollWeight = weight * ShoulderRollWeight.Get(stream); + if (LeftShoulderBone.IsValid(stream) && RightShoulderBone.IsValid(stream)) + { + var leftShoulderRotation = LeftShoulderBone.GetLocalRotation(stream); + var rightShoulderRotation = RightShoulderBone.GetLocalRotation(stream); + var leftUpperArmRotation = LeftUpperArmBone.GetRotation(stream); + var rightUpperArmRotation = RightUpperArmBone.GetRotation(stream); + var leftTargetShoulderRotation = LeftShoulderOriginalLocalRot; + var rightTargetShoulderRotation = RightShoulderOriginalLocalRot; + LeftShoulderBone.SetLocalRotation(stream, + Quaternion.Slerp( + leftShoulderRotation, leftTargetShoulderRotation, shoulderRollWeight)); + RightShoulderBone.SetLocalRotation(stream, + Quaternion.Slerp( + rightShoulderRotation, rightTargetShoulderRotation, shoulderRollWeight)); + LeftUpperArmBone.SetRotation(stream, leftUpperArmRotation); + RightUpperArmBone.SetRotation(stream, rightUpperArmRotation); + } + else + { + // If shoulder bones aren't valid, use the upper arm bone rotations. + LeftUpperArmBone.SetLocalRotation(stream, LeftShoulderOriginalLocalRot); + RightUpperArmBone.SetLocalRotation(stream, RightShoulderOriginalLocalRot); + } + } + /// /// Interpolates the arm positions from the pre-deformation positions to the positions after skeletal /// proportions are enforced. The hand positions can be incorrect after this function. @@ -1284,36 +1425,41 @@ private void InterpolateLegs(AnimationStream stream, float weight) } /// - /// Interpolates the toes Y position from the pre-deformation positions to the original local positions after - /// skeletal proportions are enforced. + /// Influence the toe positions based on what their original + /// local positions were. This should be run after the character's + /// proportions are enforced. /// /// The animation stream. /// The weight of this operation. - private void InterpolateToesY(AnimationStream stream, float weight) + private void InterpolateAllToes(AnimationStream stream, float weight) { - var leftToesOffsetWeight = weight * LeftToesOffsetWeight.Get(stream); - var rightToesOffsetWeight = weight * RightToesOffsetWeight.Get(stream); - - // Modify only the y component of the toes. - if (LeftToesBone.IsValid(stream)) + if (LeftToesBone.IsValid(stream) && LeftFootBone.IsValid(stream)) { - var leftToesOffsetVector = ApplyScaleAndWeight( - Vector3.up * (LeftToesOriginalLocalPos.y - LeftToesBone.GetLocalPosition(stream).y), - leftToesOffsetWeight); - var targetLeftToesPos = LeftToesBone.GetPosition(stream) + leftToesOffsetVector; - LeftToesBone.SetPosition(stream, targetLeftToesPos); + InterpolateToes(stream, LeftToesBone, LeftToesOriginalLocalPos, + weight * LeftToesOffsetWeight.Get(stream)); } - if (RightToesBone.IsValid(stream)) + if (RightToesBone.IsValid(stream) && RightFootBone.IsValid(stream)) { - var rightToesOffsetVector = ApplyScaleAndWeight( - Vector3.up * (RightToesOriginalLocalPos.y - RightToesBone.GetLocalPosition(stream).y), - rightToesOffsetWeight); - var targetRightToesPos = RightToesBone.GetPosition(stream) + rightToesOffsetVector; - RightToesBone.SetPosition(stream, targetRightToesPos); + InterpolateToes(stream, RightToesBone, RightToesOriginalLocalPos, + weight * RightToesOffsetWeight.Get(stream)); } } + private void InterpolateToes(AnimationStream stream, + ReadWriteTransformHandle toesBone, + Vector3 toesOriginalLocalPos, + float toesOffsetWeight) + { + var offsetToOriginalToesLocal = toesOriginalLocalPos - toesBone.GetLocalPosition(stream); + // We need to interpolate the offset, and scale it as well. THEN add it to compute + // the final position. + var scaledAndWeightLocalOffset = ApplyScaleAndWeight( + offsetToOriginalToesLocal, toesOffsetWeight); + var adjustedToesLocalPos = toesBone.GetLocalPosition(stream) + scaledAndWeightLocalOffset; + toesBone.SetLocalPosition(stream, adjustedToesLocalPos); + } + private Vector3 ApplyScaleAndWeight(Vector3 target, float weight) { return Vector3.Scale(Vector3.Lerp(Vector3.zero, target, weight), ScaleFactor[0]); @@ -1400,8 +1546,11 @@ public override FullBodyDeformationJob Create(Animator animator, ref T data, Com NativeArrayOptions.UninitializedMemory); job.BoneDirections = new NativeArray(data.BonePairs.Length, Allocator.Persistent, NativeArrayOptions.UninitializedMemory); + job.EndBoneOffsetsLocal = new NativeArray(data.BonePairs.Length, Allocator.Persistent, + NativeArrayOptions.UninitializedMemory); job.ScaleFactor = new NativeArray(1, Allocator.Persistent, NativeArrayOptions.UninitializedMemory); + job.OriginalHipsToHeadDistance = data.HipsToHeadDistance; var upperBodyProportion = 0.0f; for (int i = 0; i < data.HipsToHeadBones.Length; i++) @@ -1434,6 +1583,13 @@ public override FullBodyDeformationJob Create(Animator animator, ref T data, Com job.StartBones[i] = ReadWriteTransformHandle.Bind(animator, data.BonePairs[i].StartBone); job.EndBones[i] = ReadWriteTransformHandle.Bind(animator, data.BonePairs[i].EndBone); job.BoneAnimData[i] = boneAnimData; + + job.EndBoneOffsetsLocal[i] = data.BonePairs[i].EndBoneLocalOffsetFromStart; + if (job.EndBoneOffsetsLocal[i].magnitude < Mathf.Epsilon) + { + Debug.LogWarning("End bone offsets invalid for deformation job, please run" + + " bone calculation."); + } } for (int i = 0; i < data.BoneAdjustments.Length; i++) @@ -1483,6 +1639,14 @@ public override FullBodyDeformationJob Create(Animator animator, ref T data, Com FloatProperty.Bind(animator, component, data.LeftShoulderWeightFloatProperty); job.RightShoulderOffsetWeight = FloatProperty.Bind(animator, component, data.RightShoulderWeightFloatProperty); + job.ShoulderRollWeight = + FloatProperty.Bind(animator, component, data.ShoulderRollFloatProperty); + job.OriginalSpinePositionsWeight = + FloatProperty.Bind(animator, component, data.OriginalSpinePositionsWeightProperty); + job.OriginalSpineBoneCount = + IntProperty.Bind(animator, component, data.OriginalSpineBoneCountIntProperty); + job.OriginalSpineUseHipsToHeadToScale = + BoolProperty.Bind(animator, component, data.OriginalSpineUseHipsToHeadScaleBoolProperty); job.LeftArmOffsetWeight = FloatProperty.Bind(animator, component, data.LeftArmWeightFloatProperty); job.RightArmOffsetWeight = FloatProperty.Bind(animator, component, data.RightArmWeightFloatProperty); job.LeftHandOffsetWeight = FloatProperty.Bind(animator, component, data.LeftHandWeightFloatProperty); @@ -1518,6 +1682,8 @@ public override FullBodyDeformationJob Create(Animator animator, ref T data, Com job.RightToesOriginalLocalPos = data.RightLeg.ToesLocalPos; job.LeftShoulderOriginalLocalPos = data.LeftArm.ShoulderLocalPos; job.RightShoulderOriginalLocalPos = data.RightArm.ShoulderLocalPos; + job.LeftShoulderOriginalLocalRot = data.LeftArm.ShoulderLocalRot; + job.RightShoulderOriginalLocalRot = data.RightArm.ShoulderLocalRot; job.LeftFootLocalRot = data.LeftLeg.FootLocalRot; job.RightFootLocalRot = data.RightLeg.FootLocalRot; @@ -1537,6 +1703,7 @@ public override void Update(FullBodyDeformationJob job, ref T data) : data.ConstraintAnimator.transform.lossyScale; job.ScaleFactor[0] = RiggingUtilities.DivideVector3(currentScale, data.StartingScale); + base.Update(job, ref data); if (!data.IsBoneTransformsDataValid()) @@ -1559,6 +1726,7 @@ public override void Destroy(FullBodyDeformationJob job) job.UpperBodyTargetPositions.Dispose(); job.LowerBodyTargetPositions.Dispose(); job.BoneDirections.Dispose(); + job.EndBoneOffsetsLocal.Dispose(); job.ScaleFactor.Dispose(); } } diff --git a/Runtime/Scripts/AnimationRigging/PlaybackAnimationJob.cs b/Runtime/Scripts/AnimationRigging/PlaybackAnimationJob.cs index 71903e46..19220928 100644 --- a/Runtime/Scripts/AnimationRigging/PlaybackAnimationJob.cs +++ b/Runtime/Scripts/AnimationRigging/PlaybackAnimationJob.cs @@ -176,7 +176,7 @@ public override void Update(PlaybackAnimationJob job, ref T data) if (playbackType == PlaybackAnimationData.AnimationPlaybackType.None || (data.AnimationMask != null && - !data.AnimationMask.GetHumanoidBodyPartActive(BoneMappingsExtension.HumanBoneToAvatarBodyPart[i]))) + !data.AnimationMask.GetHumanoidBodyPartActive(BoneMappingsExtension.HumanBoneToAvatarBodyPartArray[(int)i]))) { job.BonePositionDeltas[index] = Vector3.zero; job.BoneRotationDeltas[index] = Quaternion.identity; diff --git a/Runtime/Scripts/AnimationRigging/ProxyTransformLogic.cs b/Runtime/Scripts/AnimationRigging/ProxyTransformLogic.cs index 156cf236..3b205151 100644 --- a/Runtime/Scripts/AnimationRigging/ProxyTransformLogic.cs +++ b/Runtime/Scripts/AnimationRigging/ProxyTransformLogic.cs @@ -171,7 +171,7 @@ private void CleanUpOldProxyTransforms() GameObject.Destroy(proxyParent.gameObject); } - // + /// /// Sometimes source transforms change even though the IDs are the same, /// and proxies are only recreated if the bone IDs of the sources change. /// Make sure they are set properly. diff --git a/Runtime/Scripts/AnimationRigging/RetargetedBoneMappings.cs b/Runtime/Scripts/AnimationRigging/RetargetedBoneMappings.cs new file mode 100644 index 00000000..49d8d027 --- /dev/null +++ b/Runtime/Scripts/AnimationRigging/RetargetedBoneMappings.cs @@ -0,0 +1,318 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using Oculus.Interaction.Body.Input; +using Oculus.Movement.Utils; +using System; +using System.Collections.Generic; +using UnityEngine; +using static OVRUnityHumanoidSkeletonRetargeter.OVRHumanBodyBonesMappings; + +namespace Oculus.Movement.AnimationRigging +{ + [Serializable] + public class RetargetedBoneMappings : OVRHumanBodyBonesMappingsInterface + { + /// + public Dictionary> GetBoneToJointPair => + _boneToJointPair; + + /// + public Dictionary> GetBoneIdToJointPair => + _fullBodyBoneIdToBonePairs; + + /// + public Dictionary> GetFullBodyBoneIdToJointPair => + _fullBodyBoneIdToBonePairs; + + /// + public Dictionary GetBoneIdToHumanBodyBone => + _fullBodyBoneIdToHumanBodyBone; + + /// + public Dictionary GetFullBodyBoneIdToHumanBodyBone => + _fullBodyBoneIdToHumanBodyBone; + + // Static members from interface. + /// + public Dictionary GetBoneToBodySection => + BoneToBodySection; + + /// + /// HumanBodyBone pairs for this humanoid. + /// + [SerializeField, EnumNamedArray(typeof(HumanBodyBones))] + [Tooltip(RetargetedBoneMappingsTooltips.HumanBodyBonePairs)] + private HumanBodyBones[] _humanBodyBonePairs; + + /// + /// HumanBodyBone to BodyJointId mapping for this humanoid. + /// + [SerializeField, EnumNamedArray(typeof(HumanBodyBones))] + [Tooltip(RetargetedBoneMappingsTooltips.HumanBodyBoneToBoneId)] + private FullBodyTrackingBoneId[] _humanBodyBoneToBoneId; + + /// + /// BodyJointId to BodyJointId mapping for this humanoid. + /// + [SerializeField, EnumNamedArray(typeof(FullBodyTrackingBoneId))] + [Tooltip(RetargetedBoneMappingsTooltips.HumanBodyBoneToBoneId)] + private FullBodyTrackingBoneId[] _boneIdToBonePairs; + + private Dictionary> _boneToJointPair; + private Dictionary> _fullBodyBoneIdToBonePairs; + private Dictionary _fullBodyBoneIdToHumanBodyBone; + + /// + /// Update bone pair mappings for the retargeted humanoid. + /// + /// The retargeting layer. + public void UpdateBonePairMappings(RetargetingLayer retargetingLayer) + { + var animator = retargetingLayer.GetComponent(); + var humanBodyBonePairs = new List(); + for (int i = 0; i < (int)HumanBodyBones.LastBone; i++) + { + var bone = (HumanBodyBones)i; + var childBone = DeformationUtilities.FindChildHumanBodyBones(animator, bone); + // Specific child bone mapping for the hands. + if (bone == HumanBodyBones.LeftHand) + { + childBone = HumanBodyBones.LeftMiddleProximal; + } + else if (bone == HumanBodyBones.RightHand) + { + childBone = HumanBodyBones.RightMiddleProximal; + } + + // If the child bone isn't a valid bone, use the parent bone. + // This is required so that a valid mapping exists for all HumanBodyBones, even for + // the bones that are not being retargeted for the OVRHumanBodyBonesMappingsInterface, + // preventing warnings in retargeting for missing HumanBodyBones mappings. + if (childBone == HumanBodyBones.LastBone) + { + childBone = bone; + } + humanBodyBonePairs.Add(childBone); + } + _humanBodyBonePairs = humanBodyBonePairs.ToArray(); + UpdateBoneIdToBonePairs(); + UpdateHumanBodyBoneToBoneId(animator); + +#if UNITY_EDITOR + UnityEditor.EditorUtility.SetDirty(retargetingLayer); + UnityEditor.PrefabUtility.RecordPrefabInstancePropertyModifications(retargetingLayer); +#endif + } + + /// + /// Converts the existing human body bone mappings to dictionaries required for the interface. + /// + /// Returns true if valid bone pairs were converted to dictionaries successfully. + public bool ConvertBonePairsToDictionaries() + { + if (_humanBodyBonePairs == null || _humanBodyBonePairs.Length == 0 || + _humanBodyBoneToBoneId == null || _humanBodyBoneToBoneId.Length == 0 || + _boneIdToBonePairs == null || _boneIdToBonePairs.Length == 0) + { + Debug.LogWarning("Required human body bone mappings is missing! Using default mappings."); + return false; + } + + _boneToJointPair = new Dictionary>(); + _fullBodyBoneIdToHumanBodyBone = new Dictionary(); + for (var bone = HumanBodyBones.Hips; bone < HumanBodyBones.LastBone; bone++) + { + var boneIndex = (int)bone; + var childBone = _humanBodyBonePairs[boneIndex]; + var targetBone = _humanBodyBoneToBoneId[boneIndex]; + var targetBoneId = (OVRSkeleton.BoneId)targetBone; + + _boneToJointPair.Add(bone, new Tuple(bone, childBone)); + if (targetBone != FullBodyTrackingBoneId.Remove) + { + _fullBodyBoneIdToHumanBodyBone.Add(targetBoneId, bone); + } + } + + // Update bone to bone mapping + _fullBodyBoneIdToBonePairs = new Dictionary>(); + for (var bone = FullBodyTrackingBoneId.FullBody_Hips; bone < FullBodyTrackingBoneId.FullBody_End; bone++) + { + var boneId = (OVRSkeleton.BoneId)bone; + var targetBoneId = _boneIdToBonePairs[(int)bone + 1]; + if (targetBoneId == FullBodyTrackingBoneId.Remove) + { + continue; + } + + var childBoneId = (OVRSkeleton.BoneId)targetBoneId; + _fullBodyBoneIdToBonePairs.Add(boneId, + new Tuple(boneId, childBoneId)); + } + return true; + } + + private void UpdateBoneIdToBonePairs() + { + _boneIdToBonePairs = new [] + { + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_SpineLower, + FullBodyTrackingBoneId.FullBody_SpineMiddle, + FullBodyTrackingBoneId.FullBody_SpineUpper, + FullBodyTrackingBoneId.FullBody_Chest, + FullBodyTrackingBoneId.FullBody_Neck, + FullBodyTrackingBoneId.FullBody_Head, + FullBodyTrackingBoneId.FullBody_Head, + FullBodyTrackingBoneId.FullBody_LeftArmUpper, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_LeftArmLower, + FullBodyTrackingBoneId.FullBody_LeftHandWrist, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_RightArmUpper, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_RightArmLower, + FullBodyTrackingBoneId.FullBody_RightHandWrist, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_LeftHandMiddleProximal, + FullBodyTrackingBoneId.FullBody_LeftHandThumbProximal, + FullBodyTrackingBoneId.FullBody_LeftHandThumbDistal, + FullBodyTrackingBoneId.FullBody_LeftHandThumbTip, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_LeftHandIndexProximal, + FullBodyTrackingBoneId.FullBody_LeftHandIndexIntermediate, + FullBodyTrackingBoneId.FullBody_LeftHandIndexDistal, + FullBodyTrackingBoneId.FullBody_LeftHandIndexTip, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_LeftHandMiddleProximal, + FullBodyTrackingBoneId.FullBody_LeftHandMiddleIntermediate, + FullBodyTrackingBoneId.FullBody_LeftHandMiddleDistal, + FullBodyTrackingBoneId.FullBody_LeftHandMiddleTip, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_LeftHandRingProximal, + FullBodyTrackingBoneId.FullBody_LeftHandRingIntermediate, + FullBodyTrackingBoneId.FullBody_LeftHandRingDistal, + FullBodyTrackingBoneId.FullBody_LeftHandRingTip, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_LeftHandLittleProximal, + FullBodyTrackingBoneId.FullBody_LeftHandLittleIntermediate, + FullBodyTrackingBoneId.FullBody_LeftHandLittleDistal, + FullBodyTrackingBoneId.FullBody_LeftHandLittleTip, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_RightHandMiddleProximal, + FullBodyTrackingBoneId.FullBody_RightHandThumbProximal, + FullBodyTrackingBoneId.FullBody_RightHandThumbDistal, + FullBodyTrackingBoneId.FullBody_RightHandThumbTip, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_RightHandIndexProximal, + FullBodyTrackingBoneId.FullBody_RightHandIndexIntermediate, + FullBodyTrackingBoneId.FullBody_RightHandIndexDistal, + FullBodyTrackingBoneId.FullBody_RightHandIndexTip, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_RightHandMiddleProximal, + FullBodyTrackingBoneId.FullBody_RightHandMiddleIntermediate, + FullBodyTrackingBoneId.FullBody_RightHandMiddleDistal, + FullBodyTrackingBoneId.FullBody_RightHandMiddleTip, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_RightHandRingProximal, + FullBodyTrackingBoneId.FullBody_RightHandRingIntermediate, + FullBodyTrackingBoneId.FullBody_RightHandRingDistal, + FullBodyTrackingBoneId.FullBody_RightHandRingTip, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_RightHandLittleProximal, + FullBodyTrackingBoneId.FullBody_RightHandLittleIntermediate, + FullBodyTrackingBoneId.FullBody_RightHandLittleDistal, + FullBodyTrackingBoneId.FullBody_RightHandLittleTip, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_LeftLowerLeg, + FullBodyTrackingBoneId.FullBody_LeftFootAnkle, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_LeftFootBall, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_LeftFootBall, + FullBodyTrackingBoneId.FullBody_RightLowerLeg, + FullBodyTrackingBoneId.FullBody_RightFootAnkle, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_RightFootBall, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.Remove, + FullBodyTrackingBoneId.FullBody_RightFootBall, + }; + } + + private void UpdateHumanBodyBoneToBoneId(Animator animator) + { + // The Humanoid Chest bone is mapped to the OVRSkeleton.SpineMiddle bone, instead of the default mapping + // which is the OVRSkeleton.SpineUpper bone. + _humanBodyBoneToBoneId = new [] + { + FullBodyTrackingBoneId.FullBody_Hips, // Hips + FullBodyTrackingBoneId.FullBody_LeftUpperLeg, + FullBodyTrackingBoneId.FullBody_RightUpperLeg, + FullBodyTrackingBoneId.FullBody_LeftLowerLeg, + FullBodyTrackingBoneId.FullBody_RightLowerLeg, + FullBodyTrackingBoneId.FullBody_LeftFootAnkle, + FullBodyTrackingBoneId.FullBody_RightFootAnkle, + FullBodyTrackingBoneId.FullBody_SpineLower, // Spine + FullBodyTrackingBoneId.FullBody_SpineMiddle, // Chest + FullBodyTrackingBoneId.FullBody_Neck, // Neck + FullBodyTrackingBoneId.FullBody_Head, // Head + FullBodyTrackingBoneId.FullBody_LeftShoulder, + FullBodyTrackingBoneId.FullBody_RightShoulder, + FullBodyTrackingBoneId.FullBody_LeftArmUpper, + FullBodyTrackingBoneId.FullBody_RightArmUpper, + FullBodyTrackingBoneId.FullBody_LeftArmLower, + FullBodyTrackingBoneId.FullBody_RightArmLower, + FullBodyTrackingBoneId.FullBody_LeftHandWrist, + FullBodyTrackingBoneId.FullBody_RightHandWrist, + FullBodyTrackingBoneId.FullBody_LeftFootBall, + FullBodyTrackingBoneId.FullBody_RightFootBall, + FullBodyTrackingBoneId.Remove, // LeftEye + FullBodyTrackingBoneId.Remove, // RightEye + FullBodyTrackingBoneId.Remove, // Jaw + FullBodyTrackingBoneId.FullBody_LeftHandThumbMetacarpal, + FullBodyTrackingBoneId.FullBody_LeftHandThumbProximal, + FullBodyTrackingBoneId.FullBody_LeftHandThumbDistal, + FullBodyTrackingBoneId.FullBody_LeftHandIndexProximal, + FullBodyTrackingBoneId.FullBody_LeftHandIndexIntermediate, + FullBodyTrackingBoneId.FullBody_LeftHandIndexDistal, + FullBodyTrackingBoneId.FullBody_LeftHandMiddleProximal, + FullBodyTrackingBoneId.FullBody_LeftHandMiddleIntermediate, + FullBodyTrackingBoneId.FullBody_LeftHandMiddleDistal, + FullBodyTrackingBoneId.FullBody_LeftHandRingProximal, + FullBodyTrackingBoneId.FullBody_LeftHandRingIntermediate, + FullBodyTrackingBoneId.FullBody_LeftHandRingDistal, + FullBodyTrackingBoneId.FullBody_LeftHandLittleProximal, + FullBodyTrackingBoneId.FullBody_LeftHandLittleIntermediate, + FullBodyTrackingBoneId.FullBody_LeftHandLittleDistal, + FullBodyTrackingBoneId.FullBody_RightHandThumbMetacarpal, + FullBodyTrackingBoneId.FullBody_RightHandThumbProximal, + FullBodyTrackingBoneId.FullBody_RightHandThumbDistal, + FullBodyTrackingBoneId.FullBody_RightHandIndexProximal, + FullBodyTrackingBoneId.FullBody_RightHandIndexIntermediate, + FullBodyTrackingBoneId.FullBody_RightHandIndexDistal, + FullBodyTrackingBoneId.FullBody_RightHandMiddleProximal, + FullBodyTrackingBoneId.FullBody_RightHandMiddleIntermediate, + FullBodyTrackingBoneId.FullBody_RightHandMiddleDistal, + FullBodyTrackingBoneId.FullBody_RightHandRingProximal, + FullBodyTrackingBoneId.FullBody_RightHandRingIntermediate, + FullBodyTrackingBoneId.FullBody_RightHandRingDistal, + FullBodyTrackingBoneId.FullBody_RightHandLittleProximal, + FullBodyTrackingBoneId.FullBody_RightHandLittleIntermediate, + FullBodyTrackingBoneId.FullBody_RightHandLittleDistal, + FullBodyTrackingBoneId.FullBody_Chest, // UpperChest + }; + + // If the upper chest is missing, update the chest mapping to map to the SpineUpper bone, rather than + // the Chest bone. + if (animator.GetBoneTransform(HumanBodyBones.UpperChest) == null) + { + _humanBodyBoneToBoneId[(int)HumanBodyBones.Chest] = FullBodyTrackingBoneId.FullBody_SpineUpper; + } + } + } +} diff --git a/Runtime/Scripts/AnimationRigging/RetargetedBoneMappings.cs.meta b/Runtime/Scripts/AnimationRigging/RetargetedBoneMappings.cs.meta new file mode 100644 index 00000000..6d6ba766 --- /dev/null +++ b/Runtime/Scripts/AnimationRigging/RetargetedBoneMappings.