Skip to content

Commit

Permalink
Fix VMC floating (#1039)
Browse files Browse the repository at this point in the history
  • Loading branch information
@Erimelowo
Erimelowo authored Jun 5, 2024
1 parent 775f5e9 commit 721a74a
Show file tree
Hide file tree
Showing 2 changed files with 54 additions and 94 deletions.
1 change: 0 additions & 1 deletion server/core/src/main/java/dev/slimevr/VRServer.kt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -150,7 +150,6 @@ class VRServer @JvmOverloads constructor(
this,
humanPoseManager,
configManager.vrConfig.vmc,
computedTrackers,
)

// Initialize OSC router
Expand Down
147 changes: 54 additions & 93 deletions server/core/src/main/java/dev/slimevr/osc/VMCHandler.kt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,6 @@ import com.illposed.osc.transport.OSCPortOut
import dev.slimevr.VRServer
import dev.slimevr.VRServer.Companion.currentLocalTrackerId
import dev.slimevr.VRServer.Companion.getNextLocalTrackerId
import dev.slimevr.autobone.errors.BodyProportionError
import dev.slimevr.config.VMCConfig
import dev.slimevr.osc.UnityBone.Companion.getByStringVal
import dev.slimevr.tracking.processor.BoneType
Expand Down Expand Up @@ -43,7 +42,6 @@ class VMCHandler(
private val server: VRServer,
private val humanPoseManager: HumanPoseManager,
private val config: VMCConfig,
computedTrackers: List<Tracker>?,
) : OSCHandler {
private var oscReceiver: OSCPortIn? = null
private var oscSender: OSCPortOut? = null
Expand Down Expand Up @@ -149,23 +147,31 @@ class VMCHandler(
for (unityBone in UnityBone.entries) {
val node = outputUnityArmature!!.getHeadNodeOfBone(unityBone)
if (node != null) {
node
.localTransform
.translation = vrmReader.getOffsetForBone(unityBone)
val offset = if (unityBone == UnityBone.HIPS) {
// For the hip bone, add average of upper leg offsets (which are negative). The hip bone's offset is global.
vrmReader.getOffsetForBone(UnityBone.HIPS) +
((vrmReader.getOffsetForBone(UnityBone.LEFT_UPPER_LEG) + vrmReader.getOffsetForBone(UnityBone.RIGHT_UPPER_LEG)) / 2f)
} else {
vrmReader.getOffsetForBone(unityBone)
}

node.localTransform.translation = offset
}
}
vrmHeight = vrmReader
.getOffsetForBone(UnityBone.HIPS)
.plus(vrmReader.getOffsetForBone(UnityBone.SPINE))
.plus(vrmReader.getOffsetForBone(UnityBone.CHEST))
.plus(vrmReader.getOffsetForBone(UnityBone.UPPER_CHEST))
.plus(vrmReader.getOffsetForBone(UnityBone.NECK))
.plus(vrmReader.getOffsetForBone(UnityBone.HEAD))
.len()
// Make sure to account for the upper legs because of the hip.
vrmHeight = (
vrmReader.getOffsetForBone(UnityBone.HIPS) +
((vrmReader.getOffsetForBone(UnityBone.LEFT_UPPER_LEG) + vrmReader.getOffsetForBone(UnityBone.RIGHT_UPPER_LEG))) +
vrmReader.getOffsetForBone(UnityBone.SPINE) +
vrmReader.getOffsetForBone(UnityBone.CHEST) +
vrmReader.getOffsetForBone(UnityBone.UPPER_CHEST) +
vrmReader.getOffsetForBone(UnityBone.NECK) +
vrmReader.getOffsetForBone(UnityBone.HEAD)
).y
}
}

if (refreshRouterSettings && server.oSCRouter != null) server.oSCRouter.refreshSettings(false)
if (refreshRouterSettings) server.oSCRouter.refreshSettings(false)
}

private fun handleReceivedMessage(event: OSCMessageEvent) {
Expand Down Expand Up @@ -247,7 +253,7 @@ class VMCHandler(
unityBone: UnityBone?,
) {
// Create device if it doesn't exist
var rotation: Quaternion? = rotation
var rot = rotation
if (trackerDevice == null) {
trackerDevice = server.deviceManager.createDevice("VMC receiver", "1.0", "VMC")
server.deviceManager.addDevice(trackerDevice!!)
Expand All @@ -262,19 +268,14 @@ class VMCHandler(
trackerDevice,
getNextLocalTrackerId(),
name,
"VMC Tracker #" + currentLocalTrackerId,
"VMC Tracker #$currentLocalTrackerId",
trackerPosition,
null,
position != null,
rotation != null,
false,
true,
false,
position != null,
null,
true,
false,
position != null,
hasPosition = position != null,
hasRotation = true,
userEditable = true,
isComputed = position != null,
usesTimeout = true,
needsReset = position != null,
)
trackerDevice!!.trackers[trackerDevice!!.trackers.size] = tracker
byTrackerNameTracker[name] = tracker
Expand All @@ -288,16 +289,14 @@ class VMCHandler(
}

