Passer.Humanoid.ViveTrackerArm Class Reference

Description

Vive Tracker used on the leg of a Humanoid

Unity Inspector

Vive Trackers can be placed on different bones on the arm. This makes it possible to combine a SteamVR controller with a Vive Tracker on the arm to improve the Inverse Kinematics solution. The bone on which the tracker in mounted should be set using the Bone parameter. It is not possible to have both a UnityXR controller and a Vive Tracker on the hand.

• Show (Button): Press to create an Gameobject representing the real world Vive tracker.
• Sensor: A reference to the the real world Vive tracker.
• Attached Bone

Inheritance diagram for Passer.Humanoid.ViveTrackerArm:

Public Types
enum	ID {   Head , LeftHand , RightHand , Hips ,   LeftFoot , RightFoot , Tracker1 , Tracker2 ,   Tracker3 , Tracker4 , Count }

Public Member Functions
override void	CheckSensor (HandTarget handTarget)
override void	SetSensor2Target ()
override void	UpdateSensorTransformFromTarget (Transform _)
override void	Start (HumanoidControl _humanoid, Transform targetTransform)
	Prepares the arm for tracking with the tracked controller and/or skeleton.
override void	Update ()
	Updates the arm target based on the status of the tracked controller and/or skeleton.

Static Public Member Functions
static Rotation	CalculateUpperArmOrientation (Vector upperArmPosition, float upperArmLength, Vector forearmUp, float forearmLength, Vector handPosition, bool isLeft)
static Rotation	CalculateArmOrientation (Vector joint1Position, Vector joint1Up, Vector joint2Position, bool isLeft)
static Rotation	CalculateBoneRotation (Vector bonePosition, Vector parentBonePosition, Vector upDirection)

Public Attributes
ArmBones	attachedBone = ArmBones.Hand
	The bone on the arm controlled by the sensor.
bool	isLeft
TargetData	shoulder
TargetData	upperArm
TargetData	forearm
TargetData	hand
Finger	thumb
Finger	indexFinger
Finger	middleFinger
Finger	ringFinger
Finger	littleFinger
Finger[]	fingers
DeviceView	device
	The device to which the sensor belongs.
Tracker.Status	status = Tracker.Status.Unavailable
	Status of the sensor.

Protected Member Functions
HumanoidTarget.TargetedBone	GetTargetBone ()
override void	CreateSensorTransform ()
void	UpdateControllerInput ()
	Updates the Controller Input for this side.
virtual void	UpdateControllerInput (ControllerSide controllerSide)
	Updates one side of the ControllerInput from the values of the tracked ControllerComponent.
override void	UpdateHandFromSkeleton ()
	This function uses the tracked HandSkeleton to update the pose of the hand.
virtual void	UpdateHand ()
void	UpdateSensor ()

Protected Attributes
ControllerComponent	controllerComponent
	The tracker controller to use for this arm.
Controller	controllerInput
	The controller input for this humanoid.
Vector	_localSensorPosition
Rotation	_localSensorRotation
Vector	_sensorPosition
Rotation	_sensorRotation
float	_positionConfidence
	Tracking confidence.
float	_rotationConfidence
Vector	_sensor2TargetPosition = Vector.zero
	The position of the tracker relative to the origin of the object it is tracking.
Rotation	_sensor2TargetRotation = Rotation.identity

Properties
override string	name [get]
override HumanoidTracker	tracker [get]
ViveTrackerComponent	viveTracker [get]
Vector	localSensorPosition [get]
Rotation	localSensorRotation [get]
Vector	sensorPosition [get]
Rotation	sensorRotation [get]
float	positionConfidence [get]
float	rotationConfidence [get]
Vector	sensor2TargetPosition [get, set]
Rotation	sensor2TargetRotation [get, set]

Member Function Documentation

Start()

override void Passer.Humanoid.CustomArm.Start ( HumanoidControl  _humanoid, Transform  targetTransform  )

inherited

Prepares the arm for tracking with the tracked controller and/or skeleton.

Parameters

_humanoid	The humanoid for which this arm is tracked
targetTransform	The transform of the hand target

This will find and initialize the controllerInput for the given humanoid. It will initialize the sensor2TargetPosition and sensor2TargetRotation values. It will determine whether the sensor should be shown and rendered. It will start the tracking for the controller and/or hand skeleton.

Update()

override void Passer.Humanoid.CustomArm.Update ( )

virtualinherited

Updates the arm target based on the status of the tracked controller and/or skeleton.

Reimplemented from Passer.Humanoid.Tracking.Sensor.

UpdateControllerInput()

virtual void Passer.Humanoid.CustomArm.UpdateControllerInput ( ControllerSide  controllerSide )

protectedvirtualinherited

Updates one side of the ControllerInput from the values of the tracked ControllerComponent.

Parameters

controllerSide

The controller side to update

This function does nothing when the controller is not available or not tracking.

UpdateHandFromSkeleton()

override void Passer.Humanoid.CustomArm.UpdateHandFromSkeleton ( )

protectedinherited

This function uses the tracked HandSkeleton to update the pose of the hand.

This function does nothing when the hand skeleton is not available or not tracking.

---

The documentation for this class was generated from the following file:

• d:/Unity/Humanoid4/Humanoid4_Pro/Assets/humanoidcontrol4_pro/Runtime/HumanoidControl/Scripts/Extensions/ViveTrackers/ViveTrackerArm.cs