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: e4e7810bd8911bf4991a7ef83c1e88dc +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/AnimationRigging/RetargetingLayer.cs b/Runtime/Scripts/AnimationRigging/RetargetingLayer.cs index 3db068d7..5d8dbd1b 100644 --- a/Runtime/Scripts/AnimationRigging/RetargetingLayer.cs +++ b/Runtime/Scripts/AnimationRigging/RetargetingLayer.cs @@ -53,12 +53,6 @@ public class JointPositionAdjustment public Vector3 GetPositionOffset() { var targetPositionOffset = FinalPosition - OriginalPosition; - // The recorded positions will not be finite when we regenerate data for the rig. - if (!RiggingUtilities.IsFiniteVector3(FinalPosition) || - !RiggingUtilities.IsFiniteVector3(OriginalPosition)) - { - return Vector3.zero; - } return targetPositionOffset; } } @@ -183,18 +177,36 @@ public ExternalBoneTargets ExternalBoneTargetsInst } /// - /// Pre-compute these values each time the editor changes for the purposes - /// of efficiency. + /// Retargeted bone mappings to be updated based on valid bones in the humanoid. /// - private Dictionary _humanBoneToAccumulatedRotationTweaks = - new Dictionary(); - private List _bonesToRemove = new List(); + [SerializeField] + [Tooltip(RetargetingLayerTooltips.RetargetedBoneMappings)] + protected RetargetedBoneMappings _retargetedBoneMappings; + /// + public RetargetedBoneMappings RetargetedBoneMappingsInst + { + get => _retargetedBoneMappings; + set => _retargetedBoneMappings = value; + } + + /// + /// Exposes a button used to update bone pair mappings based on the humanoid. + /// + [SerializeField, InspectorButton("UpdateBonePairMappings")] + private bool _updateBoneMappingsData; private Pose[] _defaultPoses; private IJointConstraint[] _jointConstraints; private ProxyTransformLogic _proxyTransformLogic = new ProxyTransformLogic(); private bool _isFocusedWhileInBuild = true; + // Cached array versions of dictionaries used in OVRUnityHumanoidSkeletonRetargeter + private HumanBodyBones[] _customBoneIdToHumanBodyBoneArray; + private OVRSkeletonMetadata.BoneData[] _targetSkeletonDataBodyToBoneDataArray; + private OVRHumanBodyBonesMappings.BodySection[] _boneToBodySectionArray; + private Dictionary + _lastReferencedtargetBoneData = null; + /// /// Check for required components. /// @@ -202,6 +214,11 @@ protected override void Awake() { base.Awake(); + if (_retargetedBoneMappings.ConvertBonePairsToDictionaries()) + { + BodyBoneMappingsInterface = _retargetedBoneMappings; + } + Assert.IsNotNull(_retargetingAnimationConstraint, "Please assign the retargeting constraint to RetargetingLayer."); @@ -223,7 +240,9 @@ protected override void Awake() if (!animatorComp.avatar.humanDescription.hasTranslationDoF) { Debug.LogError("Translation DoF is not enabled on your avatar, this " + - "will prevent proper positional retargeting of its joints."); + "will prevent proper positional retargeting of its joints. Enable this " + + $"at {animatorComp.avatar} -> Configure Avatar -> Muscles " + + $"& Settings -> Translation DoF", animatorComp.avatar); } } @@ -239,6 +258,7 @@ protected override void Start() ConstructDefaultPoseInformation(); ConstructBoneAdjustmentInformation(); CacheJointConstraints(); + CacheBoneMapping(); ValidateHumanoid(); _retargetingAnimationRig.ValidateRig(this); @@ -253,6 +273,14 @@ protected override void Start() } } + /// + /// Update bone pair mappings for the retargeted humanoid. + /// + public void UpdateBonePairMappings() + { + _retargetedBoneMappings.UpdateBonePairMappings(this); + } + private void ConstructDefaultPoseInformation() { _defaultPoses = new Pose[(int)HumanBodyBones.LastBone]; @@ -293,6 +321,31 @@ private void CacheJointConstraints() _jointConstraints = jointConstraints.ToArray(); } + private void CacheBoneMapping() + { + _targetSkeletonDataBodyToBoneDataArray = new OVRSkeletonMetadata.BoneData[(int)HumanBodyBones.LastBone]; + for (var boneIndex = HumanBodyBones.Hips; boneIndex < HumanBodyBones.LastBone; boneIndex++) + { + _targetSkeletonDataBodyToBoneDataArray[(int)boneIndex] = null; + } + + _customBoneIdToHumanBodyBoneArray = new HumanBodyBones[(int)BoneId.Max]; + for (int i = 0; i < _customBoneIdToHumanBodyBoneArray.Length; i++) + { + _customBoneIdToHumanBodyBoneArray[i] = BodyBoneMappingsInterface.GetFullBodyBoneIdToHumanBodyBone. + GetValueOrDefault((BoneId)i, HumanBodyBones.LastBone); + } + + _boneToBodySectionArray = + new OVRHumanBodyBonesMappings.BodySection[OVRHumanBodyBonesMappings.BoneToBodySection.Count]; + for (int i = 0; i < _boneToBodySectionArray.Length; i++) + { + _boneToBodySectionArray[i] = + OVRHumanBodyBonesMappings.BoneToBodySection.GetValueOrDefault((HumanBodyBones)i, + OVRHumanBodyBonesMappings.BodySection.Head); + } + } + private void ValidateHumanoid() { bool validHumanoid = true; @@ -345,6 +398,8 @@ protected override void Update() _skeletonPostProcessing?.Invoke(this); RecomputeSkeletalOffsetsIfNecessary(); + UpdateBoneDataToArray(); + _externalBoneTargets.ProcessSkeleton(this); if (_enableTrackingByProxy) @@ -354,6 +409,13 @@ protected override void Update() _retargetingAnimationRig.UpdateRig(this); } + /// + /// Empty fixed update to avoid updating OVRSkeleton during fixed update. + /// + private void FixedUpdate() + { + } + /// /// Allows fixing joints via the retargeting processors. The avatar does not allow /// precise finger positions even with translate DoF checked. @@ -387,10 +449,24 @@ protected virtual void OnDrawGizmos() } } + protected virtual void UpdateBoneDataToArray() + { + // Update only if the source updated too. + if (_lastReferencedtargetBoneData == TargetSkeletonData.BodyToBoneData) + { + return; + } + for (var boneIndex = HumanBodyBones.Hips; boneIndex < HumanBodyBones.LastBone; boneIndex++) + { + _targetSkeletonDataBodyToBoneDataArray[(int)boneIndex] = + TargetSkeletonData.BodyToBoneData.GetValueOrDefault(boneIndex, null); + } + _lastReferencedtargetBoneData = TargetSkeletonData.BodyToBoneData; + } + protected virtual bool ShouldUpdatePositionOfBone(HumanBodyBones humanBodyBone) { - var bodySectionOfJoint = - OVRHumanBodyBonesMappings.BoneToBodySection[humanBodyBone]; + var bodySectionOfJoint =_boneToBodySectionArray[(int)humanBodyBone]; return IsBodySectionInArray(bodySectionOfJoint, _skeletonType == SkeletonType.FullBody ? FullBodySectionToPosition : BodySectionToPosition); } @@ -428,7 +504,6 @@ public void FillTransformArrays(List sourceTransforms, { return; } - var targetBoneDataMap = TargetSkeletonData.BodyToBoneData; for (int i = 0; i < numBones; i++) { var currentBone = skeletalBones[i]; @@ -436,7 +511,7 @@ public void FillTransformArrays(List sourceTransforms, OVRSkeletonMetadata.BoneData targetBoneData; (targetBoneData, targetHumanBodyBone) = - GetTargetBoneDataFromOVRBone(skeletalBones[i], targetBoneDataMap); + GetTargetBoneDataFromOVRBone(skeletalBones[i]); if (targetBoneData == null) { continue; @@ -473,7 +548,6 @@ public void UpdateAdjustments(Quaternion[] rotationOffsets, { var skeletalBones = Bones; int numBones = skeletalBones.Count; - var targetBoneDataMap = TargetSkeletonData.BodyToBoneData; int arrayId = 0; for (int i = 0; i < numBones; i++) { @@ -482,7 +556,7 @@ public void UpdateAdjustments(Quaternion[] rotationOffsets, var currBone = skeletalBones[i]; (targetBoneData, targetHumanBodyBone) = - GetTargetBoneDataFromOVRBone(currBone, targetBoneDataMap); + GetTargetBoneDataFromOVRBone(currBone); if (targetBoneData == null) { continue; @@ -515,7 +589,7 @@ public void UpdateAdjustments(Quaternion[] rotationOffsets, if (avatarMask != null) { jointFailsMask = !avatarMask.GetHumanoidBodyPartActive( - BoneMappingsExtension.HumanBoneToAvatarBodyPart[targetHumanBodyBone]); + BoneMappingsExtension.HumanBoneToAvatarBodyPartArray[(int)targetHumanBodyBone]); } if (adjustment == null) @@ -570,16 +644,15 @@ private void SetUpCustomAdjustment(HumanBodyBones humanBodyBone, Quaternion[] ro rotationAdjustments[arrayId] = adjustment.RotationChange * adjustment.PrecomputedRotationTweaks; } - private (OVRSkeletonMetadata.BoneData, HumanBodyBones) GetTargetBoneDataFromOVRBone(OVRBone ovrBone, - Dictionary targetBodyToBoneData, bool print = false) + private (OVRSkeletonMetadata.BoneData, HumanBodyBones) GetTargetBoneDataFromOVRBone(OVRBone ovrBone) { - var skelBoneId = ovrBone.Id; - if (!CustomBoneIdToHumanBodyBone.TryGetValue(skelBoneId, out var humanBodyBone)) + var humanBodyBone = _customBoneIdToHumanBodyBoneArray[(int)ovrBone.Id]; + if (humanBodyBone == HumanBodyBones.LastBone) { return (null, HumanBodyBones.LastBone); } - - if (!targetBodyToBoneData.TryGetValue(humanBodyBone, out var targetData)) + var targetData = _targetSkeletonDataBodyToBoneDataArray[(int)humanBodyBone]; + if (targetData == null) { return (null, HumanBodyBones.LastBone); } @@ -640,17 +713,24 @@ public int GetNumberOfTransformsRetargeted() /// The human body bone for a custom bone id. Returns null if it doesn't exist. public HumanBodyBones? GetCustomBoneIdToHumanBodyBone(BoneId boneId) { - if (CustomBoneIdToHumanBodyBone == null) - { - return null; - } - if (!CustomBoneIdToHumanBodyBone.TryGetValue(boneId, out var humanBodyBone)) + var humanBodyBone = _customBoneIdToHumanBodyBoneArray[(int)boneId]; + if (humanBodyBone == HumanBodyBones.LastBone) { return null; } return humanBodyBone; } + /// + /// Returns the human body bone to body section pairing. + /// + /// The human body bone to check for. + /// The body section for a human body bone. + public OVRHumanBodyBonesMappings.BodySection GetHumanBodyBoneToBodySection(HumanBodyBones humanBodyBone) + { + return _boneToBodySectionArray[(int)humanBodyBone]; + } + /// /// Returns the correction quaternion for a human body bone, if it exists. /// @@ -658,7 +738,8 @@ public int GetNumberOfTransformsRetargeted() /// The correction quaternion for a human body bone. Returns null if it doesn't exist. public Quaternion? GetCorrectionQuaternion(HumanBodyBones humanBodyBone) { - if (!TargetSkeletonData.BodyToBoneData.TryGetValue(humanBodyBone, out var targetData)) + var targetData = _targetSkeletonDataBodyToBoneDataArray[(int)humanBodyBone]; + if (targetData == null) { return null; } @@ -676,7 +757,8 @@ public int GetNumberOfTransformsRetargeted() /// The original joint for a human body bone. public Transform GetOriginalJoint(HumanBodyBones humanBodyBone) { - if (!TargetSkeletonData.BodyToBoneData.TryGetValue(humanBodyBone, out var targetData)) + var targetData = _targetSkeletonDataBodyToBoneDataArray[(int)humanBodyBone]; + if (targetData == null) { return null; } diff --git a/Runtime/Scripts/BodyTrackingForFitness.meta b/Runtime/Scripts/BodyTrackingForFitness.meta new file mode 100644 index 00000000..8c05d89e --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 32cd57cee5a1ecd4a928d15e3ac1bec0 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/BodyTrackingForFitness/AutomatedTimer.cs b/Runtime/Scripts/BodyTrackingForFitness/AutomatedTimer.cs new file mode 100644 index 00000000..0092366d --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/AutomatedTimer.cs @@ -0,0 +1,165 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using UnityEngine; +using UnityEngine.Events; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// Used to trigger events depending on the passage of time. Very useful with animation. + /// + public class AutomatedTimer : MonoBehaviour + { + private static class AutomatedTimerTooltips + { + public const string Timer = "How long this timer will wait"; + + public const string Repetitions = + "How many consecutive repetitions this timer will execute"; + + public const string TimerIsRunning = + "If the timer advances during update. Set to false after final repetition finishes"; + + public const string OnStart = "What to do when the timer starts"; + + public const string OnEnd = + "What to do when the timer finishes, just after this component is disabled"; + + public const string OnProgress = + "What to do as the timer is updating (passes percentage to callback)"; + } + + /// + /// Callback to send progress through the timer + /// + [Serializable] + public class UnityEvent_float : UnityEvent { } + + /// + /// How long this timer will wait + /// + [Tooltip(AutomatedTimerTooltips.Timer)] + [SerializeField] + protected float _timer = 5; + + /// + /// How many consecutive repetitions this timer will execute + /// + [Tooltip(AutomatedTimerTooltips.Repetitions)] + [SerializeField] + protected int _repetitions = 1; + + /// + /// If the timer advances during update. Set to false after final repetition finishes + /// + [Tooltip(AutomatedTimerTooltips.TimerIsRunning)] + [SerializeField] + private bool _timerIsRunning; + + /// + /// What to do when the timer starts + /// + [Tooltip(AutomatedTimerTooltips.OnStart)] + [SerializeField] + protected UnityEvent _onStart; + + /// + /// What to do when the timer finishes + /// + [Tooltip(AutomatedTimerTooltips.OnEnd)] + [SerializeField] + protected UnityEvent _onEnd; + + /// + /// What to do as the timer is updating (passes percentage to callback) + /// + [Tooltip(AutomatedTimerTooltips.OnProgress)] + [SerializeField] + protected UnityEvent_float _onProgress; + + private float _activeTimer; + private float _progress; + private int _repeated; + private bool _started; + + /// + public float Timer + { + get => _timer; + set => _timer = value; + } + + /// + public int Repetitions + { + get => _repetitions; + set => _repetitions = value; + } + + /// + public bool IsTimerRunning + { + get => _timerIsRunning; + set => _timerIsRunning = value; + } + + /// + /// Restarts the timer. + /// + public void Restart() + { + _activeTimer = 0; + _progress = 0; + _repeated = 0; + _started = false; + _timerIsRunning = true; + } + + private void Update() + { + if (!_timerIsRunning) + { + return; + } + if (!_started) + { + _onStart.Invoke(); + _started = true; + } + else if (_repeated >= _repetitions) + { + _timerIsRunning = false; + return; + } + if (_timer <= 0) + { + Debug.LogError($"{name}.{nameof(AutomatedTimer)}.{nameof(Timer)} <= 0"); + _timerIsRunning = false; + return; + } + _activeTimer += Time.deltaTime; + UpdateProgress(); + while (_activeTimer >= _timer) + { + _activeTimer -= _timer; + UpdateProgress(); + } + } + + private void UpdateProgress() + { + _progress = Mathf.Clamp01(_activeTimer / _timer); + _onProgress.Invoke(_progress); + if (_progress >= 1) + { + ++_repeated; + if (_repeated >= _repetitions) + { + _timerIsRunning = false; + _onEnd.Invoke(); + } + } + } + } +} diff --git a/Runtime/Scripts/BodyTrackingForFitness/AutomatedTimer.cs.meta b/Runtime/Scripts/BodyTrackingForFitness/AutomatedTimer.cs.meta new file mode 100644 index 00000000..390ac8a0 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/AutomatedTimer.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 07e168d562f344040865caa613e1b0a8 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/BodyTrackingForFitness/BodyBoneName.cs b/Runtime/Scripts/BodyTrackingForFitness/BodyBoneName.cs new file mode 100644 index 00000000..c3caca30 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BodyBoneName.cs @@ -0,0 +1,105 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using Oculus.Interaction.Body.Input; +using UnityEngine; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// A convenient enumeration of all full body bones, without overlapping enum values (that + /// can confuse Unity UI), using a naming convention that more closely matches Unity's + /// than the core SDK. Based on . + /// + public enum BodyBoneName + { + None = BodyJointId.Invalid, + [InspectorName("Root")] Root = BodyJointId.Body_Root, + [InspectorName("Hips")] Hips = BodyJointId.Body_Hips, + [InspectorName("Spine/Lower")] SpineLower = BodyJointId.Body_SpineLower, + [InspectorName("Spine/Middle")] SpineMiddle = BodyJointId.Body_SpineMiddle, + [InspectorName("Spine/Upper")] SpineUpper = BodyJointId.Body_SpineUpper, + [InspectorName("Spine/Chest")] Chest = BodyJointId.Body_Chest, + [InspectorName("Spine/Neck")] Neck = BodyJointId.Body_Neck, + [InspectorName("Head")] Head = BodyJointId.Body_Head, + [InspectorName("Left Arm/Shoulder")] LeftShoulder = BodyJointId.Body_LeftShoulder, + [InspectorName("Left Arm/Scapula")] LeftScapula = BodyJointId.Body_LeftScapula, + [InspectorName("Left Arm/Upper")] LeftUpperArm = BodyJointId.Body_LeftArmUpper, + [InspectorName("Left Arm/Lower")] LeftLowerArm = BodyJointId.Body_LeftArmLower, + [InspectorName("Left Arm/Wrist Twist")] LeftWristTwist = BodyJointId.Body_LeftHandWristTwist, + [InspectorName("Right Arm/Shoulder")] RightShoulder = BodyJointId.Body_RightShoulder, + [InspectorName("Right Arm/Scapula")] RightScapula = BodyJointId.Body_RightScapula, + [InspectorName("Right Arm/Upper")] RightUpperArm = BodyJointId.Body_RightArmUpper, + [InspectorName("Right Arm/Lower")] RightLowerArm = BodyJointId.Body_RightArmLower, + [InspectorName("Right Arm/Wrist Twist")] RightWristTwist = BodyJointId.Body_RightHandWristTwist, + [InspectorName("Left Hand/Palm")] LeftPalm = BodyJointId.Body_LeftHandPalm, + [InspectorName("Left Hand/Wrist")] LeftWrist = BodyJointId.Body_LeftHandWrist, + [InspectorName("Left Hand/Thumb Metacarpal")] LeftThumbMetacarpal = BodyJointId.Body_LeftHandThumbMetacarpal, + [InspectorName("Left Hand/Thumb Proximal")] LeftThumbProximal = BodyJointId.Body_LeftHandThumbProximal, + [InspectorName("Left Hand/Thumb Distal")] LeftThumbDistal = BodyJointId.Body_LeftHandThumbDistal, + [InspectorName("Left Hand/Thumb Tip")] LeftThumbTip = BodyJointId.Body_LeftHandThumbTip, + [InspectorName("Left Hand/Index Metacarpal")] LeftIndexMetacarpal = BodyJointId.Body_LeftHandIndexMetacarpal, + [InspectorName("Left Hand/Index Proximal")] LeftIndexProximal = BodyJointId.Body_LeftHandIndexProximal, + [InspectorName("Left Hand/Index Intermediate")] LeftIndexIntermediate = BodyJointId.Body_LeftHandIndexIntermediate, + [InspectorName("Left Hand/Index Distal")] LeftIndexDistal = BodyJointId.Body_LeftHandIndexDistal, + [InspectorName("Left Hand/Index Tip")] LeftIndexTip = BodyJointId.Body_LeftHandIndexTip, + [InspectorName("Left Hand/Middle Metacarpal")] LeftMiddleMetacarpal = BodyJointId.Body_LeftHandMiddleMetacarpal, + [InspectorName("Left Hand/Middle Proximal")] LeftMiddleProximal = BodyJointId.Body_LeftHandMiddleProximal, + [InspectorName("Left Hand/Middle Intermediate")] LeftMiddleIntermediate = BodyJointId.Body_LeftHandMiddleIntermediate, + [InspectorName("Left Hand/Middle Distal")] LeftMiddleDistal = BodyJointId.Body_LeftHandMiddleDistal, + [InspectorName("Left Hand/Middle Tip")] LeftMiddleTip = BodyJointId.Body_LeftHandMiddleTip, + [InspectorName("Left Hand/Ring Metacarpal")] LeftRingMetacarpal = BodyJointId.Body_LeftHandRingMetacarpal, + [InspectorName("Left Hand/Ring Proximal")] LeftRingProximal = BodyJointId.Body_LeftHandRingProximal, + [InspectorName("Left Hand/Ring Intermediate")] LeftRingIntermediate = BodyJointId.Body_LeftHandRingIntermediate, + [InspectorName("Left Hand/Ring Distal")] LeftRingDistal = BodyJointId.Body_LeftHandRingDistal, + [InspectorName("Left Hand/Ring Tip")] LeftRingTip = BodyJointId.Body_LeftHandRingTip, + [InspectorName("Left Hand/Little Metacarpal")] LeftLittleMetacarpal = BodyJointId.Body_LeftHandLittleMetacarpal, + [InspectorName("Left Hand/Little Proximal")] LeftLittleProximal = BodyJointId.Body_LeftHandLittleProximal, + [InspectorName("Left Hand/Little Intermediate")] LeftLittleIntermediate = BodyJointId.Body_LeftHandLittleIntermediate, + [InspectorName("Left Hand/Little Distal")] LeftLittleDistal = BodyJointId.Body_LeftHandLittleDistal, + [InspectorName("Left Hand/Little Tip")] LeftLittleTip = BodyJointId.Body_LeftHandLittleTip, + [InspectorName("Right Hand/Palm")] RightPalm = BodyJointId.Body_RightHandPalm, + [InspectorName("Right Hand/Wrist")] RightWrist = BodyJointId.Body_RightHandWrist, + [InspectorName("Right Hand/Thumb Metacarpal")] RightThumbMetacarpal = BodyJointId.Body_RightHandThumbMetacarpal, + [InspectorName("Right Hand/Thumb Proximal")] RightThumbProximal = BodyJointId.Body_RightHandThumbProximal, + [InspectorName("Right Hand/Thumb Distal")] RightThumbDistal = BodyJointId.Body_RightHandThumbDistal, + [InspectorName("Right Hand/Thumb Tip")] RightThumbTip = BodyJointId.Body_RightHandThumbTip, + [InspectorName("Right Hand/Index Metacarpal")] RightIndexMetacarpal = BodyJointId.Body_RightHandIndexMetacarpal, + [InspectorName("Right Hand/Index Proximal")] RightIndexProximal = BodyJointId.Body_RightHandIndexProximal, + [InspectorName("Right Hand/Index Intermediate")] RightIndexIntermediate = BodyJointId.Body_RightHandIndexIntermediate, + [InspectorName("Right Hand/Index Distal")] RightIndexDistal = BodyJointId.Body_RightHandIndexDistal, + [InspectorName("Right Hand/Index Tip")] RightIndexTip = BodyJointId.Body_RightHandIndexTip, + [InspectorName("Right Hand/Middle Metacarpal")] RightMiddleMetacarpal = BodyJointId.Body_RightHandMiddleMetacarpal, + [InspectorName("Right Hand/Middle Proximal")] RightMiddleProximal = BodyJointId.Body_RightHandMiddleProximal, + [InspectorName("Right Hand/Middle Intermediate")] RightMiddleIntermediate = BodyJointId.Body_RightHandMiddleIntermediate, + [InspectorName("Right Hand/Middle Distal")] RightMiddleDistal = BodyJointId.Body_RightHandMiddleDistal, + [InspectorName("Right Hand/Middle Tip")] RightMiddleTip = BodyJointId.Body_RightHandMiddleTip, + [InspectorName("Right Hand/Ring Metacarpal")] RightRingMetacarpal = BodyJointId.Body_RightHandRingMetacarpal, + [InspectorName("Right Hand/Ring Proximal")] RightRingProximal = BodyJointId.Body_RightHandRingProximal, + [InspectorName("Right Hand/Ring Intermediate")] RightRingIntermediate = BodyJointId.Body_RightHandRingIntermediate, + [InspectorName("Right Hand/Ring Distal")] RightRingDistal = BodyJointId.Body_RightHandRingDistal, + [InspectorName("Right Hand/Ring Tip")] RightRingTip = BodyJointId.Body_RightHandRingTip, + [InspectorName("Right Hand/Little Metacarpal")] RightLittleMetacarpal = BodyJointId.Body_RightHandLittleMetacarpal, + [InspectorName("Right Hand/Little Proximal")] RightLittleProximal = BodyJointId.Body_RightHandLittleProximal, + [InspectorName("Right Hand/Little Intermediate")] RightLittleIntermediate = BodyJointId.Body_RightHandLittleIntermediate, + [InspectorName("Right Hand/Little Distal")] RightLittleDistal = BodyJointId.Body_RightHandLittleDistal, + [InspectorName("Right Hand/Little Tip")] RightLittleTip = BodyJointId.Body_RightHandLittleTip, + [InspectorName("Left Leg/Upper")] LeftLegUpper = BodyJointId.Body_LeftLegUpper, + [InspectorName("Left Leg/Lower")] LeftLegLower = BodyJointId.Body_LeftLegLower, + [InspectorName("Left Leg/Ankle Twist")] LeftFootAnkleTwist = BodyJointId.Body_LeftFootAnkleTwist, + [InspectorName("Left Foot/Ankle")] LeftFootAnkle = BodyJointId.Body_LeftFootAnkle, + [InspectorName("Left Foot/Subtalar")] LeftFootSubtalar = BodyJointId.Body_LeftFootSubtalar, + [InspectorName("Left Foot/Transverse")] LeftFootTransverse = BodyJointId.Body_LeftFootTransverse, + [InspectorName("Left Foot/Toes")] LeftFootToes = BodyJointId.Body_LeftFootBall, + [InspectorName("Right Leg/Upper")] RightLegUpper = BodyJointId.Body_RightLegUpper, + [InspectorName("Right Leg/Lower")] RightLegLower = BodyJointId.Body_RightLegLower, + [InspectorName("Right Leg/Ankle Twist")] RightFootAnkleTwist = BodyJointId.Body_RightFootAnkleTwist, + [InspectorName("Right Foot/Ankle")] RightFootAnkle = BodyJointId.Body_RightFootAnkle, + [InspectorName("Right Foot/Subtalar")] RightFootSubtalar = BodyJointId.Body_RightFootSubtalar, + [InspectorName("Right Foot/Transverse")] RightFootTransverse = BodyJointId.Body_RightFootTransverse, + [InspectorName("Right Foot/Toes")] RightFootToes = BodyJointId.Body_RightFootBall, + /// + /// Not a bone --this is the count of bones. + /// + End = BodyJointId.Body_End + } +} diff --git a/Runtime/Scripts/BodyTrackingForFitness/BodyBoneName.cs.meta b/Runtime/Scripts/BodyTrackingForFitness/BodyBoneName.cs.meta new file mode 100644 index 00000000..9dc32517 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BodyBoneName.