// Set rotation
if (rotation != null) {
if (localRotation) {
// Instantiate unityHierarchy if not done
if (inputUnityArmature == null) inputUnityArmature = UnityArmature(true)
inputUnityArmature!!.setLocalRotationForBone(unityBone!!, rotation)
rotation = inputUnityArmature!!.getGlobalRotationForBone(unityBone)
rotation = yawOffset.times(rotation)
}
tracker.setRotation(rotation)
if (localRotation) {
// Instantiate unityHierarchy if not done
if (inputUnityArmature == null) inputUnityArmature = UnityArmature(true)
inputUnityArmature!!.setLocalRotationForBone(unityBone!!, rot)
rot = inputUnityArmature!!.getGlobalRotationForBone(unityBone)
rot = yawOffset.times(rot)
}
tracker.setRotation(rot)

tracker.dataTick()
}
Expand All @@ -323,81 +322,43 @@ class VMCHandler(
// Indicate tracking is available
oscArgs.clear()
oscArgs.add(1)
oscBundle
.addPacket(
OSCMessage(
"/VMC/Ext/OK",
oscArgs.clone(),
),
)
oscBundle.addPacket(OSCMessage("/VMC/Ext/OK", oscArgs.clone()))

oscArgs.clear()
oscArgs.add("root")
addTransformToArgs(
NULL,
IDENTITY,
)
oscBundle
.addPacket(
OSCMessage(
"/VMC/Ext/Root/Pos",
oscArgs.clone(),
),
)
addTransformToArgs(NULL, IDENTITY)
oscBundle.addPacket(OSCMessage("/VMC/Ext/Root/Pos", oscArgs.clone()))

for (unityBone in UnityBone.entries) {
val boneType = unityBone.boneType ?: continue
// Get SlimeVR bone
val bone = humanPoseManager.getBone(boneType)

// Update unity hierarchy from bone's global
// rotation
// Update unity hierarchy from bone's global rotation
outputUnityArmature
?.setGlobalRotationForBone(
unityBone,
bone!!.getGlobalRotation() * bone.rotationOffset.inv(),
bone.getGlobalRotation() * bone.rotationOffset.inv(),
)
}

if (!anchorHip) {
// Anchor from head
// Gets the SlimeVR head position, scales it to the VRM,
// and subtracts the difference between the VRM's
// head and hip
// FIXME this way isn't perfect, but I give up - Erimel
val upperLegsAverage = (
outputUnityArmature!!.getHeadNodeOfBone(UnityBone.LEFT_UPPER_LEG)!!.worldTransform
.translation +
outputUnityArmature!!.getHeadNodeOfBone(UnityBone.RIGHT_UPPER_LEG)!!
.worldTransform
.translation
) * 0.5f

val scaledHead = humanPoseManager
.getBone(BoneType.HEAD)!!
.getTailPosition() * (
vrmHeight /
(
humanPoseManager.userHeightFromConfig
* BodyProportionError.eyeHeightToHeightRatio
)
)
outputUnityArmature?.let { unityArmature ->
// Scale the SlimeVR head position with the VRM model
val slimevrScaledHeadPos = humanPoseManager.getBone(BoneType.HEAD).getPosition() *
(vrmHeight / humanPoseManager.userHeightFromConfig)

val pos = scaledHead
.minus(
(
outputUnityArmature!!
.getHeadNodeOfBone(UnityBone.HEAD)!!
.parent!!
.worldTransform
.translation
.minus(upperLegsAverage)
),
)
// Get the VRM head and hip positions
val vrmHeadPos = unityArmature.getHeadNodeOfBone(UnityBone.HEAD)!!.parent!!.worldTransform.translation
val vrmHipPos = unityArmature.getHeadNodeOfBone(UnityBone.HIPS)!!.worldTransform.translation

// Calculate the new VRM hip position by subtracting the difference head-hip distance from the SlimeVR head
val calculatedVrmHipPos = slimevrScaledHeadPos - (vrmHeadPos - vrmHipPos)

outputUnityArmature!!
.getHeadNodeOfBone(UnityBone.HIPS)!!
.localTransform
.translation = pos
// Set the VRM's hip position
unityArmature.getHeadNodeOfBone(UnityBone.HIPS)?.localTransform?.translation = calculatedVrmHipPos
}
}

// Update Unity skeleton
Expand Down

0 comments on commit 721a74a

Please sign in to comment.