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 408fa9ad050314541b918dde85981ffb +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/BodyTrackingForFitness/BodyPoseAlignmentDetector.cs b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseAlignmentDetector.cs new file mode 100644 index 00000000..246ddf10 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseAlignmentDetector.cs @@ -0,0 +1,770 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using System.Collections.Generic; +using Oculus.Interaction; +using Oculus.Interaction.Body.Input; +using Oculus.Interaction.Body.PoseDetection; +using UnityEngine; +using UnityEngine.Events; +#if UNITY_EDITOR +using UnityEditor; +#endif + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// Takes 2 objects, and compares them. + /// Pushes colors onto bone + /// corresponding to angle difference. Details of how each bone is compare + /// are in the array. + /// + public class BodyPoseAlignmentDetector : MonoBehaviour + { + private static class BodyPoseAlignmentDetectorTooltips + { + public const string PoseA = "The first body pose to compare."; + + public const string PoseB = "The second body pose to compare."; + + public const string DetectionStyleTxt = + "Determines bone alignment detection style: " + + nameof(BodyPoseAlignmentDetector.DetectionStyle.JointRotation) + " or " + + nameof(BodyPoseAlignmentDetector.DetectionStyle.BoneDirection) + + " which is basically with or without roll."; + + public const string BoneDirectionDetectionRoot = + "Compare bone direction with a given bone used as a reference point. This allows" + + "direction agnostic body poses to be detected, eg: squats being detected from the " + + "hips instead of the root (floor) so a squat in any direction is recognized."; + + public const string BoneDeltaGizmo = + "Whether or not to draw a pose comparison visualization at editor time"; + + public const string BoneVisualErrorColor = "Colors used for alignment visualization"; + + public const string BoneVisualsToColor = + "Bone visual collections to color based on the alignment of bones"; + + public const string AlignmentWiggleRoom = + nameof(BodyPoseAlignmentDetector.DetectorConfig.MaxAngleDelta) + + ": maximum angle delta counting as alignment.\n" + + nameof(BodyPoseAlignmentDetector.DetectorConfig.Width) + + ": difference between what counts as in and out\n"; + + public const string AlignmentState = + "Result data structure that identifies how closely bones are matching."; + + public const string MinTimeInState = + "Pose alignment must be maintained this many seconds to change the Active property."; + + public const string PoseEvents = "Callback container structure"; + + public const string OnCompliance = "Called when all configured bones align"; + + public const string OnDeficiency = + "Called as soon as not all configured bones are aligned"; + + public const string OnCompliantBoneCount = + "Called when How many bones are aligned changes, passing the new count"; + + public const string DetectorConfigId = + "The bone to compare from each Body Pose"; + + public const string DetectorConfigMaxAngleDelta = + "Maximum angle between two bones that can be considered aligned"; + + public const string DetectorConfigWidth = + "Threshold when transitioning states. Half added to " + + nameof(DetectorConfig.MaxAngleDelta) + " when leaving Active state, and also " + + "subtracted when entering"; + } + + /// + /// Callback notifies how many bones match each other + /// + [Serializable] + public class UnityEvent_int : UnityEvent { } + + /// + /// Describes 2 methods of tracking bone alignment + /// + public enum DetectionStyle + { + /// + /// Compares the quaternion, including roll of joints + /// + JointRotation, + /// + /// Only compares bone direction, ignoring roll of bone + /// + BoneDirection, + } + + /// + /// Data structure defining how strictly bones should match each other, and how much + /// deviation is required before the bones are no longer considered matching. + /// + [Serializable] + public class DetectorConfig + { +#if UNITY_EDITOR + // name will label the element in the Editor UI, and not exist at runtime + [HideInInspector, SerializeField] + private string name; + + /// + /// Editor only. updates label in Inspector list + /// + public void UpdateEditorLabel() + { + name = ((BodyBoneName)Id).ToString(); + } +#else + public void UpdateEditorLabel() { } +#endif + /// + /// The bone to compare from each Body Pose. + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.DetectorConfigId)] + public BodyJointId Id = BodyJointId.Body_Head; + + /// + /// Maximum angle between two bones that can be considered aligned. + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.DetectorConfigMaxAngleDelta)] + [Min(0)] + public float MaxAngleDelta = 30f; + + /// + /// Threshold when transitioning states. Half added to + /// when leaving Active state, and also subtracted when entering. + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.DetectorConfigWidth)] + [Min(0)] + public float Width = 4f; + } + + /// + /// Result data structure that identifies how closely bones are matching. + /// + [Serializable] + public struct AlignmentState + { +#if UNITY_EDITOR + [HideInInspector, SerializeField] + private string name; + + /// + /// Editor only. updates label in Inspector list + /// + public void UpdateEditorLabel() + { + name = ((BodyBoneName)Id).ToString(); + } +#else + public void UpdateEditorLabel() { } +#endif + /// + /// The bone being compared + /// + [HideInInspector] + public BodyJointId Id; + + /// + /// The angle between two bones + /// + public float AngleDelta; + + public AlignmentState(BodyJointId id, float delta) + { + Id = id; + AngleDelta = delta; +#if UNITY_EDITOR + name = ((BodyBoneName)Id).ToString(); +#endif + } + } + + /// + /// Callback container structure + /// + [Serializable] + public class Events + { + /// + /// Called when all configured bones align + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.OnCompliance)] + public UnityEvent OnCompliance = new UnityEvent(); + + /// + /// Called as soon as not all configured bones are aligned + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.OnDeficiency)] + public UnityEvent OnDeficiency = new UnityEvent(); + + /// + /// Called when How many bones are aligned changes, passing the new count + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.OnCompliantBoneCount)] + public UnityEvent_int OnCompliantBoneCount = new UnityEvent_int(); + } + + /// + /// The first body pose to compare. + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.PoseA)] + [SerializeField, Interface(typeof(IBodyPose))] + [ContextMenuItem(nameof(SwapPoseOrder),nameof(SwapPoseOrder))] + private UnityEngine.Object _poseA; + private IBodyPose _iPoseA; + + /// + /// The second body pose to compare. + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.PoseB)] + [SerializeField, Interface(typeof(IBodyPose))] + [ContextMenuItem(nameof(SwapPoseOrder),nameof(SwapPoseOrder))] + private UnityEngine.Object _poseB; + private IBodyPose _iPoseB; + + /// + /// Determines bone alignment detection style: + /// or , which is basically with or without roll. + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.DetectionStyleTxt)] + [SerializeField] + protected DetectionStyle _detectionStyle = DetectionStyle.BoneDirection; + + /// + /// Compare bone direction with a given bone used as a reference point. This allows + /// direction agnostic body poses to be detected, eg: squats being detected from the hips + /// instead of the root (floor) so a squat in any direction is recognized. + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.BoneDirectionDetectionRoot)] + [ConditionalHide(nameof(_detectionStyle), DetectionStyle.BoneDirection)] + [SerializeField] + protected BodyJointId _boneDirectionDetectionRoot = BodyJointId.Invalid; + +#if UNITY_EDITOR + /// + /// Whether or not to draw a pose comparison visualization at editor time + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.BoneDeltaGizmo)] + [ContextMenuItem(nameof(SwapPoseOrder),nameof(SwapPoseOrder))] + [ConditionalHide(nameof(_detectionStyle), DetectionStyle.BoneDirection)] + [SerializeField] + protected bool _boneDeltaGizmo; +#endif + + /// + /// Colors used for alignment visualization + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.BoneVisualErrorColor)] + [ContextMenuItem(nameof(ForceCompareLogic),nameof(ForceCompareLogic))] + [SerializeField] + protected Gradient BoneVisualErrorColor = new Gradient() + { + colorKeys = new GradientColorKey[] + { + new GradientColorKey(Color.green, 0), + new GradientColorKey(Color.yellow, .125f), + new GradientColorKey(Color.red, .25f), + new GradientColorKey(Color.magenta, .75f), + new GradientColorKey(Color.black, 1), + } + }; + + /// + /// Bone visual collections to color based on the alignment of bones + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.BoneVisualsToColor)] + [ContextMenuItem(nameof(ForceCompareLogic),nameof(ForceCompareLogic))] + [SerializeField] protected List _boneVisualsToColor = + new List(); + + /// + /// : maximum angle delta counting as alignment + /// : difference between what counts as in and out + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.AlignmentWiggleRoom)] + [ContextMenuItem(nameof(LabelConfigs),nameof(LabelConfigs))] + [ContextMenuItem(nameof(CheckMostBones),nameof(CheckMostBones))] + [ContextMenuItem(nameof(SelectTrackedBoneVisuals),nameof(SelectTrackedBoneVisuals))] + [ContextMenuItem(nameof(SelectUntrackedBoneVisuals),nameof(SelectUntrackedBoneVisuals))] + [SerializeField] + private List _alignmentWiggleRoom = new List(); + + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.AlignmentState)] + [SerializeField] + protected List _alignmentStates = new List(); + + /// + /// Pose alignment must be maintained this many seconds to change the Active property. + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.MinTimeInState)] + [SerializeField] + private float _minTimeInState = 0.05f; + + /// + [Tooltip(BodyPoseAlignmentDetectorTooltips.PoseEvents)] + [SerializeField] + protected Events _poseEvents = new Events(); + + /// + /// Normalizes comparisons to be relative to a specific bone + /// + private Pose _boneDirectionOffsetA, _boneDirectionOffsetB; + private bool _isActive; + private bool _isActiveLastFrame; + private bool _internalActive; + private float _lastStateChangeTime; + private int _compliantBonesKnown; + + /// + public IBodyPose PoseA + { + get => _iPoseA != null ? _iPoseA : _iPoseA = _poseA as IBodyPose; + set => _poseA = (_iPoseA = value) as UnityEngine.Object; + } + + /// + public IBodyPose PoseB + { + get => _iPoseB != null ? _iPoseB : _iPoseB = _poseB as IBodyPose; + set => _poseB = (_iPoseB = value) as UnityEngine.Object; + } + + /// + /// True if is aligned with + /// + public bool Active + { + get + { + if (!isActiveAndEnabled) + { + return false; + } + return UpdateActiveState(); + } + } + + private void RefreshPoseReferences() + { + _iPoseA = _poseA as IBodyPose; + _iPoseB = _poseB as IBodyPose; + } + + private void OnEnable() + { + RefreshPoseReferences(); + AddEvents(); + } + + private void OnDisable() + { + RemoveEvents(); + } + + private void Reset() + { + CheckMostBones(); + } + + /// + /// Assign this detector to compare every bone + /// + private void CheckMostBones() + { + List configs = new List(); + HashSet bonesToTrack = new HashSet(); + Array.ForEach(BoneGroup.CommonBody, b => bonesToTrack.Add(b)); + Array.ForEach(BoneGroup.LeftHand, b => bonesToTrack.Add(b)); + Array.ForEach(BoneGroup.RightHand, b => bonesToTrack.Add(b)); + Array.ForEach(BoneGroup.CommonIgnored, b => bonesToTrack.Remove(b)); + foreach (BodyJointId id in bonesToTrack) + { + DetectorConfig config = new DetectorConfig + { + Id = id, MaxAngleDelta = 30, Width = 4 + }; + configs.Add(config); + } + SetJointCompareConfigs(configs); + ForceCompareLogic(); + } + + /// + /// Allows the alignment sensitivity to be set with a script + /// + public void SetJointCompareConfigs(IEnumerable configs) + { + _alignmentWiggleRoom = new List(configs); +#if UNITY_EDITOR + LabelConfigs(); + EditorUtility.SetDirty(this); +#endif + } + +#if UNITY_EDITOR + private void OnValidate() + { + HandlePoseChangesAtEditorTime(); + LabelConfigs(); + ForceCompareLogic(); + } + + private void HandlePoseChangesAtEditorTime() + { + bool poseAChanged = (_poseA != null && _iPoseA != _poseA as IBodyPose); + bool poseBChanged = (_poseB != null && _iPoseB != _poseB as IBodyPose); + if (poseAChanged) + { + _iPoseA = _poseA as IBodyPose; + } + if (poseBChanged) + { + _iPoseB = _poseB as IBodyPose; + } + if (poseAChanged || poseBChanged) + { + AddEvents(); + } + } + + private void LabelConfigs() + { + _alignmentWiggleRoom.ForEach(c => c.UpdateEditorLabel()); + } + + private void SwapPoseOrder() + { + (_poseA, _poseB) = (_poseB, _poseA); + (_iPoseA, _iPoseB) = (_iPoseB, _iPoseA); + } +#else + private void SwapPoseOrder(){} + private void LabelConfigs(){} +#endif + + private void AddEvents() + { + if (PoseA != null) + { + AddEvent(PoseA, CompareLogic); + } + if (PoseB != null) + { + AddEvent(PoseB, CompareLogic); + } + } + + private void RemoveEvents() + { + if (PoseA != null) + { + RemoveEvent(PoseA, CompareLogic); + } + if (PoseB != null) + { + RemoveEvent(PoseB, CompareLogic); + } + } + + private void AddEvent(IBodyPose bodyPose, Action action) + { + bodyPose.WhenBodyPoseUpdated -= action; + bodyPose.WhenBodyPoseUpdated += action; + } + + private void RemoveEvent(IBodyPose bodyPose, Action action) + { + bodyPose.WhenBodyPoseUpdated -= action; + } + + /// + /// Force compare logic to happen, updating + /// + public void ForceCompareLogic() + { + RefreshPoseReferences(); + CompareLogic(); + } + + private void CompareLogic() + { + bool compliant = false; + if (_iPoseA != null && _iPoseB != null) + { + compliant = Active; + if (compliant != _isActiveLastFrame) + { + if (compliant) + { + _poseEvents.OnCompliance.Invoke(); + } + else + { + _poseEvents.OnDeficiency.Invoke(); + } + } + } + _isActiveLastFrame = compliant; + _alignmentStates.ForEach( + state => _boneVisualsToColor.ForEach(visuals => ColorBoneByState(visuals, state))); + } + + private bool UpdateActiveState() + { + bool wasActive = _internalActive; + _internalActive = true; + UpdateBoneDirectionOffset(); + int compliantBones = 0; + _alignmentStates.Clear(); + foreach (var config in _alignmentWiggleRoom) + { + float maxDelta = wasActive ? + config.MaxAngleDelta + config.Width / 2f : + config.MaxAngleDelta - config.Width / 2f; + bool withinDelta = GetBoneAlignmentDelta(config.Id, out float delta) && + Mathf.Abs(delta) <= maxDelta; + _alignmentStates.Add(new AlignmentState(config.Id, delta)); + if (withinDelta) + { + ++compliantBones; + } + _internalActive &= withinDelta; + } + + if (compliantBones != _compliantBonesKnown) + { + _poseEvents.OnCompliantBoneCount.Invoke(compliantBones); + _compliantBonesKnown = compliantBones; + } + float time = Time.time; + if (wasActive != _internalActive) + { + _lastStateChangeTime = time; + } + if (time - _lastStateChangeTime >= _minTimeInState) + { + _isActive = _internalActive; + } + return _isActive; + } + + private void UpdateBoneDirectionOffset() + { + if (_boneDirectionDetectionRoot == BodyJointId.Invalid) + { + _boneDirectionOffsetA = _boneDirectionOffsetB = + new Pose(Vector3.zero, Quaternion.identity); + return; + } + if (_iPoseA != null) + { + _iPoseA.GetJointPoseFromRoot(_boneDirectionDetectionRoot, out Pose bonePoseA); + PoseUtils.Inverse(bonePoseA, ref _boneDirectionOffsetA); + } + if (_iPoseB != null) + { + _iPoseB.GetJointPoseFromRoot(_boneDirectionDetectionRoot, out Pose bonePoseB); + PoseUtils.Inverse(bonePoseB, ref _boneDirectionOffsetB); + } + } + + private bool GetBoneAlignmentDelta(BodyJointId joint, out float delta) + { + if (_iPoseA == null || _iPoseB == null) + { + Debug.LogWarning($"{this} cannot detect delta without two input poses"); + delta = 0; + return false; + } + switch (_detectionStyle) + { + case DetectionStyle.JointRotation: return GetJointDelta(joint, out delta); + case DetectionStyle.BoneDirection: return GetBoneDirectionDelta(joint, out delta); + } + delta = 0; + return false; + } + + private bool GetJointDelta(BodyJointId joint, out float delta) + { + if (!_iPoseA.GetJointPoseLocal(joint, out Pose localA) || + !_iPoseB.GetJointPoseLocal(joint, out Pose localB)) + { + delta = 0; + return false; + } + delta = Quaternion.Angle(localA.rotation, localB.rotation); + return true; + } + + private bool GetBoneDirectionDelta(BodyJointId joint, out float delta) + { + if (!GetBoneDirection(_iPoseA, joint, _boneDirectionOffsetA, out Vector3 dirA) || + !GetBoneDirection(_iPoseB, joint, _boneDirectionOffsetB, out Vector3 dirB)) + { + delta = 0; + return false; + } + delta = Vector3.Angle(dirA, dirB); + return true; + } + + private static bool GetBoneDirection(IBodyPose bodyPose, BodyJointId id, Pose offset, out Vector3 direction) + { + if (!bodyPose.GetJointPoseFromRoot(id, out Pose joint)) + { + direction = Vector3.zero; + return false; + } + Quaternion forwardRot = FullBodySkeletonTPose.TPose.GetForwardRotation((int)id); + Quaternion boneRotation = offset.rotation * joint.rotation * forwardRot; + direction = boneRotation * Vector3.forward; + return true; + } + + private void ColorBoneByState(BodyPoseBoneVisuals boneVisuals, AlignmentState state) + { + int id = (int)state.Id; + if (boneVisuals == null || boneVisuals.BoneVisuals.Count == 0 || + id < 0 || id >= boneVisuals.BoneVisuals.Count) + { + return; + } + Transform boneTransform = boneVisuals.BoneVisuals[id]; + if (boneTransform == null) + { + return; + } + Renderer r = boneTransform.GetComponentInChildren(); + const float MaximumAngleDifference = 180; + float progress = state.AngleDelta / MaximumAngleDifference; + if (r != null) + { + Color color = progress >= 0 ? BoneVisualErrorColor.Evaluate(progress) : Color.clear; + if (!Application.isPlaying) + { + Material m = new Material(r.sharedMaterial); + m.color = color; + r.sharedMaterial = m; + } + else + { + r.material.color = color; + } + } + } + +#if UNITY_EDITOR + private void OnDrawGizmosSelected() + { + if (!_boneDeltaGizmo) + { + return; + } + RefreshPoseReferences(); + DrawSkeletonsBoneDirectionsGizmo( + _iPoseB, _iPoseA, transform, _boneDirectionDetectionRoot); + } + + private static void DrawSkeletonsBoneDirectionsGizmo( + IBodyPose fullBodyA, IBodyPose fullBodyB, Transform root, BodyJointId referenceBone) + { + if (fullBodyA == null || fullBodyB == null) + { + return; + } + fullBodyA.GetJointPoseFromRoot(referenceBone, out Pose rootPoseA); + fullBodyB.GetJointPoseFromRoot(referenceBone, out Pose rootPoseB); + Pose offsetA = default, offsetB = default; + if (referenceBone != BodyJointId.Invalid) + { + PoseUtils.Inverse(rootPoseA, ref offsetA); + PoseUtils.Inverse(rootPoseB, ref offsetB); + } + else + { + offsetA = offsetB = new Pose(Vector3.zero, Quaternion.identity); + } + for (int i = 0; i < FullBodySkeletonTPose.TPose.ExpectedBoneCount; ++i) + { + bool isBone = + GetBoneDirection(fullBodyA, (BodyJointId)i, offsetA, out Vector3 dirA); + if (isBone) + { + float len = FullBodySkeletonTPose.TPose.GetBoneLength(i); + fullBodyA.GetJointPoseFromRoot((BodyJointId)i, out Pose poseA); + Vector3 startA = poseA.position; + dirA = rootPoseA.rotation * dirA; + Vector3 endA = startA + dirA * len; + GetBoneDirection(fullBodyB, (BodyJointId)i, offsetB, out Vector3 dirB); + dirB = rootPoseA.rotation * dirB; + Vector3 startB = startA; + Vector3 endB = startB + dirB * len; + startA = root.TransformPoint(startA); + endA = root.TransformPoint(endA); + startB = root.TransformPoint(startB); + endB = root.TransformPoint(endB); + Handles.DrawBezier(startA,endA,startA,endA, + Color.cyan,null,5); + Handles.DrawBezier(startB,endB,startB,endB, + Color.yellow,null,5); + } + } + } + + private void SelectTrackedBoneVisuals() + { + List objects = new List(); + foreach (BodyPoseBoneVisuals boneVisuals in _boneVisualsToColor) + { + _alignmentWiggleRoom.ForEach(c => + { + int id = (int)c.Id; + Transform boneVisual = boneVisuals.BoneVisuals[id]; + objects.Add(boneVisual.gameObject); + }); + } + Selection.objects = objects.ToArray(); + } + + private void SelectUntrackedBoneVisuals() + { + List objects = new List(); + HashSet objectsNotToSelect = new HashSet(); + foreach (BodyPoseBoneVisuals boneVisuals in _boneVisualsToColor) + { + _alignmentWiggleRoom.ForEach(c => + { + int id = (int)c.Id; + Transform boneVisual = boneVisuals.BoneVisuals[id]; + objectsNotToSelect.Add(boneVisual.gameObject); + }); + for(int i = 0; i < boneVisuals.BoneVisuals.Count; ++i) + { + if (boneVisuals.BoneVisuals[i] == null) + { + continue; + } + GameObject boneVisual = boneVisuals.BoneVisuals[i].gameObject; + if (!objectsNotToSelect.Contains(boneVisual)) + { + objects.Add(boneVisual); + } + } + } + Selection.objects = objects.ToArray(); + } +#else + private void SelectTrackedBoneVisuals(){} + private void SelectUntrackedBoneVisuals(){} +#endif + } +} diff --git a/Runtime/Scripts/BodyTrackingForFitness/BodyPoseAlignmentDetector.cs.meta b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseAlignmentDetector.cs.meta new file mode 100644 index 00000000..64c3d6ea --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseAlignmentDetector.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 345a650377cdcfb4db3440ed556da633 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/BodyTrackingForFitness/BodyPoseBoneTransforms.cs b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseBoneTransforms.cs new file mode 100644 index 00000000..81307d98 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseBoneTransforms.cs @@ -0,0 +1,521 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using System.Collections.Generic; +using System.Collections.ObjectModel; +using Oculus.Interaction; +using Oculus.Interaction.Body.Input; +using Oculus.Interaction.Body.PoseDetection; +using Oculus.Movement.Utils; +using UnityEngine; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// This class has bone transform generation functionality like OVRSkeleton. + /// These transforms can be generated in a T-pose at edit time, and that set of body + /// transforms will persist at runtime. + /// + public class BodyPoseBoneTransforms : MonoBehaviour, IBodyPose + { + private static class BodyPoseBoneTransformsTooltips + { + public const string BodyPoseSource = + "The body data being used to populate and arrange the bone transforms"; + + public const string BonesRoot = + "Where bone transforms will parent themselves to"; + + public const string TransformHierarchy = + "Determines how the bone transform hierarchy is set up"; + + public const string BoneTransforms = + "The bone transforms of each bone"; + } + + /// + /// What kind of hierarchy architecture the bone transforms adopt + /// + public enum TransformHierarchy + { + /// + /// How the arranges bones, better for tracking + /// + FlatHierarchy, + /// + /// How artists arrange bones, better for posing + /// + TreeHierarchy + } + + /// + /// The body data being used to populate and arrange the bone transforms + /// + [Tooltip(BodyPoseBoneTransformsTooltips.BodyPoseSource)] + [Interface(typeof(IBodyPose))] + [SerializeField] + protected UnityEngine.Object _bodyPoseSource; + private IBodyPose _bodyPose; + + /// + /// Where bone transforms will parent themselves to + /// + [Tooltip(BodyPoseBoneTransformsTooltips.BonesRoot)] + [SerializeField] + protected Transform bonesContainer; + + /// + /// Determines how the bone transform hierarchy is set up + /// + [Tooltip(BodyPoseBoneTransformsTooltips.TransformHierarchy)] + [SerializeField] + protected TransformHierarchy _transformHierarchy = TransformHierarchy.TreeHierarchy; + + /// + /// The bone transforms of each bone + /// + [Tooltip(BodyPoseBoneTransformsTooltips.BoneTransforms)] + [ContextMenuItem(nameof(RefreshHierarchy), nameof(RefreshHierarchy))] + [EnumNamedArray (typeof(BodyBoneName))] + [SerializeField] + protected Transform[] _boneTransforms = new Transform[0]; + + /// + /// Fast access to bone ownership, used by editor GUI + /// + private HashSet _boneHashSet; + + /// + /// . + /// Must be read only so that HashSet stays consistent + /// + public ReadOnlyCollection BoneTransforms => + new ReadOnlyCollection(_boneTransforms); + + private string BoneContainerDefaultName => "Bones"; + + private string BoneTransformNamePrefix => "."; + + /// + public IBodyPose BodyPose + { + get + { + if (_bodyPose != null) + { + return _bodyPose; + } + switch (_bodyPoseSource) + { + case GameObject go: + _bodyPose = GetNonSelfLocalBodyPose(go); + break; + case Component component: + _bodyPose = component as IBodyPose; + if (_bodyPose == null) + { + _bodyPose = GetNonSelfLocalBodyPose(component.gameObject); + } + break; + } + return _bodyPose; + } + set + { + RemoveListener(UpdateTransformsData); + _bodyPose = value; + AddListener(UpdateTransformsData); + _bodyPoseSource = value as UnityEngine.Object; + } + } + + /// + /// Which Unity Transform is used as the container of all bones. + /// + public Transform BoneContainer + { + get => bonesContainer; + set => bonesContainer = value; + } + + private GameObject CreateNewBone() => new GameObject(); + + /// + public bool OwnsBone(Transform bone) => _boneHashSet != null + ? _boneHashSet.Contains(bone) : false; + + /// + public bool GetJointPoseLocal(BodyJointId bodyJointId, out Pose pose) + { + bool haveData = false; + if (_bodyPose != null) + { + haveData = _bodyPose.GetJointPoseLocal(bodyJointId, out pose); + } + else + { + pose = default; + } + if (!haveData && IsValidBone(bodyJointId)) + { + return FullBodySkeletonTPose.GetJointPoseLocalIfFromRootIsKnown( + this, bodyJointId, out pose); + } + return haveData; + } + + /// + public bool GetJointPoseFromRoot(BodyJointId bodyJointId, out Pose pose) + { + if (_bodyPose == null) + { + _bodyPose = _bodyPoseSource as IBodyPose; + } + bool haveData = false; + if (_bodyPose != null) + { + haveData = _bodyPose.GetJointPoseFromRoot(bodyJointId, out pose); + } + else + { + pose = default; + } + if (!haveData && IsValidBone(bodyJointId)) + { + haveData = GetJointPoseFromRootUsingBoneTransform(bodyJointId, out pose); + } + return haveData; + } + + /// + /// As , except that it sources data from + /// bone transforms, not from + /// + public bool GetJointPoseFromRootUsingBoneTransform(BodyJointId bodyJointId, out Pose pose) + { + int id = (int)bodyJointId; + Transform bone = id >= 0 && id < _boneTransforms.Length ? _boneTransforms[id] : null; + if (bone != null) + { + pose = new Pose(BoneContainer.InverseTransformPoint(bone.position), + Quaternion.Inverse(BoneContainer.rotation) * bone.rotation); + return true; + } + pose = default; + return false; + } + + private bool IsValidBone(BodyJointId id) => + (int)id >= 0 && (int)id < _boneTransforms.Length; + + /// + public ISkeletonMapping SkeletonMapping => BodyPose.SkeletonMapping; + + /// + public event Action WhenBodyPoseUpdated = delegate { }; + + /// + public TransformHierarchy ParentHierarchy + { + get => _transformHierarchy; + set + { + if (value == _transformHierarchy) + { + return; + } + _transformHierarchy = value; + RefreshHierarchy(); + } + } + + /// + /// Should be called when changes + /// + public void RefreshHierarchy() + { + RefreshBoneTransformsFromPoses(); + switch (ParentHierarchy) + { + case TransformHierarchy.FlatHierarchy: + for (int i = 0; i < _boneTransforms.Length; ++i) + { + Transform bone = _boneTransforms[i]; + if (bone == null) + { + continue; + } + bone.SetParent(BoneContainer); + } + break; + case TransformHierarchy.TreeHierarchy: + for (int i = 0; i < _boneTransforms.Length; ++i) + { + Transform bone = _boneTransforms[i]; + if (bone == null) + { + continue; + } + int parentId = FullBodySkeletonTPose.TPose.GetParent(i); + Transform parent = parentId >= 0 + ? _boneTransforms[parentId] : BoneContainer; + if (parent == null) + { + parent = BoneContainer; + } + bone.SetParent(parent); + } + break; + } + } + + public void RefreshTPose() + { + IBodyPose prevBodyPose = _bodyPose; + _bodyPose = new FullBodySkeletonTPose(); + RefreshHierarchy(); + _bodyPose = prevBodyPose; + } + + /// + /// Applies body pose data to the bone transform hierarchy + /// + public void RefreshBoneTransformsFromPoses() + { + if (BoneContainer == null) + { + CreateBoneContainerIfNeeded(); + } + Array.Resize(ref _boneTransforms, (int)BodyJointId.Body_End); + for (int i = 0; i < (int)BodyJointId.Body_End; ++i) + { + Transform childObject = _boneTransforms[i]; + bool isValid = GetJointPoseFromRoot((BodyJointId)i, out Pose pose); + if (isValid && childObject == null) + { + childObject = FindOrCreateBoneTransform(i); + } + if (childObject != null) + { + if (isValid) + { + ApplyPoseToBone(childObject, pose); + } + } + } + _boneHashSet = new HashSet(_boneTransforms); + } + + private void CreateBoneContainerIfNeeded() + { + // stop executing if called on destroyed object, like from an errant callback + if (this == null) + { + return; + } + Transform self = transform; + if (BoneContainer == null) + { + BoneContainer = self.Find(BoneContainerDefaultName); + } + if (BoneContainer == null) + { + BoneContainer = new GameObject(BoneContainerDefaultName).transform; + BoneContainer.SetParent(self, false); + } + } + + private void ApplyPoseToBone(Transform bone, Pose pose) + { + Vector3 position = pose.position; + position = BoneContainer.TransformPoint(position); + bone.position = position; + bone.rotation = BoneContainer.rotation * pose.rotation; + } + + private Transform FindOrCreateBoneTransform(int boneId) + { + Type boneEnum = typeof(BodyBoneName); + string childName = BoneTransformNamePrefix + boneId.ToString("000") + + Enum.GetName(boneEnum, boneId); + Transform expectedParent = GetParentTransformFromHierarchy(boneId); + if (expectedParent == null) + { + Debug.Log($"missing parent for {(BodyJointId)boneId}, body: {name}"); + } + Transform childObject = expectedParent.Find(childName); + if (childObject == null) + { + childObject = CreateNewBone().transform; + childObject.name = childName; + childObject.SetParent(expectedParent, false); + } + else + { + int indexInList = GetBoneTransformIndex(childObject); + if (indexInList >= 0) + { + string incorrectlyReplacedChild = Enum.GetName(boneEnum, indexInList); + Debug.LogWarning($"{childName} already at {indexInList}" + + $" ({incorrectlyReplacedChild})"); + } + } + _boneTransforms[boneId] = childObject; + return childObject; + } + + private int GetBoneTransformIndex(Transform boneTransform) + { + // manual for loop, because BoneTransforms.IndexOf crashes with null values + for (int i = 0; i < _boneTransforms.Length; ++i) + { + if (_boneTransforms[i] == boneTransform) + { + return i; + } + } + return -1; + } + + private Transform GetParentTransformFromHierarchy(int boneId) + { + switch (ParentHierarchy) + { + case TransformHierarchy.TreeHierarchy: + int parentId = FullBodySkeletonTPose.TPose.GetParent(boneId); + if (parentId >= 0) + { + return _boneTransforms[parentId]; + } + break; + } + return BoneContainer; + } + +#if UNITY_EDITOR + private void Reset() + { + _bodyPoseSource = GetNonSelfLocalBodyPose(gameObject) as UnityEngine.Object; + BodyPoseController controller = GetComponent(); + if (controller != null && controller.SkeletonTransforms == null) + { + controller.SkeletonTransforms = this; + controller.FindLocalBodyPose(); + } + if (_bodyPose != null) + { + RefreshBoneTransformsFromPoses(); + } + } + + private void OnValidate() + { + // force reset of IBodyPoseProvider interface at editor time + _bodyPose = null; + if (bonesContainer == null) + { + return; + } + if (_bodyPoseSource == this || _bodyPose == this as IBodyPose) + { + _bodyPose = null; + _bodyPoseSource = null; + Debug.LogWarning("Should not read from self"); + } + BodyPoseUpdateListener(true); + UnityEditor.EditorApplication.delayCall += RefreshHierarchyDuringEditor; + } + + public void RefreshHierarchyDuringEditor() + { + if (this == null) + { + return; + } + RefreshHierarchy(); + } +#endif + + private IBodyPose GetNonSelfLocalBodyPose(GameObject go) + { + IBodyPose[] poses = go.GetComponents(); + for (int i = 0; i < poses.Length; ++i) + { + if (poses[i] == this as IBodyPose) + { + continue; + } + return poses[i]; + } + return null; + } + + private void OnEnable() => BodyPoseUpdateListener(true); + + private void OnDisable() => BodyPoseUpdateListener(false); + + private void OnDestroy() => BodyPoseUpdateListener(false); + + private void BodyPoseUpdateListener(bool enabled) + { + if (enabled) + { + AddListener(UpdateTransformsData); + } + else + { + RemoveListener(UpdateTransformsData); + } + } + + /// + /// Should be called when body pose source data changes. + /// + private void UpdateTransformsData() + { + if (this == null) + { + return; + } + if (BodyPose == null) + { + throw new Exception("Was not removed from"); + } + RefreshBoneTransformsFromPoses(); + NotifyBodyPoseUpdate(); + } + + /// + /// Notifies listeners that body pose data has been modified. + /// + public void NotifyBodyPoseUpdate() + { + WhenBodyPoseUpdated.Invoke(); + } + + /// + /// Adds callback to listener that keeps track of source data changes + /// + public void AddListener(Action onPoseChange) + { + if (BodyPose == null) + { + return; + } + BodyPose.WhenBodyPoseUpdated -= onPoseChange; + BodyPose.WhenBodyPoseUpdated += onPoseChange; + } + + /// + /// Removes callback from listener that keeps track of source data changes + /// + public void RemoveListener(Action onPoseChange) + { + if (_bodyPose == null) + { + return; + } + BodyPose.WhenBodyPoseUpdated -= onPoseChange; + } + } +} diff --git a/Runtime/Scripts/BodyTrackingForFitness/BodyPoseBoneTransforms.cs.meta b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseBoneTransforms.cs.meta new file mode 100644 index 00000000..d1d47152 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseBoneTransforms.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: fbdd4325276075d438a702c7e5c422fa +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/BodyTrackingForFitness/BodyPoseBoneVisuals.cs b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseBoneVisuals.cs new file mode 100644 index 00000000..62e49ffe --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseBoneVisuals.cs @@ -0,0 +1,316 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using System.Collections.Generic; +using Oculus.Interaction.Body.Input; +using Oculus.Movement.Utils; +using UnityEngine; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// Generates visible bones for each bone + /// + public class BodyPoseBoneVisuals : MonoBehaviour + { + private static class BodyPoseBoneVisualsTooltips + { + public const string SkeletonTransforms = + "Component that creates and manages bone transforms for the body being tracked"; + + public const string BoneVisualPrefab = + "Object to duplicate and scale for each bone"; + + public const string BoneThickness = + "Bone Thickness to Bone Length ratio; smaller value makes thinner bones"; + + public const string ChildVisuals = + "Bone visuals objects that are children of " + nameof(BodyPoseBoneVisuals.Skeleton); + } + + /// + /// Component that creates and manages bone transforms for the body being tracked + /// + [Tooltip(BodyPoseBoneVisualsTooltips.SkeletonTransforms)] + [SerializeField] + protected BodyPoseBoneTransforms _skeletonTransforms; + + /// + /// Object to duplicate and scale for each bone + /// + [Tooltip(BodyPoseBoneVisualsTooltips.BoneVisualPrefab)] + [ContextMenuItem(nameof(CreatePrimitiveCubeVisualPrefab),nameof(CreatePrimitiveCubeVisualPrefab))] + [SerializeField] + protected GameObject _boneVisualPrefab; + + /// + /// Bone Thickness to Bone Length ratio; smaller value makes thinner bones + /// + [Tooltip(BodyPoseBoneVisualsTooltips.BoneThickness)] + [SerializeField] + protected float _boneThickness = 1f / 4; + + /// + /// Bone visuals objects that are children of + /// + [Tooltip(BodyPoseBoneVisualsTooltips.ChildVisuals)] + [ContextMenuItem(nameof(RefreshVisualsInEditor),nameof(RefreshVisualsInEditor))] + [ContextMenuItem(nameof(ClearBoneVisuals),nameof(ClearBoneVisuals))] + [ContextMenuItem(nameof(SelectBoneVisuals),nameof(SelectBoneVisuals))] + [EnumNamedArray (typeof(BodyJointId))] + [SerializeField] + protected private List _childVisuals = new List(); + + private const string BoneTransformPrefix = "B."; + + /// + public BodyPoseBoneTransforms Skeleton + { + get => _skeletonTransforms ; + set => _skeletonTransforms = value; + } + + /// + public GameObject BoneVisualPrefab + { + get => _boneVisualPrefab; + set => _boneVisualPrefab = value; + } + + /// + public List BoneVisuals => _childVisuals; + + private void Start() + { + if (_boneVisualPrefab == null) + { + CreatePrimitiveCubeVisualPrefab(); + } + } + + private void OnEnable() + { + Skeleton.AddListener(RefreshVisuals); + } + + private void OnDisable() + { + Skeleton.RemoveListener(RefreshVisuals); + } + + private void Reset() + { + Skeleton = GetComponent(); + } + + /// + /// Removes all bone visuals + /// + public void ClearBoneVisuals() + { + for (int i = 0; i < _childVisuals.Count; ++i) + { + Transform child = _childVisuals[i]; + if (child == null){ + continue; + } + DestroyImmediate(child.gameObject); + } + _childVisuals.RemoveAll(t => true); + } + + /// + /// Recreates or re-applies bone visuals to the partner + /// + public void RefreshVisuals() + { + if (_boneVisualPrefab == null) + { + CreatePrimitiveCubeVisualPrefab(); + } + int count = (int)BodyJointId.Body_End; + for (int boneId = 0; boneId < count; ++boneId) + { + Transform childObject = null; + if (_childVisuals.Count == boneId) + { + _childVisuals.Add(null); + } + if ((childObject = _childVisuals[boneId]) == null) + { + childObject = FindOrCreateChildTransform(boneId); + } + if (childObject != null) + { + childObject.localPosition = Vector3.zero; + childObject.localRotation = + FullBodySkeletonTPose.TPose.GetForwardRotation(boneId); + ApplyLength(boneId, childObject); + } + } + } + + private Transform FindOrCreateChildTransform(int boneId) + { + if (!Skeleton.GetJointPoseFromRoot((BodyJointId)boneId, out Pose pose)) + { + if (!Skeleton.GetJointPoseFromRootUsingBoneTransform((BodyJointId)boneId, out pose)) + { + return null; + } + } + Type boneEnum = typeof(BodyBoneName); + string childName = BoneTransformPrefix + boneId.ToString("000") + + Enum.GetName(boneEnum, boneId); + Transform boneParent = Skeleton.BoneTransforms[boneId]; + if (boneParent == null) + { + boneParent = Skeleton.BoneContainer; + if (boneParent == null) + { + return null; + } + } + Transform childObject = boneParent.Find(childName); + if (childObject == null) + { +#if UNITY_EDITOR + bool isPrefabAsset = _boneVisualPrefab.scene.name == null; + if (isPrefabAsset) + { + childObject = ((GameObject)UnityEditor.PrefabUtility + .InstantiatePrefab(_boneVisualPrefab)).transform; + } + else + { + childObject = Instantiate(_boneVisualPrefab).transform; + } +#else + childObject = Instantiate(_boneVisualPrefab).transform; +#endif + childObject.name = childName; + childObject.gameObject.SetActive(true); + childObject.SetParent(boneParent, false); + } + else + { + int indexInList = _childVisuals.IndexOf(childObject); + if (indexInList >= 0 && indexInList != boneId) + { + string incorrectlyReplacedChild = Enum.GetName(boneEnum, indexInList); + Debug.LogWarning( + $"{childName} already at {indexInList} ({incorrectlyReplacedChild})"); + } + } + if (_childVisuals.Count == boneId) + { + _childVisuals.Add(childObject); + } + else + { + _childVisuals[boneId] = childObject; + } + return childObject; + } + + private void ApplyLength(int boneId, Transform visualObject) + { + GetBoneLength(boneId, out float boneLength, out bool haveValidEndPoint); + float boneVisualScale = _boneThickness * boneLength; + if (haveValidEndPoint) + { + visualObject.localScale = + new Vector3(boneVisualScale, boneVisualScale, boneLength); + } + else + { + visualObject.localScale = Vector3.one * boneVisualScale; + } + } + + private void GetBoneLength(int boneId, out float boneLength, out bool hasBoneTarget) + { + boneLength = 0; + int targetId = FullBodySkeletonTPose.TPose.GetNext(boneId); + hasBoneTarget = targetId >= 0; + bool isBoneValid = Skeleton.GetJointPoseFromRoot((BodyJointId)boneId, out Pose pose); + if (targetId >= 0 && isBoneValid) + { + isBoneValid = Skeleton.GetJointPoseFromRoot((BodyJointId)targetId, out Pose target); + boneLength = isBoneValid ? Vector3.Distance(pose.position, target.position) : 0; + hasBoneTarget = true; + } else if (targetId < 0 && isBoneValid) + { + int pId = FullBodySkeletonTPose.TPose.GetParent(boneId); + isBoneValid = Skeleton.GetJointPoseFromRoot((BodyJointId)pId, out Pose parent); + boneLength = isBoneValid ? Vector3.Distance(pose.position, parent.position) : 0; + } + if (boneLength == 0) + { + boneLength = FullBodySkeletonTPose.TPose.GetBoneLength(boneId); + } + } + + /// + /// Creates a minimally simple bone visualization prefab that scales correctly with bones + /// + public void CreatePrimitiveCubeVisualPrefab() + { + GameObject prefab = CreateCubePrefabThatScalesInOneDirection(Vector3.forward, transform); + prefab.SetActive(false); +#if UNITY_EDITOR + prefab.name = UnityEditor.ObjectNames.NicifyVariableName(nameof(_boneVisualPrefab)); +#else + prefab.name = nameof(_boneVisualPrefab); +#endif + _boneVisualPrefab = prefab; + } + + private static GameObject CreateCubePrefabThatScalesInOneDirection(Vector3 boneDirection, Transform parent) + { + GameObject visualPrefab = new GameObject(); + GameObject cube = GameObject.CreatePrimitive(PrimitiveType.Cube); + Transform cubeTransform = cube.transform; + cubeTransform.SetParent(visualPrefab.transform, false); + cubeTransform.localPosition = boneDirection * 0.5f; + visualPrefab.transform.SetParent(parent); + if (Application.isPlaying) + { + Destroy(cubeTransform.GetComponent()); + } + else + { + DestroyImmediate(cubeTransform.GetComponent()); + } + return visualPrefab; + } + +#if UNITY_EDITOR + /// + /// Editor time call to refresh bone visuals + /// + public void RefreshVisualsInEditor() + { + UnityEditor.EditorApplication.delayCall += RefreshVisuals; + UnityEditor.EditorUtility.SetDirty(this); + } + + /// + /// Editor time call to select only bone visuals + /// + public void SelectBoneVisuals() + { + List objects = new List(); + for(int i = 0; i < BoneVisuals.Count; ++i) + { + Transform boneVisual = BoneVisuals[i]; + objects.Add(boneVisual.gameObject); + } + UnityEditor.Selection.objects = objects.ToArray(); + } +#else + public void RefreshVisualsInEditor() {} + public void SelectBoneVisuals() {} +#endif + } +} diff --git a/Runtime/Scripts/BodyTrackingForFitness/BodyPoseBoneVisuals.cs.meta b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseBoneVisuals.cs.meta new file mode 100644 index 00000000..5bed7a4d --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseBoneVisuals.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: a00e4ac58741450428efd2b727e7abc4 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/BodyTrackingForFitness/BodyPoseController.cs b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseController.cs new file mode 100644 index 00000000..9cee73b3 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseController.cs @@ -0,0 +1,288 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using System.Collections.Generic; +using Oculus.Interaction; +using Oculus.Interaction.Body.Input; +using Oculus.Interaction.Body.PoseDetection; +using Oculus.Movement.Utils; +using UnityEngine; +#if UNITY_EDITOR +using UnityEditor; +#endif + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// Allows fine control of body poses by creating a single auditable and editable + /// list. + /// + public class BodyPoseController : MonoBehaviour, IBodyPose, IBody + { + private static class BodyPoseControllerTooltips + { + public const string SourceDataObject = + "A body pose source. Can be a " + nameof(ScriptableObject) + " that inherits " + + nameof(IBodyPose) + ". If you want to use active body data, reference " + + nameof(OVRBodyPose) + ", or " + nameof(PoseFromBody) + "."; + + public const string BodyBoneTransforms = + "Organizes the list of transforms to be mapped to the main list of bone poses"; + + public const string BodyPoses = + "The managed list of bone poses that collectively creates a body pose"; + + public const string DrawSkeletonGizmo = + "Flag to enable/prevent skeleton Gizmo drawing"; + } + + /// + public event Action WhenBodyUpdated = delegate { }; + + /// + public event Action WhenBodyPoseUpdated = delegate { }; + + /// + /// "A body pose source. Can be a that inherits + /// . If you want to use active body data, reference + /// , or + /// + [Tooltip(BodyPoseControllerTooltips.SourceDataObject)] + [SerializeField, Interface(typeof(IBodyPose))] + private UnityEngine.Object _sourceDataObject; + private IBodyPose _iPose; + + /// + /// Organizes the list of transforms to be mapped to the list of bone poses + /// + [Tooltip(BodyPoseControllerTooltips.BodyBoneTransforms)] + [SerializeField] + protected BodyPoseBoneTransforms _bodyBoneTransforms; + + /// + /// The managed list of bone poses that collectively creates a body pose + /// + [Tooltip(BodyPoseControllerTooltips.BodyPoses)] + [ContextMenuItem(nameof(RefreshFromSourceData), nameof(RefreshFromSourceData))] + [ContextMenuItem(nameof(RefreshTPose), nameof(RefreshTPose))] + [EnumNamedArray(typeof(BodyBoneName))] + [SerializeField] + protected Pose[] _bonePoses = Array.Empty(); + + /// + /// How many times has the body pose changed? + /// + private int _currentDataVersion; + + /// + public Pose[] BonePoses => _bonePoses; + + /// + public ISkeletonMapping SkeletonMapping => _skeletonMapping != null ? + _skeletonMapping : _skeletonMapping = new FullBodySkeletonTPose(); + + /// + public bool IsConnected => BodyPose != null; + + /// + public bool IsHighConfidence => true; + + /// + public bool IsTrackedDataValid => true; + + /// + public float Scale => 1; + + /// + public int CurrentDataVersion => _currentDataVersion; + + private static ISkeletonMapping _skeletonMapping; + + /// + public BodyPoseBoneTransforms SkeletonTransforms + { + get => _bodyBoneTransforms; + set => _bodyBoneTransforms = value; + } + + /// + public IBodyPose BodyPose + { + get + { + if (_iPose != null) + { + return _iPose; + } + + _iPose = _sourceDataObject as IBodyPose; + if (_iPose == this as IBodyPose || _iPose == _bodyBoneTransforms as IBodyPose) + { + _iPose = null; + _sourceDataObject = null; + } + + return _iPose; + } + } + + private void Reset() + { + FindLocalBodyPose(); + if (_sourceDataObject == null) + { + RefreshTPose(); + } + } + + /// Used to assist component assignment at editor time + internal void FindLocalBodyPose() + { + IBodyPose[] bodyPoses = GetComponents(); + for (int i = 0; i < bodyPoses.Length; ++i) + { + _sourceDataObject = bodyPoses[i] as UnityEngine.Object; + if (_sourceDataObject == this as UnityEngine.Object) + { + _sourceDataObject = null; + } + if (_sourceDataObject != null) + { + break; + } + } + } + + private void OnEnable() + { + if (BodyPose != null) + { + BodyPose.WhenBodyPoseUpdated += RefreshBonePosesFromDataSource; + } + } + + private void OnDisable() + { + if (BodyPose != null) + { + BodyPose.WhenBodyPoseUpdated -= RefreshBonePosesFromDataSource; + } + } + + /// + /// Public imperative method that refreshes bone pose data with input from the data source. + /// + public void RefreshFromSourceData() + { + _iPose = _sourceDataObject as IBodyPose; + if (BodyPose == null) + { + Debug.LogError($"invalid source data"); + return; + } +#if UNITY_EDITOR + if (!Application.isPlaying && (BodyPose is PoseFromBody || BodyPose is OVRBodyPose)) + { + Debug.LogWarning("Cannot read body data at editor time"); + return; + } +#endif + RefreshBonePosesFromDataSource(); + } + + private void RefreshBonePosesFromDataSource() + { + ReadFrom(BodyPose); + } + + /// + /// Forces the bone pose data into a T-pose, which is a guaranteed safe pose. + /// + public void RefreshTPose() + { + ReadFrom(new FullBodySkeletonTPose()); + } + + /// + /// Fills the managed bone pose array with body data from the given body pose + /// + public void ReadFrom(IBodyPose bodyPose) + { + Array.Resize(ref _bonePoses, FullBodySkeletonTPose.TPose.ExpectedBoneCount); + for (int i = 0; i < _bonePoses.Length; ++i) + { + if (bodyPose.GetJointPoseFromRoot((BodyJointId)i, out Pose pose)) + { + _bonePoses[i] = pose; + } + } + NotifyChange(); +#if UNITY_EDITOR + EditorUtility.SetDirty(this); +#endif + } + + /// + /// Called whenever data changes to inform all listeners of the data change + /// + public void NotifyChange() + { + ++_currentDataVersion; + WhenBodyPoseUpdated.Invoke(); + WhenBodyUpdated.Invoke(); + } + + /// + public bool GetRootPose(out Pose pose) + { + return GetJointPose(BodyJointId.Body_Root, out pose); + } + + /// + public bool GetJointPose(BodyJointId bodyJointId, out Pose pose) + { + if (_bonePoses.Length == 0) + { + pose = default; + return false; + } + pose = _bonePoses[(int)bodyJointId]; + return true; + } + + /// + public bool GetJointPoseLocal(BodyJointId bodyJointId, out Pose pose) + { + return FullBodySkeletonTPose.GetJointPoseLocalIfFromRootIsKnown( + this, bodyJointId, out pose); + } + + /// + public bool GetJointPoseFromRoot(BodyJointId bodyJointId, out Pose pose) + { + int id = (int)bodyJointId; + if (id >= 0 && id < _bonePoses.Length) + { + pose = _bonePoses[id]; + return true; + } + pose = default; + return false; + } + + public void ApplyTransformsToBonePoses() + { + IList bones = _bodyBoneTransforms.BoneTransforms; + Transform boneRoot = _bodyBoneTransforms.BoneContainer; + Quaternion boneRootRotationOffset = Quaternion.Inverse(boneRoot.rotation); + for (int i = 0; i < _bonePoses.Length; ++i) + { + Pose newChildData = new Pose( + boneRoot.InverseTransformPoint(bones[i].position), + boneRootRotationOffset * bones[i].rotation); + _bonePoses[i] = newChildData; + } + NotifyChange(); + } + } +} diff --git a/Runtime/Scripts/BodyTrackingForFitness/BodyPoseController.cs.meta b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseController.cs.meta new file mode 100644 index 00000000..8ea50973 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseController.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: c5891a8a91855c04388b82f64bf76717 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/BodyTrackingForFitness/BodyPoseRuntimeRecorder.cs b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseRuntimeRecorder.cs new file mode 100644 index 00000000..4bd994af --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseRuntimeRecorder.cs @@ -0,0 +1,116 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using System.Collections; +using Oculus.Interaction; +using Oculus.Interaction.Body.Input; +using Oculus.Interaction.Body.PoseDetection; +using Oculus.Interaction.Collections; +using UnityEngine; +using UnityEngine.Events; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// Sample implementation of a body pose recorder + /// + public class BodyPoseRuntimeRecorder : MonoBehaviour, IBodyPose, ISkeletonMapping + { + private static class BodyPoseRuntimeRecorderTooltips + { + public const string Source = "What body pose to record from"; + + public const string BodyPose = "The recorded body pose data"; + + public const string OnRecord = "Callback to execute when recording is finished"; + } + + /// + /// What body pose to record from + /// + [Tooltip(BodyPoseRuntimeRecorderTooltips.Source)] + [Interface(typeof(IBodyPose))] + [SerializeField] + protected UnityEngine.Object _source; + + /// + /// The recorded body pose data + /// + [Tooltip(BodyPoseRuntimeRecorderTooltips.BodyPose)] + public Pose[] bodyPose = Array.Empty(); + + /// + public event Action WhenBodyPoseUpdated = delegate { }; + + /// + /// Callback to execute when recording is finished + /// + [Tooltip(BodyPoseRuntimeRecorderTooltips.OnRecord)] + public UnityEvent _onRecord = new UnityEvent(); + + /// + public ISkeletonMapping SkeletonMapping => this; + + /// + public IEnumerableHashSet Joints => FullBodySkeletonTPose.TPose.Joints; + + /// + public bool TryGetParentJointId(BodyJointId jointId, out BodyJointId parent) => + FullBodySkeletonTPose.TPose.TryGetParentJointId(jointId, out parent); + + /// + public bool GetJointPoseLocal(BodyJointId bodyJointId, out Pose pose) + { + return FullBodySkeletonTPose.GetJointPoseLocalIfFromRootIsKnown( + this, bodyJointId, out pose); + } + + /// + public bool GetJointPoseFromRoot(BodyJointId bodyJointId, out Pose pose) + { + int id = (int)bodyJointId; + if (Application.isPlaying) + { + if (id >= 0 && id < bodyPose.Length) + { + pose = bodyPose[id]; + return true; + } + } + else + { + pose = FullBodySkeletonTPose.TPose.GetTPose(id); + return true; + } + pose = default; + return false; + } + + /// + /// Used by UI to record the current input body pose in the given number of seconds + /// + public void PressRecordButton(float timerTillRecordStarts) => + StartCoroutine(RecordInSeconds(timerTillRecordStarts)); + + private IEnumerator RecordInSeconds(float seconds) + { + yield return new WaitForSeconds(seconds); + Copy(_source as IBodyPose); + _onRecord.Invoke(); + } + + /// + /// Copies the data from a given body pose into this recorder + /// + public void Copy(IBodyPose bodyPoseInput) + { + Array.Resize(ref bodyPose, FullBodySkeletonTPose.TPose.ExpectedBoneCount); + for (int i = 0; i < bodyPose.Length; ++i) + { + bodyPoseInput.GetJointPoseFromRoot((BodyJointId)i, out Pose bonePose); + bodyPose[i] = bonePose; + } + WhenBodyPoseUpdated.Invoke(); + } + } +} diff --git a/Runtime/Scripts/BodyTrackingForFitness/BodyPoseRuntimeRecorder.cs.meta b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseRuntimeRecorder.cs.meta new file mode 100644 index 00000000..46106648 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BodyPoseRuntimeRecorder.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: c11efdea61633ea4bb77ed6453716617 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/BodyTrackingForFitness/BoneGroup.cs b/Runtime/Scripts/BodyTrackingForFitness/BoneGroup.cs new file mode 100644 index 00000000..9547c849 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BoneGroup.cs @@ -0,0 +1,399 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System.Collections.Generic; +using Oculus.Interaction.Body.Input; +using UnityEngine; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// List bones by logical body group. Also has static methods to mirror body pose. + /// + public static class BoneGroup + { + /// + /// Bones that can be mostly derived from positioning of other bones + /// + public static readonly BodyJointId[] CommonIgnored = new BodyJointId[] + { + BodyJointId.Body_LeftShoulder, + BodyJointId.Body_LeftScapula, + BodyJointId.Body_LeftHandWristTwist, + BodyJointId.Body_RightShoulder, + BodyJointId.Body_RightScapula, + BodyJointId.Body_RightHandWristTwist, + BodyJointId.Body_LeftHandPalm, + BodyJointId.Body_LeftHandThumbTip, + BodyJointId.Body_LeftHandIndexMetacarpal, + BodyJointId.Body_LeftHandIndexTip, + BodyJointId.Body_LeftHandMiddleMetacarpal, + BodyJointId.Body_LeftHandMiddleTip, + BodyJointId.Body_LeftHandRingMetacarpal, + BodyJointId.Body_LeftHandRingTip, + BodyJointId.Body_LeftHandLittleMetacarpal, + BodyJointId.Body_LeftHandLittleTip, + BodyJointId.Body_RightHandPalm, + BodyJointId.Body_RightHandThumbTip, + BodyJointId.Body_RightHandIndexMetacarpal, + BodyJointId.Body_RightHandIndexTip, + BodyJointId.Body_RightHandMiddleMetacarpal, + BodyJointId.Body_RightHandMiddleTip, + BodyJointId.Body_RightHandRingMetacarpal, + BodyJointId.Body_RightHandRingTip, + BodyJointId.Body_RightHandLittleMetacarpal, + BodyJointId.Body_RightHandLittleTip, + BodyJointId.Body_LeftFootAnkleTwist, + BodyJointId.Body_RightFootAnkleTwist, + }; + + /// + /// Spinal column bones, from hips to head. + /// + public static readonly BodyJointId[] SpinalColumn = new BodyJointId[] + { + BodyJointId.Body_Hips, + BodyJointId.Body_SpineLower, + BodyJointId.Body_SpineMiddle, + BodyJointId.Body_SpineUpper, + BodyJointId.Body_Chest, + BodyJointId.Body_Neck, + BodyJointId.Body_Head + }; + + /// + /// Left arm bones, including commonly ignored shoulder bones + /// + public static readonly BodyJointId[] LeftArm = new BodyJointId[] + { + BodyJointId.Body_LeftArmLower, + BodyJointId.Body_LeftArmUpper, + BodyJointId.Body_LeftScapula, + BodyJointId.Body_LeftShoulder + }; + + /// + /// Right arm bones, including commonly ignored shoulder bones + /// + public static readonly BodyJointId[] RightArm = new BodyJointId[] + { + BodyJointId.Body_RightArmLower, + BodyJointId.Body_RightArmUpper, + BodyJointId.Body_RightScapula, + BodyJointId.Body_RightShoulder + }; + + /// + /// Left leg bones, including commonly ignored ankle twist + /// + public static readonly BodyJointId[] LeftLeg = new BodyJointId[] + { + BodyJointId.Body_LeftFootAnkleTwist, + BodyJointId.Body_LeftLegLower, + BodyJointId.Body_LeftLegUpper, + }; + + /// + /// Right leg bones, including commonly ignored ankle twist + /// + public static readonly BodyJointId[] RightLeg = new BodyJointId[] + { + BodyJointId.Body_RightFootAnkleTwist, + BodyJointId.Body_RightLegLower, + BodyJointId.Body_RightLegUpper, + }; + + /// + /// Left foot bones + /// + public static readonly BodyJointId[] LeftFoot = new BodyJointId[] + { + BodyJointId.Body_LeftFootAnkle, + BodyJointId.Body_LeftFootSubtalar, + BodyJointId.Body_LeftFootTransverse, + BodyJointId.Body_LeftFootBall, + }; + + /// + /// Right foot bones + /// + public static readonly BodyJointId[] RightFoot = new BodyJointId[] + { + BodyJointId.Body_RightFootAnkle, + BodyJointId.Body_RightFootSubtalar, + BodyJointId.Body_RightFootTransverse, + BodyJointId.Body_RightFootBall, + }; + + /// + /// Left hand bones, including commonly ignored metacarpals and wrist twist + /// + public static readonly BodyJointId[] LeftHand = new BodyJointId[] + { + BodyJointId.Body_LeftHandWristTwist, + BodyJointId.Body_LeftHandWrist, + BodyJointId.Body_LeftHandPalm, + BodyJointId.Body_LeftHandThumbMetacarpal, + BodyJointId.Body_LeftHandThumbProximal, + BodyJointId.Body_LeftHandThumbDistal, + BodyJointId.Body_LeftHandThumbTip, + BodyJointId.Body_LeftHandIndexMetacarpal, + BodyJointId.Body_LeftHandIndexProximal, + BodyJointId.Body_LeftHandIndexIntermediate, + BodyJointId.Body_LeftHandIndexDistal, + BodyJointId.Body_LeftHandIndexTip, + BodyJointId.Body_LeftHandMiddleMetacarpal, + BodyJointId.Body_LeftHandMiddleProximal, + BodyJointId.Body_LeftHandMiddleIntermediate, + BodyJointId.Body_LeftHandMiddleDistal, + BodyJointId.Body_LeftHandMiddleTip, + BodyJointId.Body_LeftHandRingMetacarpal, + BodyJointId.Body_LeftHandRingProximal, + BodyJointId.Body_LeftHandRingIntermediate, + BodyJointId.Body_LeftHandRingDistal, + BodyJointId.Body_LeftHandRingTip, + BodyJointId.Body_LeftHandLittleMetacarpal, + BodyJointId.Body_LeftHandLittleProximal, + BodyJointId.Body_LeftHandLittleIntermediate, + BodyJointId.Body_LeftHandLittleDistal, + BodyJointId.Body_LeftHandLittleTip, + }; + + /// + /// Right hand bones, including commonly ignored metacarpals and wrist twist + /// + public static readonly BodyJointId[] RightHand = new BodyJointId[] + { + BodyJointId.Body_RightHandWristTwist, + BodyJointId.Body_RightHandWrist, + BodyJointId.Body_RightHandPalm, + BodyJointId.Body_RightHandThumbMetacarpal, + BodyJointId.Body_RightHandThumbProximal, + BodyJointId.Body_RightHandThumbDistal, + BodyJointId.Body_RightHandThumbTip, + BodyJointId.Body_RightHandIndexMetacarpal, + BodyJointId.Body_RightHandIndexProximal, + BodyJointId.Body_RightHandIndexIntermediate, + BodyJointId.Body_RightHandIndexDistal, + BodyJointId.Body_RightHandIndexTip, + BodyJointId.Body_RightHandMiddleMetacarpal, + BodyJointId.Body_RightHandMiddleProximal, + BodyJointId.Body_RightHandMiddleIntermediate, + BodyJointId.Body_RightHandMiddleDistal, + BodyJointId.Body_RightHandMiddleTip, + BodyJointId.Body_RightHandRingMetacarpal, + BodyJointId.Body_RightHandRingProximal, + BodyJointId.Body_RightHandRingIntermediate, + BodyJointId.Body_RightHandRingDistal, + BodyJointId.Body_RightHandRingTip, + BodyJointId.Body_RightHandLittleMetacarpal, + BodyJointId.Body_RightHandLittleProximal, + BodyJointId.Body_RightHandLittleIntermediate, + BodyJointId.Body_RightHandLittleDistal, + BodyJointId.Body_RightHandLittleTip, + }; + + /// + /// Body bones that create a human silhouette + /// + public static readonly BodyJointId[] CommonBody = new BodyJointId[] + { + BodyJointId.Body_Hips, + BodyJointId.Body_SpineLower, + BodyJointId.Body_SpineMiddle, + BodyJointId.Body_SpineUpper, + BodyJointId.Body_Chest, + BodyJointId.Body_Neck, + BodyJointId.Body_Head, + BodyJointId.Body_LeftArmUpper, + BodyJointId.Body_LeftArmLower, + BodyJointId.Body_RightArmUpper, + BodyJointId.Body_RightArmLower, + BodyJointId.Body_LeftLegUpper, + BodyJointId.Body_LeftLegLower, + BodyJointId.Body_RightLegUpper, + BodyJointId.Body_RightLegLower, + }; + + /// + /// All bones in an ordered list + /// + public static readonly BodyJointId[] All = new BodyJointId[] + { + BodyJointId.Body_Root, + BodyJointId.Body_Hips, + BodyJointId.Body_SpineLower, + BodyJointId.Body_SpineMiddle, + BodyJointId.Body_SpineUpper, + BodyJointId.Body_SpineUpper, + BodyJointId.Body_Chest, + BodyJointId.Body_Neck, + BodyJointId.Body_Head, + BodyJointId.Body_LeftShoulder, + BodyJointId.Body_LeftScapula, + BodyJointId.Body_LeftArmUpper, + BodyJointId.Body_LeftArmLower, + BodyJointId.Body_LeftHandWristTwist, + BodyJointId.Body_RightShoulder, + BodyJointId.Body_RightScapula, + BodyJointId.Body_RightArmUpper, + BodyJointId.Body_RightArmLower, + BodyJointId.Body_RightHandWristTwist, + BodyJointId.Body_LeftHandPalm, + BodyJointId.Body_LeftHandWrist, + BodyJointId.Body_LeftHandThumbMetacarpal, + BodyJointId.Body_LeftHandThumbProximal, + BodyJointId.Body_LeftHandThumbDistal, + BodyJointId.Body_LeftHandThumbTip, + BodyJointId.Body_LeftHandIndexMetacarpal, + BodyJointId.Body_LeftHandIndexProximal, + BodyJointId.Body_LeftHandIndexIntermediate, + BodyJointId.Body_LeftHandIndexDistal, + BodyJointId.Body_LeftHandIndexTip, + BodyJointId.Body_LeftHandMiddleMetacarpal, + BodyJointId.Body_LeftHandMiddleProximal, + BodyJointId.Body_LeftHandMiddleIntermediate, + BodyJointId.Body_LeftHandMiddleDistal, + BodyJointId.Body_LeftHandMiddleTip, + BodyJointId.Body_LeftHandRingMetacarpal, + BodyJointId.Body_LeftHandRingProximal, + BodyJointId.Body_LeftHandRingIntermediate, + BodyJointId.Body_LeftHandRingDistal, + BodyJointId.Body_LeftHandRingTip, + BodyJointId.Body_LeftHandLittleMetacarpal, + BodyJointId.Body_LeftHandLittleProximal, + BodyJointId.Body_LeftHandLittleIntermediate, + BodyJointId.Body_LeftHandLittleDistal, + BodyJointId.Body_LeftHandLittleTip, + BodyJointId.Body_RightHandPalm, + BodyJointId.Body_RightHandWrist, + BodyJointId.Body_RightHandThumbMetacarpal, + BodyJointId.Body_RightHandThumbProximal, + BodyJointId.Body_RightHandThumbDistal, + BodyJointId.Body_RightHandThumbTip, + BodyJointId.Body_RightHandIndexMetacarpal, + BodyJointId.Body_RightHandIndexProximal, + BodyJointId.Body_RightHandIndexIntermediate, + BodyJointId.Body_RightHandIndexDistal, + BodyJointId.Body_RightHandIndexTip, + BodyJointId.Body_RightHandMiddleMetacarpal, + BodyJointId.Body_RightHandMiddleProximal, + BodyJointId.Body_RightHandMiddleIntermediate, + BodyJointId.Body_RightHandMiddleDistal, + BodyJointId.Body_RightHandMiddleTip, + BodyJointId.Body_RightHandRingMetacarpal, + BodyJointId.Body_RightHandRingProximal, + BodyJointId.Body_RightHandRingIntermediate, + BodyJointId.Body_RightHandRingDistal, + BodyJointId.Body_RightHandRingTip, + BodyJointId.Body_RightHandLittleMetacarpal, + BodyJointId.Body_RightHandLittleProximal, + BodyJointId.Body_RightHandLittleIntermediate, + BodyJointId.Body_RightHandLittleDistal, + BodyJointId.Body_RightHandLittleTip, + BodyJointId.Body_LeftLegUpper, + BodyJointId.Body_LeftLegLower, + BodyJointId.Body_LeftFootAnkleTwist, + BodyJointId.Body_LeftFootAnkle, + BodyJointId.Body_LeftFootSubtalar, + BodyJointId.Body_LeftFootTransverse, + BodyJointId.Body_LeftFootBall, + BodyJointId.Body_RightLegUpper, + BodyJointId.Body_RightLegLower, + BodyJointId.Body_RightFootAnkleTwist, + BodyJointId.Body_RightFootAnkle, + BodyJointId.Body_RightFootSubtalar, + BodyJointId.Body_RightFootTransverse, + BodyJointId.Body_RightFootBall, + }; + + /// + /// Which bones should swap when reflecting the skeleton horizontally + /// + public readonly static (BodyJointId, BodyJointId)[] HorizontalReflection = + { + (BodyJointId.Body_LeftShoulder, BodyJointId.Body_RightShoulder), + (BodyJointId.Body_LeftScapula, BodyJointId.Body_RightScapula), + (BodyJointId.Body_LeftArmUpper, BodyJointId.Body_RightArmUpper), + (BodyJointId.Body_LeftArmLower, BodyJointId.Body_RightArmLower), + (BodyJointId.Body_LeftHandWristTwist, BodyJointId.Body_RightHandWristTwist), + (BodyJointId.Body_LeftHandWrist, BodyJointId.Body_RightHandWrist), + (BodyJointId.Body_LeftHandPalm, BodyJointId.Body_RightHandPalm), + (BodyJointId.Body_LeftHandThumbMetacarpal, BodyJointId.Body_RightHandThumbMetacarpal), + (BodyJointId.Body_LeftHandThumbProximal, BodyJointId.Body_RightHandThumbProximal), + (BodyJointId.Body_LeftHandThumbDistal, BodyJointId.Body_RightHandThumbDistal), + (BodyJointId.Body_LeftHandThumbTip, BodyJointId.Body_RightHandThumbTip), + (BodyJointId.Body_LeftHandIndexMetacarpal, BodyJointId.Body_RightHandIndexMetacarpal), + (BodyJointId.Body_LeftHandIndexProximal, BodyJointId.Body_RightHandIndexProximal), + (BodyJointId.Body_LeftHandIndexIntermediate, BodyJointId.Body_RightHandIndexIntermediate), + (BodyJointId.Body_LeftHandIndexDistal, BodyJointId.Body_RightHandIndexDistal), + (BodyJointId.Body_LeftHandIndexTip, BodyJointId.Body_RightHandIndexTip), + (BodyJointId.Body_LeftHandMiddleMetacarpal, BodyJointId.Body_RightHandMiddleMetacarpal), + (BodyJointId.Body_LeftHandMiddleProximal, BodyJointId.Body_RightHandMiddleProximal), + (BodyJointId.Body_LeftHandMiddleIntermediate, BodyJointId.Body_RightHandMiddleIntermediate), + (BodyJointId.Body_LeftHandMiddleDistal, BodyJointId.Body_RightHandMiddleDistal), + (BodyJointId.Body_LeftHandMiddleTip, BodyJointId.Body_RightHandMiddleTip), + (BodyJointId.Body_LeftHandRingMetacarpal, BodyJointId.Body_RightHandRingMetacarpal), + (BodyJointId.Body_LeftHandRingProximal, BodyJointId.Body_RightHandRingProximal), + (BodyJointId.Body_LeftHandRingIntermediate, BodyJointId.Body_RightHandRingIntermediate), + (BodyJointId.Body_LeftHandRingDistal, BodyJointId.Body_RightHandRingDistal), + (BodyJointId.Body_LeftHandRingTip, BodyJointId.Body_RightHandRingTip), + (BodyJointId.Body_LeftHandLittleMetacarpal, BodyJointId.Body_RightHandLittleMetacarpal), + (BodyJointId.Body_LeftHandLittleProximal, BodyJointId.Body_RightHandLittleProximal), + (BodyJointId.Body_LeftHandLittleIntermediate, BodyJointId.Body_RightHandLittleIntermediate), + (BodyJointId.Body_LeftHandLittleDistal, BodyJointId.Body_RightHandLittleDistal), + (BodyJointId.Body_LeftHandLittleTip, BodyJointId.Body_RightHandLittleTip), + (BodyJointId.Body_LeftLegUpper, BodyJointId.Body_RightLegUpper), + (BodyJointId.Body_LeftLegLower, BodyJointId.Body_RightLegLower), + (BodyJointId.Body_LeftFootAnkle, BodyJointId.Body_RightFootAnkle), + (BodyJointId.Body_LeftFootAnkleTwist, BodyJointId.Body_RightFootAnkleTwist), + (BodyJointId.Body_LeftFootSubtalar, BodyJointId.Body_RightFootSubtalar), + (BodyJointId.Body_LeftFootTransverse, BodyJointId.Body_RightFootTransverse), + (BodyJointId.Body_LeftFootBall, BodyJointId.Body_RightFootBall), + }; + + /// + /// Used when mirroring bone poses + /// + private static readonly Vector3 CoefficientMirrorPositionX = new Vector3(-1, 1, 1); + + /// + /// Used when mirroring bone poses + /// + private static readonly Quaternion CoefficientMirrorRotationX = + Quaternion.AngleAxis(180, Vector3.up) * + Quaternion.AngleAxis(180, Vector3.forward); + + private static Pose MirroredPoseX(Pose pose) => + new Pose(MirrorPositionX(pose.position), MirrorRotationX(pose.rotation)); + + /// + /// Mirrors the given body pose horizontally, modifying the given bone pose list. + /// + /// each index matches a + public static void MirrorX(IList bones) { + for (int i = 0; i < bones.Count; ++i) { + bones[i] = MirroredPoseX(bones[i]); + } + for (int i = 0; i < HorizontalReflection.Length; ++i) { + int leftBodyJointId = (int)HorizontalReflection[i].Item1; + int rightBodyJointId = (int)HorizontalReflection[i].Item2; + SwapBones(bones, leftBodyJointId, rightBodyJointId); + } + } + + private static void SwapBones(IList bones, int left, int right) { + Pose swap = bones[left]; + bones[left] = bones[right]; + bones[right] = swap; + } + + private static Quaternion MirrorRotationX(Quaternion q) { + return new Quaternion(q.x * -1.0f, q.y, q.z, q.w * -1.0f) * CoefficientMirrorRotationX; + } + + private static Vector3 MirrorPositionX(Vector3 p) { + p.Scale(CoefficientMirrorPositionX); + return p; + } + } +} diff --git a/Runtime/Scripts/BodyTrackingForFitness/BoneGroup.cs.meta b/Runtime/Scripts/BodyTrackingForFitness/BoneGroup.cs.meta new file mode 100644 index 00000000..3fa916d1 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BoneGroup.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 72759924d14340a4097ec3882d92d02a +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/BodyTrackingForFitness/BoneLink.cs b/Runtime/Scripts/BodyTrackingForFitness/BoneLink.cs new file mode 100644 index 00000000..596efe2a --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BoneLink.cs @@ -0,0 +1,149 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System.Collections.Generic; +using UnityEngine; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// Stores information about a bone connections in a skeleton/armature + /// + /// Generic to disambiguate kind of skeleton + public class BoneLink + { + /// + /// The bone that this data describes + /// + public TBoneId id; + + /// + /// Which bone could be considered a parent bone (that this could be connected + /// to in a hierarchy). Root bones should have a parent that equates to -1. + /// + public TBoneId parent; + + /// + /// Which bone this should point to. For example, the spine points to the neck, the neck + /// points to the head. The head is a terminus, and should point at a bone id equal to -1. + /// + public TBoneId next; + + /// + /// Bones should be thought of as capsules/cylinders. This defines the bone's length axis. + /// + public Quaternion alignment; + + /// + /// The expected position and orientation during a T-pose + /// + public Pose tPose; + + /// + /// The length of the bone in the T-pose. Calculated if not supplied in the constructor. + /// + public float length; + + /// + /// Bones that are parented to this bone, likely including the bone + /// + public int[] children; + + /// + /// + /// + /// + /// + public BoneLink(TBoneId id, TBoneId parent, TBoneId next, Quaternion alignment, + PoseTuple tPose) + { + this.id = id; + this.parent = parent; + this.next = next; + this.alignment = alignment; + this.tPose = tPose; + length = 0; + } + + /// + /// Enables syntax sugar, for defining the bone link with a tuple + /// + /// + /// + public static implicit operator BoneLink( + (TBoneId id, TBoneId parent, TBoneId next, Vector3 eulerAlignment, PoseTuple tPose) link) + { + return new BoneLink(link.id, link.parent, link.next, + Quaternion.Euler(link.eulerAlignment), link.tPose); + } + + /// + /// Used to calculate the + /// + /// the full T-pose of a skeleton + public void UpdateLength(IList> poses) + { + int endIndex = (int)(object)next; + if (endIndex < 0) + { + length = 0; + return; + } + Vector3 start = poses[(int)(object)id].tPose.position; + Vector3 end = poses[endIndex].tPose.position; + Vector3 delta = end - start; + length = delta.magnitude; + } + } + + /// + /// This class is designed for simple data entry when describing a T-pose. It is + /// functionally identical to the class. + /// + public struct PoseTuple + { + /// + public Vector3 position; + /// + public Quaternion rotation; + + public PoseTuple(Vector3 position, Quaternion rotation) + { + this.position = position; + this.rotation = rotation; + } + + /// + /// Automatically converts from a tuple + /// + public static implicit operator PoseTuple((Vector3 pos, Quaternion rot) data) => + new PoseTuple(data.pos, data.rot); + + /// + /// Automatically converts to a + /// + public static implicit operator Pose(PoseTuple pose) => + new Pose(pose.position, pose.rotation); + + /// + /// Automatically converts from a + /// + public static implicit operator PoseTuple(Pose pose) => + new PoseTuple(pose.position, pose.rotation); + + /// + /// Automatically converts from two tuples, position and euler rotation + /// + public static implicit operator PoseTuple( + ((float x, float y, float z) pos, (float pitch, float yaw, float roll) rot) data) => + new PoseTuple(new Vector3(data.pos.x, data.pos.y, data.pos.z), + Quaternion.Euler(data.rot.pitch, data.rot.yaw, data.rot.roll)); + + /// + /// Automatically converts from two tuples, position and quaternion rotation + /// + public static implicit operator PoseTuple( + ((float x, float y, float z) pos, (float x, float y, float z, float w) quat) data) => + new PoseTuple(new Vector3(data.pos.x, data.pos.y, data.pos.z), + new Quaternion(data.quat.x, data.quat.y, data.quat.z, data.quat.w)); + } +} diff --git a/Runtime/Scripts/BodyTrackingForFitness/BoneLink.cs.meta b/Runtime/Scripts/BodyTrackingForFitness/BoneLink.cs.meta new file mode 100644 index 00000000..a7f13bb8 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/BoneLink.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 0c0bcd0df3c2ae34b9c14fc1073030d6 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/BodyTrackingForFitness/Counter.cs b/Runtime/Scripts/BodyTrackingForFitness/Counter.cs new file mode 100644 index 00000000..e7cfc9a7 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/Counter.cs @@ -0,0 +1,77 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using UnityEngine; +using UnityEngine.Events; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// Increments an integer, accessible in editor using and + /// callbacks. + /// + public class Counter : MonoBehaviour + { + private static class CounterTooltips + { + public const string Value = "The counter's value"; + + public const string CallbackInt = "Notified whenever the counter's value changes"; + + public const string CallbackString = "Notified whenever the counter's value changes"; + } + + /// + /// Callback to send an integer once the integer is known + /// + [Serializable] + public class UnityEvent_int : UnityEvent { } + + /// + /// Callback to send a string once the string is known + /// + [Serializable] + public class UnityEvent_string : UnityEvent { } + + /// + /// The counter's value + /// + [Tooltip(CounterTooltips.Value)] + [SerializeField] + private int _value; + + /// + /// Notified whenever the counter's value changes + /// + [Tooltip(CounterTooltips.CallbackInt)] + [SerializeField] + private UnityEvent_int callbackInt = new UnityEvent_int(); + + /// + /// Notified whenever the counter's value changes + /// + [Tooltip(CounterTooltips.CallbackString)] + [SerializeField] + private UnityEvent_string callbackString = new UnityEvent_string(); + + /// + public int Value + { + get => _value; + set + { + _value = value; + callbackInt.Invoke(_value); + callbackString.Invoke(_value.ToString()); + } + } + + /// + /// Increments (or decrements with negative value) the counter's value + /// + public void Add(int value) + { + Value += value; + } + } +} diff --git a/Runtime/Scripts/BodyTrackingForFitness/Counter.cs.meta b/Runtime/Scripts/BodyTrackingForFitness/Counter.cs.meta new file mode 100644 index 00000000..dd487552 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/Counter.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: cd970eec452c82a4faeabbfebdafa0c3 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/BodyTrackingForFitness/FullBodySkeletonTPose.cs b/Runtime/Scripts/BodyTrackingForFitness/FullBodySkeletonTPose.cs new file mode 100644 index 00000000..a97a5119 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/FullBodySkeletonTPose.cs @@ -0,0 +1,441 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using System.Collections.Generic; +using Oculus.Interaction; +using Oculus.Interaction.Body.Input; +using Oculus.Interaction.Body.PoseDetection; +using Oculus.Interaction.Collections; +using UnityEngine; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// A collection of bones that connect to each other into a T-Pose. + /// Bone data can be retrieved using common interfaces for body pose reading. + /// + public class FullBodySkeletonTPose : ISkeletonMapping, IBodyPose + { + /// + /// Static class interface for for getting static T-Pose data + /// + public static class TPose + { + /// + /// Provides an expected count of bones in a full body skeleton + /// + public static int ExpectedBoneCount => (int) BodyJointId.Body_End; + + /// + public static int GetParent(int bodyJointId) => (int)_boneLinks[bodyJointId].parent; + + /// + public static int GetParent(BodyJointId bodyJointId) => GetParent((int)bodyJointId); + + /// + public static int GetNext(int bodyJointId) => (int)_boneLinks[bodyJointId].next; + + /// + public static int[] GetChildren(int bodyJointId) => _boneLinks[bodyJointId].children; + + /// + public static float GetBoneLength(int bodyJointId) => _boneLinks[bodyJointId].length; + + /// + public static Quaternion GetForwardRotation(int boneId) => _boneLinks[boneId].alignment; + + /// + public static IEnumerableHashSet Joints => + new EnumerableHashSet(BoneGroup.All); + + /// + public static bool TryGetParentJointId(BodyJointId jointId, out BodyJointId parent) + { + int id = (int)jointId; + if (id >= 0 && id < ExpectedBoneCount) + { + parent = (BodyJointId)GetParent(id); + return true; + } + parent = BodyJointId.Invalid; + return false; + } + + /// + /// Returns the T-pose value of the given bone + /// + public static Pose GetTPose(int bodyJointId) + { + EnsureBestTPoseDataIsAvailable(); + if (bodyJointId < 0 || bodyJointId >= _boneLinks.Length) + { + return default; + } + return _boneLinks[bodyJointId].tPose; + } + + /// + public static bool GetJointPoseFromRoot(BodyJointId bodyJointId, out Pose pose) + { + int id = (int)bodyJointId; + if (id >= 0 && id < ExpectedBoneCount) + { + pose = GetTPose(id); + return true; + } + pose = default; + return false; + } + + /// + public static bool GetJointPoseLocal(BodyJointId bodyJointId, out Pose pose) + { + return GetJointPoseLocalIfFromRootIsKnown(_instance, bodyJointId, out pose); + } + + private static void EnsureBestTPoseDataIsAvailable() + { + if (!Application.isPlaying || _ovrSkeleton.Bones == null || + _ovrSkeleton.Bones.Length == 0) + { + return; + } + for (int i = 0; i < _boneLinks.Length; ++i) + { + OVRPlugin.Posef pose = _ovrSkeleton.Bones[i].Pose; + _boneLinks[i].tPose = new Pose(pose.Position.FromFlippedZVector3f(), + pose.Orientation.FromFlippedZQuatf()); + } + // after best geometry is loaded, calculate lengths + for (int i = 0; i < _boneLinks.Length; ++i) + { + _boneLinks[i].UpdateLength(_boneLinks); + } + } + } + + private static OVRPlugin.Skeleton2 _ovrSkeleton = new OVRPlugin.Skeleton2(); + private static readonly Vector3 EulerUp = new Vector3(-90, 0, 0); + private static readonly Vector3 EulerRight = new Vector3(0, 90, 0); + private static readonly Vector3 EulerLeft = new Vector3(0, -90, 0); + + /// + /// This list identifies how bones connect to form the skeleton. + /// + private static BoneLink[] _boneLinks = + { + (BodyJointId.Body_Root, // id + BodyJointId.Invalid, // parent + BodyJointId.Invalid, // next (what this bone points at) + EulerUp, // alignment of bone + ((0,0,0), // position of bone in T-Pose + (0,0,0))), // euler rotation of bone in T-Pose + (BodyJointId.Body_Hips, BodyJointId.Body_Root, BodyJointId.Body_SpineLower, + new Vector3(58.14f,-90,0), ((0,.923f,0), (0,270,270))), + (BodyJointId.Body_SpineLower, BodyJointId.Body_Hips, BodyJointId.Body_SpineMiddle, + new Vector3(-8,-90,0), ((0,.943f,-.033f), (0,270,272.285f))), + (BodyJointId.Body_SpineMiddle, BodyJointId.Body_SpineLower, BodyJointId.Body_SpineUpper, + new Vector3(11.06f,-90,0), ((0,1.054f,-.021f), (0,270,272.285f))), + (BodyJointId.Body_SpineUpper, BodyJointId.Body_SpineMiddle, BodyJointId.Body_Chest, + new Vector3(-174.51f,90,0), ((0,1.163f,-.047f), (0,270,272.285f))), + (BodyJointId.Body_Chest, BodyJointId.Body_SpineUpper, BodyJointId.Body_Neck, + new Vector3(-154.38f,90,0), ((0,1.347f,-.037f), (0,270,272.285f))), + (BodyJointId.Body_Neck, BodyJointId.Body_Chest, BodyJointId.Body_Head, + new Vector3(-180,90,0), ((0,1.468f,.015f), (0,270,253.247f))), + (BodyJointId.Body_Head, BodyJointId.Body_Neck, BodyJointId.Invalid, + new Vector3(0,270,0), ((0,1.536f,.035f), (0,270,270))), + (BodyJointId.Body_LeftShoulder, BodyJointId.Body_Chest, BodyJointId.Body_LeftScapula, + EulerLeft, ((-.028f,1.404f,.064f), (87.909f,242.114f,270))), + (BodyJointId.Body_LeftScapula, BodyJointId.Body_LeftShoulder, BodyJointId.Body_LeftArmUpper, + new Vector3(177,154.41f,-121.42f), ((-.16f,1.447f,-.032f), (78.424f,280.995f,295.236f))), + (BodyJointId.Body_LeftArmUpper, BodyJointId.Body_LeftShoulder, BodyJointId.Body_LeftArmLower, + EulerLeft, ((-.18f,1.421f,-.033f), (58.947f,6.052f,7.279f))), + (BodyJointId.Body_LeftArmLower, BodyJointId.Body_LeftArmUpper, BodyJointId.Body_LeftHandWristTwist, + EulerLeft, ((-.436f,1.404f,-.035f), (58.947f,6.052f,4.558f))), + (BodyJointId.Body_LeftHandWristTwist, BodyJointId.Body_LeftArmLower, BodyJointId.Body_LeftHandPalm, + EulerLeft, ((-.667f,1.394f,-.029f), (62.256f,18.931f,17.883f))), + (BodyJointId.Body_RightShoulder, BodyJointId.Body_Chest, BodyJointId.Body_RightScapula, + EulerRight, ((.028f,1.404f,.064f), (272.091f,297.886f,90f))), + (BodyJointId.Body_RightScapula, BodyJointId.Body_RightShoulder, BodyJointId.Body_RightArmUpper, + new Vector3(1.77f,155.42f,120.99f), ((.16f,1.447f,-.032f), (281.577f,259.005f,115.236f))), + (BodyJointId.Body_RightArmUpper, BodyJointId.Body_RightShoulder, BodyJointId.Body_RightArmLower, + EulerRight, ((.18f,1.421f,-.033f), (301.053f,173.948f,187.28f))), + (BodyJointId.Body_RightArmLower, BodyJointId.Body_RightArmUpper, BodyJointId.Body_RightHandWristTwist, + EulerRight, ((.436f,1.404f,-.035f), (301.053f,173.948f,184.558f))), + (BodyJointId.Body_RightHandWristTwist, BodyJointId.Body_RightArmLower, BodyJointId.Body_RightHandPalm, + EulerRight, ((.667f,1.394f,-.029f), (306.327f,165.679f,193.964f))), + (BodyJointId.Body_LeftHandPalm, BodyJointId.Body_LeftHandWristTwist, BodyJointId.Body_LeftHandWrist, + EulerLeft, ((-.728f,1.391f,-.006f), (7.164f,186.58f,173.242f))), + (BodyJointId.Body_LeftHandWrist, BodyJointId.Body_LeftHandPalm, BodyJointId.Body_LeftHandThumbMetacarpal, + EulerLeft, ((-.69f,1.397f,-.011f), (7.164f,186.58f,173.242f))), + (BodyJointId.Body_LeftHandThumbMetacarpal, BodyJointId.Body_LeftHandWrist, BodyJointId.Body_LeftHandThumbProximal, + EulerLeft, ((-.72f,1.377f,.023f), (307.274f,273.914f,127.926f))), + (BodyJointId.Body_LeftHandThumbProximal, BodyJointId.Body_LeftHandThumbMetacarpal, BodyJointId.Body_LeftHandThumbDistal, + EulerLeft, ((-.739f,1.361f,.044f), (309.12f,253.071f,154.084f))), + (BodyJointId.Body_LeftHandThumbDistal, BodyJointId.Body_LeftHandThumbProximal, BodyJointId.Body_LeftHandThumbTip, + EulerLeft, ((-.759f,1.352f,.07f), (304.521f,271.922f,145.651f))), + (BodyJointId.Body_LeftHandThumbTip, BodyJointId.Body_LeftHandThumbDistal, BodyJointId.Invalid, + EulerLeft, ((-.769f,1.348f,.083f), (304.521f,271.922f,145.651f))), + (BodyJointId.Body_LeftHandIndexMetacarpal, BodyJointId.Body_LeftHandWrist, BodyJointId.Body_LeftHandIndexProximal, + EulerLeft, ((-.723f,1.384f,.013f), (7.164f,186.58f,173.242f))), + (BodyJointId.Body_LeftHandIndexProximal, BodyJointId.Body_LeftHandIndexMetacarpal, BodyJointId.Body_LeftHandIndexIntermediate, + EulerLeft, ((-.781f,1.381f,.025f), (3.344f,185.01f,168.133f))), + (BodyJointId.Body_LeftHandIndexIntermediate, BodyJointId.Body_LeftHandIndexProximal, BodyJointId.Body_LeftHandIndexDistal, + EulerLeft, ((-.818f,1.373f,.029f), (6.07f,183.587f,167.639f))), + (BodyJointId.Body_LeftHandIndexDistal, BodyJointId.Body_LeftHandIndexIntermediate, BodyJointId.Body_LeftHandIndexTip, + EulerLeft, ((-.842f,1.368f,.031f), (7.434f,180.216f,175.508f))), + (BodyJointId.Body_LeftHandIndexTip, BodyJointId.Body_LeftHandIndexDistal, BodyJointId.Invalid, + EulerLeft, ((-.854f,1.366f,.032f), (7.434f,180.216f,175.508f))), + (BodyJointId.Body_LeftHandMiddleMetacarpal, BodyJointId.Body_LeftHandWrist, BodyJointId.Body_LeftHandMiddleProximal, + EulerLeft, ((-.753f,1.381f,.003f), (7.164f,186.58f,173.242f))), + (BodyJointId.Body_LeftHandMiddleProximal, BodyJointId.Body_LeftHandMiddleMetacarpal, BodyJointId.Body_LeftHandMiddleIntermediate, + EulerLeft, ((-.784f,1.383f,.003f), (7.152f,180.542f,166.538f))), + (BodyJointId.Body_LeftHandMiddleIntermediate, BodyJointId.Body_LeftHandMiddleProximal, BodyJointId.Body_LeftHandMiddleDistal, + EulerLeft, ((-.826f,1.373f,.005f), (8.287f,179.749f,166.658f))), + (BodyJointId.Body_LeftHandMiddleDistal, BodyJointId.Body_LeftHandMiddleIntermediate, BodyJointId.Body_LeftHandMiddleTip, + EulerLeft, ((-.853f,1.367f,.005f), (12.107f,178.654f,177.144f))), + (BodyJointId.Body_LeftHandMiddleTip, BodyJointId.Body_LeftHandMiddleDistal, BodyJointId.Invalid, + EulerLeft, ((-.866f,1.364f,.006f), (12.107f,178.654f,177.144f))), + (BodyJointId.Body_LeftHandRingMetacarpal, BodyJointId.Body_LeftHandWrist, BodyJointId.Body_LeftHandRingProximal, + EulerLeft, ((-.726f,1.385f,-.021f), (7.164f,186.58f,173.242f))), + (BodyJointId.Body_LeftHandRingProximal, BodyJointId.Body_LeftHandRingMetacarpal, BodyJointId.Body_LeftHandRingIntermediate, + EulerLeft, ((-.779f,1.378f,-.016f), (10.53f,171.356f,165.123f))), + (BodyJointId.Body_LeftHandRingIntermediate, BodyJointId.Body_LeftHandRingProximal, BodyJointId.Body_LeftHandRingDistal, + EulerLeft, ((-.816f,1.368f,-.02f), (14.163f,169.996f,164.181f))), + (BodyJointId.Body_LeftHandRingDistal, BodyJointId.Body_LeftHandRingIntermediate, BodyJointId.Body_LeftHandRingTip, + EulerLeft, ((-.842f,1.361f,-.023f), (15.357f,173.252f,167.881f))), + (BodyJointId.Body_LeftHandRingTip, BodyJointId.Body_LeftHandRingDistal, BodyJointId.Invalid, + EulerLeft, ((-.855f,1.357f,-.024f), (15.357f,173.252f,167.881f))), + (BodyJointId.Body_LeftHandLittleMetacarpal, BodyJointId.Body_LeftHandWrist, BodyJointId.Body_LeftHandLittleProximal, + EulerLeft, ((-.725f,1.38f,-.028f), (27.8f,165.1f,164.445f))), + (BodyJointId.Body_LeftHandLittleProximal, BodyJointId.Body_LeftHandLittleMetacarpal, BodyJointId.Body_LeftHandLittleIntermediate, + EulerLeft, ((-.769f,1.37f,-.034f), (17.901f,168.795f,162.648f))), + (BodyJointId.Body_LeftHandLittleIntermediate, BodyJointId.Body_LeftHandLittleProximal, BodyJointId.Body_LeftHandLittleDistal, + EulerLeft, ((-.799f,1.361f,-.037f), (20.523f,162.443f,162.081f))), + (BodyJointId.Body_LeftHandLittleDistal, BodyJointId.Body_LeftHandLittleIntermediate, BodyJointId.Body_LeftHandLittleTip, + EulerLeft, ((-.818f,1.355f,-.041f), (21.957f,168.293f,166.958f))), + (BodyJointId.Body_LeftHandLittleTip, BodyJointId.Body_LeftHandLittleDistal, BodyJointId.Invalid, + EulerLeft, ((-.827f,1.352f,-.043f), (21.957f,168.293f,166.958f))), + (BodyJointId.Body_RightHandPalm, BodyJointId.Body_RightHandWristTwist, BodyJointId.Body_RightHandWrist, + EulerRight, ((.728f,1.391f,-.006f), (352.836f,353.42f,353.242f))), + (BodyJointId.Body_RightHandWrist, BodyJointId.Body_RightHandPalm, BodyJointId.Body_RightHandThumbMetacarpal, + EulerRight, ((.69f,1.397f,-.011f), (352.836f,353.42f,353.242f))), + (BodyJointId.Body_RightHandThumbMetacarpal, BodyJointId.Body_RightHandWrist, BodyJointId.Body_RightHandThumbProximal, + EulerRight, ((.72f,1.377f,.023f), (52.726f,266.086f,307.926f))), + (BodyJointId.Body_RightHandThumbProximal, BodyJointId.Body_RightHandThumbMetacarpal, BodyJointId.Body_RightHandThumbDistal, + EulerRight, ((.739f,1.361f,.044f), (50.88f,286.93f,334.084f))), + (BodyJointId.Body_RightHandThumbDistal, BodyJointId.Body_RightHandThumbProximal, BodyJointId.Body_RightHandThumbTip, + EulerRight, ((.759f,1.352f,.07f), (55.479f,268.078f,325.652f))), + (BodyJointId.Body_RightHandThumbTip, BodyJointId.Body_RightHandThumbDistal, BodyJointId.Invalid, + EulerRight, ((.769f,1.348f,.083f), (55.479f,268.078f,325.652f))), + (BodyJointId.Body_RightHandIndexMetacarpal, BodyJointId.Body_RightHandWrist, BodyJointId.Body_RightHandIndexProximal, + EulerRight, ((.723f,1.384f,.013f), (352.836f,353.42f,353.242f))), + (BodyJointId.Body_RightHandIndexProximal, BodyJointId.Body_RightHandIndexMetacarpal, BodyJointId.Body_RightHandIndexIntermediate, + EulerRight, ((.781f,1.381f,.025f), (356.656f,354.99f,348.133f))), + (BodyJointId.Body_RightHandIndexIntermediate, BodyJointId.Body_RightHandIndexProximal, BodyJointId.Body_RightHandIndexDistal, + EulerRight, ((.818f,1.373f,.029f), (353.93f,356.414f,347.639f))), + (BodyJointId.Body_RightHandIndexDistal, BodyJointId.Body_RightHandIndexIntermediate, BodyJointId.Body_RightHandIndexTip, + EulerRight, ((.842f,1.368f,.031f), (352.566f,359.784f,355.508f))), + (BodyJointId.Body_RightHandIndexTip, BodyJointId.Body_RightHandIndexDistal, BodyJointId.Invalid, + EulerRight, ((.854f,1.366f,.032f), (352.566f,359.784f,355.508f))), + (BodyJointId.Body_RightHandMiddleMetacarpal, BodyJointId.Body_RightHandWrist, BodyJointId.Body_RightHandMiddleProximal, + EulerRight, ((.753f,1.381f,.003f), (352.836f,353.42f,353.242f))), + (BodyJointId.Body_RightHandMiddleProximal, BodyJointId.Body_RightHandMiddleMetacarpal, BodyJointId.Body_RightHandMiddleIntermediate, + EulerRight, ((.784f,1.383f,.003f), (352.848f,359.458f,346.538f))), + (BodyJointId.Body_RightHandMiddleIntermediate, BodyJointId.Body_RightHandMiddleProximal, BodyJointId.Body_RightHandMiddleDistal, + EulerRight, ((.826f,1.373f,.005f), (351.713f,.251f,346.658f))), + (BodyJointId.Body_RightHandMiddleDistal, BodyJointId.Body_RightHandMiddleIntermediate, BodyJointId.Body_RightHandMiddleTip, + EulerRight, ((.853f,1.367f,.005f), (347.893f,1.346f,357.144f))), + (BodyJointId.Body_RightHandMiddleTip, BodyJointId.Body_RightHandMiddleDistal, BodyJointId.Invalid, + EulerRight, ((.866f,1.364f,.006f), (347.893f,1.346f,357.144f))), + (BodyJointId.Body_RightHandRingMetacarpal, BodyJointId.Body_RightHandWrist, BodyJointId.Body_RightHandRingProximal, + EulerRight, ((.726f,1.385f,-.021f), (352.836f,353.42f,353.242f))), + (BodyJointId.Body_RightHandRingProximal, BodyJointId.Body_RightHandRingMetacarpal, BodyJointId.Body_RightHandRingIntermediate, + EulerRight, ((.779f,1.378f,-.016f), (349.47f,8.644f,345.123f))), + (BodyJointId.Body_RightHandRingIntermediate, BodyJointId.Body_RightHandRingProximal, BodyJointId.Body_RightHandRingDistal, + EulerRight, ((.816f,1.368f,-.02f), (345.837f,10.004f,344.181f))), + (BodyJointId.Body_RightHandRingDistal, BodyJointId.Body_RightHandRingIntermediate, BodyJointId.Body_RightHandRingTip, + EulerRight, ((.842f,1.361f,-.023f), (344.643f,6.748f,347.881f))), + (BodyJointId.Body_RightHandRingTip, BodyJointId.Body_RightHandRingDistal, BodyJointId.Invalid, + EulerRight, ((.855f,1.357f,-.024f), (344.643f,6.748f,347.881f))), + (BodyJointId.Body_RightHandLittleMetacarpal, BodyJointId.Body_RightHandWrist, BodyJointId.Body_RightHandLittleProximal, + EulerRight, ((.725f,1.38f,-.028f), (332.2f,14.9f,344.445f))), + (BodyJointId.Body_RightHandLittleProximal, BodyJointId.Body_RightHandLittleMetacarpal, BodyJointId.Body_RightHandLittleIntermediate, + EulerRight, ((.769f,1.37f,-.034f), (342.099f,11.205f,342.648f))), + (BodyJointId.Body_RightHandLittleIntermediate, BodyJointId.Body_RightHandLittleProximal, BodyJointId.Body_RightHandLittleDistal, + EulerRight, ((.799f,1.361f,-.037f), (339.477f,17.557f,342.081f))), + (BodyJointId.Body_RightHandLittleDistal, BodyJointId.Body_RightHandLittleIntermediate, BodyJointId.Body_RightHandLittleTip, + EulerRight, ((.818f,1.355f,-.041f), (338.043f,11.707f,346.958f))), + (BodyJointId.Body_RightHandLittleTip, BodyJointId.Body_RightHandLittleDistal, BodyJointId.Invalid, + EulerRight, ((.827f,1.352f,-.043f), (338.043f,11.707f,346.958f))), + (BodyJointId.Body_LeftLegUpper, BodyJointId.Body_Hips, BodyJointId.Body_LeftLegLower, + EulerLeft, ((-.08f,.898f,-.005f), (1.849f,268.189f,85.825f))), + (BodyJointId.Body_LeftLegLower, BodyJointId.Body_LeftLegUpper, BodyJointId.Body_LeftFootAnkleTwist, + EulerLeft, ((-.066f,.479f,-.028f), (2.085f,268.152f,84.316f))), + (BodyJointId.Body_LeftFootAnkleTwist, BodyJointId.Body_LeftLegLower, BodyJointId.Body_LeftFootAnkle, + new Vector3(-4.9f,-86.05f,-4.73f), ((-.049f,.061f,-.069f), (7.665f,269.645f,84.046f))), + (BodyJointId.Body_LeftFootAnkle, BodyJointId.Body_LeftFootAnkleTwist, BodyJointId.Body_LeftFootSubtalar, + new Vector3(63.5f,23.59f,-30.74f), ((-.049f,.061f,-.069f), (19.738f,263.068f,359.157f))), + (BodyJointId.Body_LeftFootSubtalar, BodyJointId.Body_LeftFootAnkle, BodyJointId.Body_LeftFootTransverse, + new Vector3(32.09f,105.46f,-4.54f), ((-.053f,.026f,-.063f), (20.222f,256.742f,38.951f))), + (BodyJointId.Body_LeftFootTransverse, BodyJointId.Body_LeftFootSubtalar, BodyJointId.Body_LeftFootBall, + new Vector3(37.28f,93.7f,-6.16f), ((-.056f,.037f,-.003f), (12.01f,260.427f,13.547f))), + (BodyJointId.Body_LeftFootBall, BodyJointId.Body_LeftFootTransverse, BodyJointId.Invalid, + new Vector3(18.93f,98.5f,-5.85f), ((-.057f,.007f,.069f), (9.558f,255.847f,357.958f))), + (BodyJointId.Body_RightLegUpper, BodyJointId.Body_Hips, BodyJointId.Body_RightLegLower, + EulerRight, ((.08f,.898f,-.005f), (358.151f,271.811f,265.825f))), + (BodyJointId.Body_RightLegLower, BodyJointId.Body_RightLegUpper, BodyJointId.Body_RightFootAnkleTwist, + EulerRight, ((.066f,.479f,-.028f), (357.915f,271.848f,264.316f))), + (BodyJointId.Body_RightFootAnkleTwist, BodyJointId.Body_RightLegLower, BodyJointId.Body_RightFootAnkle, + new Vector3(2.92f,100.25f,-128.0f), ((.049f,.061f,-.069f), (352.335f,270.356f,264.046f))), + (BodyJointId.Body_RightFootAnkle, BodyJointId.Body_RightFootAnkleTwist, BodyJointId.Body_RightFootSubtalar, + new Vector3(-116.5f,23.59f,68.6f), ((.049f,.061f,-.069f), (340.262f,276.932f,179.157f))), + (BodyJointId.Body_RightFootSubtalar, BodyJointId.Body_RightFootAnkle, BodyJointId.Body_RightFootTransverse, + new Vector3(-147.92f,105.46f,4.34f), ((.053f,.026f,-.063f), (339.778f,283.258f,218.951f))), + (BodyJointId.Body_RightFootTransverse, BodyJointId.Body_RightFootSubtalar, BodyJointId.Body_RightFootBall, + new Vector3(-142.72f,93.7f,5.94f), ((.056f,.037f,-.003f), (347.99f,279.573f,193.547f))), + (BodyJointId.Body_RightFootBall, BodyJointId.Body_RightFootTransverse, BodyJointId.Invalid, + new Vector3(-18.34f,-81.51f,185.11f), ((.057f,.007f,.069f), (350.442f,284.153f,177.958f))), + }; + + /// + /// Which skeleton is being provided here + /// + public int SkeletonId => (int)OVRPlugin.SkeletonType.FullBody; + + /// + /// Returns the type used to count and map this skeleton. + /// + public Type BoneEnum => typeof(BodyJointId); + + /// + /// Provides an expected count of bones in a full body skeleton + /// + public int ExpectedBoneCount => TPose.ExpectedBoneCount; + + /// + public int GetParent(int bodyJointId) => TPose.GetParent(bodyJointId); + + /// + public int GetParent(BodyJointId bodyJointId) => TPose.GetParent(bodyJointId); + + /// + public int GetNext(int bodyJointId) => TPose.GetNext(bodyJointId); + + /// + public int[] GetChildren(int bodyJointId) => TPose.GetChildren(bodyJointId); + + /// + public float GetBoneLength(int bodyJointId) => TPose.GetBoneLength(bodyJointId); + + /// + public Quaternion GetForwardRotation(int boneId) => TPose.GetForwardRotation(boneId); + + /// + public ISkeletonMapping SkeletonMapping => this; + + /// + public event Action WhenBodyPoseUpdated = delegate { }; + + /// + public IEnumerableHashSet Joints => TPose.Joints; + + /// + /// Needed to access static data through the interface + /// + private static FullBodySkeletonTPose _instance; + + /// + /// Static constructor. Called just once per runtime. + /// + static FullBodySkeletonTPose() + { + _instance = new FullBodySkeletonTPose(); + for (int i = 0; i < _boneLinks.Length; ++i) + { + if (_boneLinks[i].id != (BodyJointId)i) + { + throw new Exception($"Bone links must be in order. " + + $"{_boneLinks[i].id} should be at index {(int)_boneLinks[i].id}"); + } + } + Dictionary> childrenOfBones = + new Dictionary>(); + for (int i = 0; i < _boneLinks.Length; ++i) + { + BodyJointId parentId = _boneLinks[i].parent; + if (parentId != BodyJointId.Invalid) + { + if (!childrenOfBones.TryGetValue(parentId, out List childList)) + { + childrenOfBones[parentId] = childList = new List(); + } + childList.Add(i); + } + } + for (int i = 0; i < _boneLinks.Length; ++i) + { + _boneLinks[i].UpdateLength(_boneLinks); + if (!childrenOfBones.TryGetValue((BodyJointId)i, out List childList)) + { + _boneLinks[i].children = Array.Empty(); + } + else + { + _boneLinks[i].children = childList.ToArray(); + } + } + } + + /// + public bool TryGetParentJointId(BodyJointId jointId, out BodyJointId parent) => + TPose.TryGetParentJointId(jointId, out parent); + + /// + public Pose GetTPose(int bodyJointId) => TPose.GetTPose(bodyJointId); + + /// + public bool GetJointPoseFromRoot(BodyJointId bodyJointId, out Pose pose) => + TPose.GetJointPoseFromRoot(bodyJointId, out pose); + + /// + public bool GetJointPoseLocal(BodyJointId bodyJointId, out Pose pose) => + TPose.GetJointPoseLocal(bodyJointId, out pose); + + /// + /// Common method when a local pose is calculated for an object already implementing + /// + /// + public static bool GetJointPoseLocalIfFromRootIsKnown( + IBodyPose posesFromRoot, BodyJointId bodyJointId, out Pose pose) + { + int id = (int)bodyJointId; + if (id < 0 || id >= TPose.ExpectedBoneCount) + { + pose = default; + return false; + } + bool hasBone = posesFromRoot.GetJointPoseFromRoot(bodyJointId, out pose); + if (!hasBone) + { + return false; + } + int parent = (int)_boneLinks[id].parent; + if (parent >= 0) + { + hasBone = posesFromRoot.GetJointPoseFromRoot( + (BodyJointId)parent, out Pose parentPose); + if (!hasBone) + { + return false; + } + Pose inverseParent = default; + PoseUtils.Inverse(parentPose, ref inverseParent); + pose = new Pose( + inverseParent.rotation * pose.position + inverseParent.position, + inverseParent.rotation * pose.rotation); + } + return true; + } + } +} diff --git a/Runtime/Scripts/BodyTrackingForFitness/FullBodySkeletonTPose.cs.meta b/Runtime/Scripts/BodyTrackingForFitness/FullBodySkeletonTPose.cs.meta new file mode 100644 index 00000000..7680e4cc --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/FullBodySkeletonTPose.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 2129470c1dcff004a80147d2980539ca +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/BodyTrackingForFitness/OVRBodyPose.cs b/Runtime/Scripts/BodyTrackingForFitness/OVRBodyPose.cs new file mode 100644 index 00000000..1235847a --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/OVRBodyPose.cs @@ -0,0 +1,128 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using System.Collections; +using Oculus.Interaction.Body.Input; +using Oculus.Interaction.Body.PoseDetection; +using Oculus.Interaction.Collections; +using UnityEngine; + +namespace Oculus.Movement.BodyTrackingForFitness +{ + /// + /// Simpler than using , and + /// setting up it's associated . + /// + public class OVRBodyPose : OVRBody, IBodyPose, IBody, ISkeletonMapping + { + /// + /// How many frames have been processed by this body pose reader + /// + private int _iterationNumber; + + /// + public ISkeletonMapping SkeletonMapping => this; + + /// + public bool IsConnected => BodyState != null; + + /// + public bool IsHighConfidence => BodyState != null && BodyState.Value.Confidence > 0.5f; + + /// + public bool IsTrackedDataValid => BodyState != null && + BodyState.Value.CalibrationStatus == + OVRPlugin.BodyTrackingCalibrationState.Valid; + + /// + public float Scale => 1; + + /// + public int CurrentDataVersion => _iterationNumber; + + /// + public IEnumerableHashSet Joints => FullBodySkeletonTPose.TPose.Joints; + + /// + public event Action WhenBodyUpdated = delegate { }; + + /// + public event Action WhenBodyPoseUpdated = delegate { }; + + /// + public bool GetRootPose(out Pose pose) + { + pose = new Pose(Vector3.zero, Quaternion.identity); + return true; + } + + /// + public bool TryGetParentJointId(BodyJointId jointId, out BodyJointId parent) => + FullBodySkeletonTPose.TPose.TryGetParentJointId(jointId, out parent); + + /// + public bool GetJointPose(BodyJointId bodyJointId, out Pose pose) + { +#if UNITY_EDITOR + if (!Application.isPlaying) + { + pose = default; + return false; + } +#endif + OVRPlugin.BodyJointLocation[] jointList; + int i = (int)bodyJointId; + if (BodyState != null && (jointList = BodyState.Value.JointLocations) != null && + i >= 0 && i < jointList.Length) + { + pose = new Pose( + jointList[i].Pose.Position.FromFlippedZVector3f(), + jointList[i].Pose.Orientation.FromFlippedZQuatf()); + return true; + } + pose = default; + return false; + } + + /// + public bool GetJointPoseLocal(BodyJointId bodyJointId, out Pose pose) => + FullBodySkeletonTPose.GetJointPoseLocalIfFromRootIsKnown(this, bodyJointId, out pose); + + /// + public bool GetJointPoseFromRoot(BodyJointId bodyJointId, out Pose pose) => + GetJointPose(bodyJointId, out pose); + + /// + /// OVRBody doesn't implement a Start method, so this doesn't interfere with it's work + /// + protected virtual void Start() + { + StartCoroutine(UpdateThatDoesntOverwriteOvrBodyUpdate()); + } + + private void Reset() + { + ProvidedSkeletonType = OVRPlugin.BodyJointSet.FullBody; + } + + private IEnumerator UpdateThatDoesntOverwriteOvrBodyUpdate() + { + while (gameObject != null) + { + yield return null; + if (!enabled || BodyState == null) + { + continue; + } + IterateBodyTracking(); + } + } + + private void IterateBodyTracking() + { + WhenBodyUpdated.Invoke(); + WhenBodyPoseUpdated.Invoke(); + ++_iterationNumber; + } + } +} diff --git a/Runtime/Scripts/BodyTrackingForFitness/OVRBodyPose.cs.meta b/Runtime/Scripts/BodyTrackingForFitness/OVRBodyPose.cs.meta new file mode 100644 index 00000000..ceb486f6 --- /dev/null +++ b/Runtime/Scripts/BodyTrackingForFitness/OVRBodyPose.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 719a95dd56745f340bc4000ade8cb2c4 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/Locomotion/MovementSDKLocomotion.cs b/Runtime/Scripts/Locomotion/MovementSDKLocomotion.cs index 60bd7186..21aa04fa 100644 --- a/Runtime/Scripts/Locomotion/MovementSDKLocomotion.cs +++ b/Runtime/Scripts/Locomotion/MovementSDKLocomotion.cs @@ -2,6 +2,7 @@ using UnityEngine; using UnityEngine.Events; +using UnityEngine.Serialization; namespace Oculus.Movement.Locomotion { @@ -24,7 +25,7 @@ public class UnityEvent_Quaternion : UnityEvent { } public class UnityEvent_Vector2 : UnityEvent { } /// - /// Callcbacks to trigger on certain joystic input events + /// Callbacks to trigger on certain joystick input events /// [System.Serializable] public class JoystickEvents @@ -99,11 +100,12 @@ public class JoystickEvents private OVRCameraRig _cameraRig; /// - /// Callbacks to trigger on certain joystic input events + /// Callbacks to trigger on certain movement input events /// - [Tooltip(MovementSDKLocomotionTooltips.JoystickEvents)] + [FormerlySerializedAs("_joystickEvents")] + [Tooltip(MovementSDKLocomotionTooltips.MovementEvents)] [SerializeField] - private JoystickEvents _joystickEvents = new JoystickEvents(); + private JoystickEvents _movementEvents = new JoystickEvents(); /// /// Keeps track of whether input is being received. If not, zero out the input vector. @@ -297,17 +299,17 @@ private void SetJoystickInput(Vector2 joystickInput) { if (_joystickInput == Vector2.zero) { - _joystickEvents.OnUserInputChange.Invoke(Vector2.zero); - _joystickEvents.OnStopMove.Invoke(); + _movementEvents.OnUserInputChange.Invoke(Vector2.zero); + _movementEvents.OnStopMove.Invoke(); } else { - _joystickEvents.OnUserInputChange.Invoke(userInput); + _movementEvents.OnUserInputChange.Invoke(userInput); Quaternion newDirection = Quaternion.LookRotation(_locomotionDirection, Vector3.up); - _joystickEvents.OnDirectionChange.Invoke(newDirection); + _movementEvents.OnDirectionChange.Invoke(newDirection); if (_lastLocomotionDirection == Vector3.zero) { - _joystickEvents.OnStartMove.Invoke(); + _movementEvents.OnStartMove.Invoke(); } } _lastLocomotionDirection = _locomotionDirection; @@ -375,7 +377,7 @@ private void SnapTurn() Vector3 centerPoint = _collider.bounds.center; Transform _transform = transform; _transform.RotateAround(centerPoint, Vector3.up, amountToRotate); - _joystickEvents.OnDirectionChange.Invoke(_transform.rotation); + _movementEvents.OnDirectionChange.Invoke(_transform.rotation); } } } diff --git a/Runtime/Scripts/RetargetingProcessing/RetargetingBlendHandProcessor.cs b/Runtime/Scripts/RetargetingProcessing/RetargetingBlendHandProcessor.cs index 4b6f0a20..ced022ab 100644 --- a/Runtime/Scripts/RetargetingProcessing/RetargetingBlendHandProcessor.cs +++ b/Runtime/Scripts/RetargetingProcessing/RetargetingBlendHandProcessor.cs @@ -15,6 +15,15 @@ namespace Oculus.Movement.AnimationRigging [CreateAssetMenu(fileName = "Blend Hands", menuName = "Movement Samples/Data/Retargeting Processors/Blend Hands", order = 2)] public sealed class RetargetingBlendHandProcessor : RetargetingProcessor { + /// + /// Enum used to determine which type of head should be used to blend hands. + /// + public enum HeadView + { + BodyTracking, + OVRCameraRig + } + /// /// Distance where weight is set to 1.0. /// @@ -84,6 +93,19 @@ public OVRHumanBodyBonesMappings.BodyTrackingBoneId BoneIdToTest set => _boneIdToTest = value; } + /// + /// The type of head that should be used to blend hands. + /// + [SerializeField] + [Tooltip(RetargetingBlendHandProcessorTooltips.HeadView)] + private HeadView _headView; + /// + public HeadView HeadViewType + { + get => _headView; + set => _headView = value; + } + /// /// Specifies if this is full body or not. /// @@ -100,6 +122,7 @@ public bool IsFullBody private RetargetingProcessorCorrectHand _retargetingProcessorCorrectHand; private Transform _cachedTransform; private Transform _cachedHeadTransform; + private Transform _ovrCameraRigHead; private float _cachedWeight; /// @@ -149,6 +172,20 @@ public override void SetupRetargetingProcessor(RetargetingLayer retargetingLayer } } } + + if (OVRManager.instance) + { + var ovrCameraRig = OVRManager.instance.gameObject.GetComponent(); + if (ovrCameraRig != null) + { + _ovrCameraRigHead = ovrCameraRig.centerEyeAnchor; + } + else if (_headView == HeadView.OVRCameraRig) + { + Debug.LogError($"OVRCameraRig is missing for " + + $"{retargetingLayer.gameObject.name}'s blend hand processor."); + } + } } /// @@ -209,7 +246,7 @@ public override void DrawGizmos() Gizmos.color = new Color(_cachedWeight, _cachedWeight, _cachedWeight); Gizmos.DrawRay(_cachedHeadTransform.position, viewOriginToPointVector); - Gizmos.color = Color.white; + Gizmos.color = _headView == HeadView.BodyTracking ? Color.white : Color.blue; Gizmos.DrawRay(_cachedHeadTransform.transform.position, 0.7f * viewVector); } @@ -217,13 +254,22 @@ private float ComputeCurrentBlendWeight(RetargetingLayer skeleton) { var bones = skeleton.Bones; var boneToTest = bones[GetBoneIndex()].Transform; + var headBoneId = IsFullBody ? (int)OVRSkeleton.BoneId.FullBody_Head : (int)OVRSkeleton.BoneId.Body_Head; _cachedTransform = boneToTest; - _cachedHeadTransform = skeleton.GetAnimatorTargetSkeleton().GetBoneTransform(HumanBodyBones.Head); + if (_headView == HeadView.BodyTracking) + { + _cachedHeadTransform = bones[headBoneId].Transform; + } + else if (_headView == HeadView.OVRCameraRig) + { + _cachedHeadTransform = _ovrCameraRigHead; + } var boneDistanceToViewVector = GetDistanceToViewVector(boneToTest.position); _cachedWeight = 0.0f; - var scaledMaxDistance = _maxDistance * skeleton.transform.lossyScale.x; - var scaledMinDistance = _minDistance * skeleton.transform.lossyScale.x; + var lossyScale = skeleton.transform.lossyScale; + var scaledMaxDistance = _maxDistance * lossyScale.x; + var scaledMinDistance = _minDistance * lossyScale.x; // If the hand is close enough to the view vector, start to increase the // weight. if (boneDistanceToViewVector <= scaledMaxDistance) @@ -275,6 +321,11 @@ private float GetDistanceToViewVector(Vector3 point) private Vector3 GetViewVector() { + if (_headView == HeadView.BodyTracking) + { + // The local up is what points forward for the OVRSkeleton head. + return _cachedHeadTransform.up; + } return _cachedHeadTransform.forward; } diff --git a/Runtime/Scripts/RetargetingProcessing/RetargetingProcessorCorrectBones.cs b/Runtime/Scripts/RetargetingProcessing/RetargetingProcessorCorrectBones.cs index 02919f6c..1ae1f106 100644 --- a/Runtime/Scripts/RetargetingProcessing/RetargetingProcessorCorrectBones.cs +++ b/Runtime/Scripts/RetargetingProcessing/RetargetingProcessorCorrectBones.cs @@ -29,8 +29,8 @@ public bool CorrectPositionsLateUpdate /// Allow correcting shoulder transforms in LateUpdate. This can produce more /// accurate shoulders, for instance. /// - [Tooltip(RetargetingLayerTooltips.ShoulderCorrectionWeightLateUpdate)] [SerializeField, Range(0.0f, 1.0f)] + [Tooltip(RetargetingLayerTooltips.ShoulderCorrectionWeightLateUpdate)] private float _shoulderCorrectionWeightLateUpdate = 1.0f; /// public float ShoulderCorrectionWeightLateUpdate @@ -39,6 +39,20 @@ public float ShoulderCorrectionWeightLateUpdate set => _shoulderCorrectionWeightLateUpdate = value; } + /// + /// Finger position correction weight. For some characters, we might want to correct + /// all bones but reduce the positional accuracy of the fingers to maintain the + /// character's original hand shape. + /// + [SerializeField, Range(0.0f, 1.0f)] + [Tooltip(RetargetingLayerTooltips.FingerPositionCorrectionWeight)] + private float _fingerPositionCorrectionWeight = 1.0f; + public float FingerPositionCorrectionWeight + { + get => _fingerPositionCorrectionWeight; + set => _fingerPositionCorrectionWeight = value; + } + /// public override void CopyData(RetargetingProcessor source) { @@ -96,7 +110,7 @@ public override void ProcessRetargetingLayer(RetargetingLayer retargetingLayer, var targetCorrectionQuaternion = (Quaternion)nullableTargetCorrectionQuaternion; // Make sure body part passes mask, and bone's position should be updated. - var bodyPart = BoneMappingsExtension.HumanBoneToAvatarBodyPart[humanBodyBone]; + var bodyPart = BoneMappingsExtension.HumanBoneToAvatarBodyPartArray[(int)humanBodyBone]; var targetJoint = retargetingLayer.GetOriginalJoint(humanBodyBone); if (retargetingLayer.CustomPositionsToCorrectLateUpdateMask != null && !retargetingLayer.CustomPositionsToCorrectLateUpdateMask.GetHumanoidBodyPartActive(bodyPart)) @@ -109,16 +123,16 @@ public override void ProcessRetargetingLayer(RetargetingLayer retargetingLayer, continue; } - // Make sure the joint position is valid before fixing it. + // If this is the first target position, check its validity. + // If it's valid, assume that the remaining positions are valid as well. var currentTargetPosition = targetJoint.position; - if (!RiggingUtilities.IsFiniteVector3(currentTargetPosition)) + if (i == 0 && !RiggingUtilities.IsFiniteVector3(currentTargetPosition)) { - continue; + return; } var rtWeight = Weight * retargetingLayer.RetargetingConstraint.weight; - var bodySectionOfJoint = - OVRUnityHumanoidSkeletonRetargeter.OVRHumanBodyBonesMappings.BoneToBodySection[humanBodyBone]; + var bodySectionOfJoint = retargetingLayer.GetHumanBodyBoneToBodySection(humanBodyBone); bool isLeftHandFingersOrWrist = bodySectionOfJoint == OVRUnityHumanoidSkeletonRetargeter.OVRHumanBodyBonesMappings.BodySection.LeftHand || humanBodyBone == HumanBodyBones.LeftHand; @@ -139,6 +153,11 @@ public override void ProcessRetargetingLayer(RetargetingLayer retargetingLayer, constraintsPositionOffset = Vector3.zero; } + // Used to dial back finger position correction, if required. + bool isAFingerJoint = + bodySectionOfJoint == OVRUnityHumanoidSkeletonRetargeter.OVRHumanBodyBonesMappings.BodySection.LeftHand || + bodySectionOfJoint == OVRUnityHumanoidSkeletonRetargeter.OVRHumanBodyBonesMappings.BodySection.RightHand; + // Remove muscle space restrictions for the shoulders. if (isShoulderJoint) { @@ -160,7 +179,8 @@ public override void ProcessRetargetingLayer(RetargetingLayer retargetingLayer, { targetJoint.position = Vector3.Lerp(currentTargetPosition, - currentOVRBonePosition + constraintsPositionOffset, rtWeight); + currentOVRBonePosition + constraintsPositionOffset, + isAFingerJoint ? rtWeight * _fingerPositionCorrectionWeight : rtWeight); } } else @@ -169,18 +189,19 @@ public override void ProcessRetargetingLayer(RetargetingLayer retargetingLayer, { if (!adjustment.DisableRotationTransform) { - targetJoint.rotation = Quaternion.Slerp(targetJoint.rotation, - ovrBones[i].Transform.rotation * targetCorrectionQuaternion, rtWeight); - } + var finalRotation = ovrBones[i].Transform.rotation * targetCorrectionQuaternion; + finalRotation *= adjustment.RotationChange * adjustment.PrecomputedRotationTweaks; - targetJoint.rotation *= adjustment.RotationChange * adjustment.PrecomputedRotationTweaks; + targetJoint.rotation = Quaternion.Slerp(targetJoint.rotation, finalRotation, rtWeight); + } } if (CorrectPositionsLateUpdate && !adjustment.DisablePositionTransform) { targetJoint.position = Vector3.Lerp(currentTargetPosition, - currentOVRBonePosition + constraintsPositionOffset + adjustment.PositionChange, rtWeight); + currentOVRBonePosition + constraintsPositionOffset + adjustment.PositionChange, + isAFingerJoint ? rtWeight * _fingerPositionCorrectionWeight : rtWeight); } } } @@ -206,13 +227,12 @@ private void CorrectShoulders(Transform targetJoint, translation = childJoint != null ? childJoint.position : Vector3.zero }; var targetWeight = adjustment != null && adjustment.DisableRotationTransform ? - 0.0f : ShoulderCorrectionWeightLateUpdate; + 0.0f : ShoulderCorrectionWeightLateUpdate * Weight; var rotationChange = adjustment?.PrecomputedRotationTweaks ?? Quaternion.identity; targetJoint.rotation = Quaternion.Slerp(targetJoint.rotation, - boneRotation * correctionQuaternion, - targetWeight) * - rotationChange; + boneRotation * correctionQuaternion * rotationChange, + targetWeight); if (childJoint != null) { diff --git a/Runtime/Scripts/RetargetingProcessing/RetargetingProcessorCorrectHand.cs b/Runtime/Scripts/RetargetingProcessing/RetargetingProcessorCorrectHand.cs index 64e1e6d7..3fb28c8f 100644 --- a/Runtime/Scripts/RetargetingProcessing/RetargetingProcessorCorrectHand.cs +++ b/Runtime/Scripts/RetargetingProcessing/RetargetingProcessorCorrectHand.cs @@ -179,9 +179,9 @@ public override void SetupRetargetingProcessor(RetargetingLayer retargetingLayer } if ((Handedness == Handedness.Left && - BoneMappingsExtension.HumanBoneToAvatarBodyPart[i] == AvatarMaskBodyPart.LeftArm) || + BoneMappingsExtension.HumanBoneToAvatarBodyPartArray[(int)i] == AvatarMaskBodyPart.LeftArm) || (Handedness == Handedness.Right && - BoneMappingsExtension.HumanBoneToAvatarBodyPart[i] == AvatarMaskBodyPart.RightArm)) + BoneMappingsExtension.HumanBoneToAvatarBodyPartArray[(int)i] == AvatarMaskBodyPart.RightArm)) { armBones.Add(boneTransform); } diff --git a/Runtime/Scripts/Tooltips.cs b/Runtime/Scripts/Tooltips.cs index 3f4eeb71..1dbf28bc 100644 --- a/Runtime/Scripts/Tooltips.cs +++ b/Runtime/Scripts/Tooltips.cs @@ -900,7 +900,7 @@ public static class SceneSelectIconTooltips { public static class IconPositionInformation { - public const string LocalPosition = "Position to set."; + public const string ButtonTransform = "Button transform."; public const string SceneName = "Scene name to check for."; } @@ -1001,6 +1001,17 @@ public static class DeformationDataTooltips public const string AlignFeetWeight = "Weight used for feet alignment."; + public const string OriginalSpinePositionsWeight = + "Attempts to match the original spine positions. WARNING:" + + "increasing this value might cause inaccuracy wrt to body tracking."; + + public const string OriginalSpineBoneCount = + "Number of spine bones to fix when matching the original spine."; + + public const string OriginalSpineUseHipsToHeadToScale = + "When using the original spine bone positions to influence " + + "the current ones, scale them based on the current hips to head."; + public const string HipsToHeadBones = "Array of transform bones from hips to head."; @@ -1365,6 +1376,12 @@ public static class RetargetingLayerTooltips public const string ExternalBoneTargets = "External bone targets to be updated based on body tracking."; + + public const string RetargetedBoneMappings = + "Retargeted bone mappings to be updated based on valid bones in the humanoid."; + + public const string FingerPositionCorrectionWeight = + "Finger position correction weight."; } public static class LateMirroredObjectTooltips @@ -1683,8 +1700,8 @@ public static class MovementSDKLocomotionTooltips public const string CameraRig = "The Camera Rig"; - public const string JoystickEvents = - "Callbacks to trigger on certain joystic input events"; + public const string MovementEvents = + "Callbacks to trigger on certain movement input events"; } public static class ReappearAfterFallTooltips @@ -1873,6 +1890,9 @@ public static class RetargetingBlendHandProcessorTooltips public const string IsFullBody = "Specifies if this is full body or not."; + + public const string HeadView = + "The type of head that should be used to blend hands."; } public static class ExternalBoneTargetsTooltips @@ -1894,4 +1914,13 @@ public static class BoneTargetTooltips public const string Enabled = "Enables or disables functionality."; } + + public static class RetargetedBoneMappingsTooltips + { + public const string HumanBodyBonePairs = + "HumanBodyBone pairs for this humanoid."; + + public const string HumanBodyBoneToBoneId = + "HumanBodyBone to BodyJointId mapping for this humanoid."; + } } diff --git a/Runtime/Scripts/UI/AddComponentsHelper.cs b/Runtime/Scripts/UI/AddComponentsHelper.cs index 6c9649b6..08e23726 100644 --- a/Runtime/Scripts/UI/AddComponentsHelper.cs +++ b/Runtime/Scripts/UI/AddComponentsHelper.cs @@ -10,10 +10,10 @@ #if UNITY_EDITOR using UnityEditor; using UnityEditor.SceneManagement; - #endif using UnityEngine; using UnityEngine.Animations.Rigging; +using Object = UnityEngine.Object; using static Oculus.Movement.AnimationRigging.ExternalBoneTargets; using static OVRUnityHumanoidSkeletonRetargeter; @@ -298,6 +298,7 @@ public static RetargetingLayer AddMainRetargetingComponent( OVRPlugin.BodyJointSet.FullBody : OVRPlugin.BodyJointSet.UpperBody); retargetingLayer.EnableTrackingByProxy = true; + retargetingLayer.UpdateBonePairMappings(); #if UNITY_EDITOR if (!runtimeInvocation) { @@ -591,6 +592,7 @@ public static void DestroyLegacyComponents(GameObject gameObject, GameObject rig DestroyLegacyComponents(gameObject); DestroyLegacyComponents(gameObject); DestroyLegacyComponents(gameObject); + DestroyLegacyProcessor(gameObject); } /// @@ -724,20 +726,50 @@ public static bool DestroyLegacyComponents(GameObject gameObject, bool runtim #if UNITY_EDITOR if (runtimeInvocation) { - GameObject.DestroyImmediate(componentFound as UnityEngine.Object); + GameObject.DestroyImmediate(componentFound as Object); } else { - Undo.DestroyObjectImmediate(componentFound as UnityEngine.Object); + Undo.DestroyObjectImmediate(componentFound as Object); } #else - GameObject.DestroyImmediate(componentFound as UnityEngine.Object); + GameObject.DestroyImmediate(componentFound as Object); #endif } return componentsFound.Length > 0; } + /// + /// Destroy legacy processors. + /// + /// The object to check for the legacy processors. + /// If activated from runtime code. We want to possibly + /// support one-click during playmode, so we can't necessarily use Application.isPlaying. + /// The legacy processor type. + /// True if legacy processors were destroyed. + public static bool DestroyLegacyProcessor(GameObject gameObject, bool runtimeInvocation = false) where T : class + { + var retargetingLayer = gameObject.GetComponent(); + var processors = retargetingLayer.RetargetingProcessors; + List processorsFound = new List(); + for (int i = 0; i < processors.Count; i++) + { + var processor = processors[i]; + if (processors[i] is T) + { + processorsFound.Add(processor); + } + } + + foreach (var processor in processorsFound) + { + retargetingLayer.RetargetingProcessors.Remove(processor); + } + + return processorsFound.Count > 0; + } + /// /// Adds retargeting processor that corrects hand bones. /// @@ -770,6 +802,7 @@ public static void AddCorrectBonesRetargetingProcessor(RetargetingLayer retarget } #endif retargetingProcessorCorrectBones.name = "CorrectBones"; + retargetingProcessorCorrectBones.FingerPositionCorrectionWeight = 0.0f; retargetingLayer.AddRetargetingProcessor(retargetingProcessorCorrectBones); } diff --git a/Runtime/Scripts/UI/SceneSelectIcon.cs b/Runtime/Scripts/UI/SceneSelectIcon.cs index 51e2310a..9e45de1a 100644 --- a/Runtime/Scripts/UI/SceneSelectIcon.cs +++ b/Runtime/Scripts/UI/SceneSelectIcon.cs @@ -13,22 +13,31 @@ namespace Oculus.Movement.UI public class SceneSelectIcon : MonoBehaviour { /// - /// Information about the icon position. + /// Information about the icon used to select button. /// [Serializable] protected class IconPositionInformation { /// - /// Local position to set. + /// Button to highlight. /// - [Tooltip(SceneSelectIconTooltips.IconPositionInformation.LocalPosition)] - public Vector3 LocalPosition; + [Tooltip(SceneSelectIconTooltips.IconPositionInformation.ButtonTransform)] + public Transform ButtonTransform; /// /// Scene name to check for. /// [Tooltip(SceneSelectIconTooltips.IconPositionInformation.SceneName)] public string SceneName; + + /// + /// Valids fields on class using asserts. + /// + public void Validate() + { + Assert.IsNotNull(ButtonTransform); + Assert.IsFalse(String.IsNullOrEmpty(SceneName)); + } } /// @@ -45,20 +54,36 @@ protected class IconPositionInformation [Tooltip(SceneSelectIconTooltips.IconTransform)] protected Transform _iconTransform; + /// + /// Offset the icon so that it is centered around the image of each button, + /// and enforce a z-value to stay above buttons. These values are based + /// on trial and error. + /// + private float _iconYOffset = 0.0171f; + private float _iconZValue = -0.04f; + private void Awake() { Assert.IsTrue(_iconInformationArray != null && _iconInformationArray.Length > 0); + foreach (var iconInfo in _iconInformationArray) + { + iconInfo.Validate(); + } } private void Start() { bool scenePosSet = false; - foreach(var iconPosInfo in _iconInformationArray) + foreach (var iconPosInfo in _iconInformationArray) { if (iconPosInfo.SceneName == SceneManager.GetActiveScene().name) { - _iconTransform.localPosition = iconPosInfo.LocalPosition; + var buttonTransformLocalPosition = iconPosInfo.ButtonTransform.localPosition; + _iconTransform.localPosition = + new Vector3(buttonTransformLocalPosition.x, + buttonTransformLocalPosition.y + _iconYOffset, + _iconZValue); scenePosSet = true; break; } diff --git a/Runtime/Scripts/Utils/AnimatorBoneVisualizer.cs b/Runtime/Scripts/Utils/AnimatorBoneVisualizer.cs index 8751a929..db8e046a 100644 --- a/Runtime/Scripts/Utils/AnimatorBoneVisualizer.cs +++ b/Runtime/Scripts/Utils/AnimatorBoneVisualizer.cs @@ -62,7 +62,15 @@ protected override bool TryGetBoneTransforms(BoneTuple tupleItem, firstJoint = secondJoint = null; return false; } - secondJoint = (tupleItem.SecondBone == HumanBodyBones.LastBone) + bool secondBoneInvalid = tupleItem.SecondBone == HumanBodyBones.LastBone; + // While this is rare, it's possible that second bone can be invalid and the first + // child would have no children (used as a backup in this case). + if (secondBoneInvalid && firstJoint.childCount == 0) + { + firstJoint = secondJoint = null; + return false; + } + secondJoint = secondBoneInvalid ? firstJoint.GetChild(0) : _animatorComp.GetBoneTransform(tupleItem.SecondBone); return true; diff --git a/Runtime/Scripts/Utils/EnumNamedArrayAttribute.cs b/Runtime/Scripts/Utils/EnumNamedArrayAttribute.cs new file mode 100644 index 00000000..f6a9024b --- /dev/null +++ b/Runtime/Scripts/Utils/EnumNamedArrayAttribute.cs @@ -0,0 +1,50 @@ +// Copyright (c) Meta Platforms, Inc. and affiliates. + +using System; +using System.Collections.Generic; +using UnityEngine; + +namespace Oculus.Movement.Utils +{ + /// + /// Used to label lists and arrays with an Enum instead of the default 'Element #' + /// + public class EnumNamedArrayAttribute : PropertyAttribute + { + /// + /// values replacing "Element X" when rendering lists in Unity Editor + /// + public Type TargetEnum; + + /// + /// Cached names, to avoid multiple reflection invocations and allocations + /// + private static Dictionary _cachedNames = new Dictionary(); + + /// + /// Used to label lists and arrays with an Enum instead of the default 'Element #' + /// + /// Which to use as a label + public EnumNamedArrayAttribute(Type targetEnum) + { + TargetEnum = targetEnum; + } + + /// + /// Get cached names of enums. This method reduces memory thrash at Unity editor time + /// + public string[] GetNames() + { + return GetNames(TargetEnum); + } + + private static string[] GetNames(Type enumType) + { + if (!_cachedNames.TryGetValue(enumType, out string[] names)) + { + _cachedNames[enumType] = names = Enum.GetNames(enumType); + } + return names; + } + } +} diff --git a/Runtime/Scripts/Utils/EnumNamedArrayAttribute.cs.meta b/Runtime/Scripts/Utils/EnumNamedArrayAttribute.cs.meta new file mode 100644 index 00000000..04633108 --- /dev/null +++ b/Runtime/Scripts/Utils/EnumNamedArrayAttribute.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: c1a3de9c58af58642b22d4276715b427 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/Utils/HelperMenusBody.cs b/Runtime/Scripts/Utils/HelperMenusBody.cs index a1defafc..98616cb8 100644 --- a/Runtime/Scripts/Utils/HelperMenusBody.cs +++ b/Runtime/Scripts/Utils/HelperMenusBody.cs @@ -30,10 +30,17 @@ internal static class HelperMenusBody _ANIM_RIGGING_RETARGETING_FULL_BODY_MENU_CONSTRAINTS)] private static void SetupFullBodyCharacterForAnimationRiggingRetargetingConstraints() { - var activeGameObject = UnityEditor.Selection.activeGameObject; - var animator = activeGameObject.GetComponent(); - var restPoseObjectHumanoid = AddComponentsHelper.GetRestPoseObject(AddComponentsHelper.CheckIfTPose(animator)); - SetupCharacterForAnimationRiggingRetargetingConstraints(activeGameObject, restPoseObjectHumanoid, true, true); + var currentSelection = 0.0f; + var selectionCount = UnityEditor.Selection.gameObjects.Length; + foreach (var activeGameObject in UnityEditor.Selection.gameObjects) + { + currentSelection += 1.0f; + UnityEditor.EditorUtility.DisplayProgressBar( + "Retargeting", $"Adding {_ANIM_RIGGING_RETARGETING_FULL_BODY_MENU_CONSTRAINTS}...", currentSelection / selectionCount); + var animator = activeGameObject.GetComponent(); + var restPoseObjectHumanoid = AddComponentsHelper.GetRestPoseObject(AddComponentsHelper.CheckIfTPose(animator)); + SetupCharacterForAnimationRiggingRetargetingConstraints(activeGameObject, restPoseObjectHumanoid, true, true); + } } [UnityEditor.MenuItem(AddComponentsHelper._MOVEMENT_SAMPLES_MENU + _MOVEMENT_SAMPLES_BT_MENU + @@ -113,7 +120,7 @@ public static void SetupCharacterForAnimationRiggingRetargetingConstraints( constraintMonos.Add(retargetConstraint); // Destroy old components - AddComponentsHelper.DestroyLegacyComponents(rigObject, activeGameObject); + AddComponentsHelper.DestroyLegacyComponents(activeGameObject, rigObject); // Add retargeting animation rig to tie everything together. AddComponentsHelper.AddRetargetingAnimationRig( @@ -131,7 +138,6 @@ public static void SetupCharacterForAnimationRiggingRetargetingConstraints( AddComponentsHelper.AddCorrectBonesRetargetingProcessor(retargetingLayer); AddComponentsHelper.AddCorrectHandRetargetingProcessor(retargetingLayer, Handedness.Left); AddComponentsHelper.AddCorrectHandRetargetingProcessor(retargetingLayer, Handedness.Right); - AddComponentsHelper.AddHandDeformationRetargetingProcessor(retargetingLayer); // Body deformation. if (addConstraints) @@ -246,6 +252,7 @@ private static FullBodyDeformationConstraint AddDeformationConstraint( deformationConstraint.data.SpineLowerAlignmentWeight = 0.5f; deformationConstraint.data.SpineUpperAlignmentWeight = 1.0f; deformationConstraint.data.ChestAlignmentWeight = 0.0f; + deformationConstraint.data.ShoulderRollWeight = 1.0f; deformationConstraint.data.LeftShoulderWeight = 1.0f; deformationConstraint.data.RightShoulderWeight = 1.0f; deformationConstraint.data.LeftArmWeight = 1.0f; @@ -259,6 +266,9 @@ private static FullBodyDeformationConstraint AddDeformationConstraint( deformationConstraint.data.AlignFeetWeight = 0.75f; deformationConstraint.data.SquashLimit = 2.0f; deformationConstraint.data.StretchLimit = 2.0f; + deformationConstraint.data.OriginalSpinePositionsWeight = 0.5f; + deformationConstraint.data.OriginalSpineBoneCount = 0; + deformationConstraint.data.OriginalSpineUseHipsToHeadToScale = true; deformationConstraint.data.AssignAnimator(animator); deformationConstraint.data.SetUpLeftArmData(); diff --git a/Runtime/Scripts/Utils/Tracking/RestPoseObjectHumanoid.cs b/Runtime/Scripts/Utils/Tracking/RestPoseObjectHumanoid.cs index 644bfea8..2204f08f 100644 --- a/Runtime/Scripts/Utils/Tracking/RestPoseObjectHumanoid.cs +++ b/Runtime/Scripts/Utils/Tracking/RestPoseObjectHumanoid.cs @@ -171,16 +171,16 @@ public Quaternion CalculateRotationDifferenceFromRestPoseToAnimatorJoint( /// Animator to compare against. /// HumanBodyBones joint to be referenced for the /// angle comparison. - /// Other HumanBodyBones joint to be referenced for the + /// Following HumanBodyBones joint to be referenced for the /// angle comparison. /// HumanBodyBones joint of the target to be referenced for the /// angle comparison. - /// Other HumanBodyBones joint of the target to be referenced for the + /// Following HumanBodyBones joint of the target to be referenced for the /// angle comparison. /// Rotation difference. public Quaternion CalculateRotationDifferenceFromRestPoseToAnimatorBonePair( - Animator otherAnimator, HumanBodyBones humanBodyBone, HumanBodyBones otherHumanBodyBone, - HumanBodyBones targetHumanBodyBone, HumanBodyBones targetOtherHumanBodyBone) + Animator otherAnimator, HumanBodyBones humanBodyBone, HumanBodyBones followingHumanBodyBone, + HumanBodyBones targetHumanBodyBone, HumanBodyBones followingOtherHumanBodyBone) { if (!RiggingUtilities.IsHumanoidAnimator(otherAnimator)) { @@ -189,22 +189,22 @@ public Quaternion CalculateRotationDifferenceFromRestPoseToAnimatorBonePair( } Transform startJointOther = otherAnimator.GetBoneTransform(targetHumanBodyBone), - endJointOther = otherAnimator.GetBoneTransform(targetOtherHumanBodyBone); + endJointOther = otherAnimator.GetBoneTransform(followingOtherHumanBodyBone); if (startJointOther == null || endJointOther == null) { Debug.LogError("Other animator has at least one null joint pair: " + $"{startJointOther}, {endJointOther}. Are the joints properly mapped for " + - $"{humanBodyBone}-{otherHumanBodyBone}?"); + $"{targetHumanBodyBone}-{followingHumanBodyBone}?"); return Quaternion.identity; } var startJointReferenceData = GetBonePoseData(humanBodyBone); - var endJointReferenceData = GetBonePoseData(otherHumanBodyBone); + var endJointReferenceData = GetBonePoseData(followingHumanBodyBone); if (startJointReferenceData == null || endJointReferenceData == null) { Debug.LogError("Reference has at least one null joint pair: " + $"{startJointReferenceData}, {endJointReferenceData}. Are the joints properly mapped for " + - $"{humanBodyBone}-{otherHumanBodyBone}?"); + $"{humanBodyBone}-{followingHumanBodyBone}?"); return Quaternion.identity; } diff --git a/Samples/Materials/UI/BodyTrackingForFitnessButton.mat b/Samples/Materials/UI/BodyTrackingForFitnessButton.mat new file mode 100644 index 00000000..db2be939 --- /dev/null +++ b/Samples/Materials/UI/BodyTrackingForFitnessButton.mat @@ -0,0 +1,80 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!21 &2100000 +Material: + serializedVersion: 8 + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_Name: BodyTrackingForFitnessButton + m_Shader: {fileID: 4800000, guid: f5402b56b5883a74fabd5d887396fb10, type: 3} + m_ValidKeywords: [] + m_InvalidKeywords: [] + m_LightmapFlags: 4 + m_EnableInstancingVariants: 0 + m_DoubleSidedGI: 0 + m_CustomRenderQueue: -1 + stringTagMap: {} + disabledShaderPasses: [] + m_SavedProperties: + serializedVersion: 3 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