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Code Issues 161 Packages Projects Releases Wiki Activity

Use bones for AutoBone error calculation (#1312)

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This commit is contained in:
Butterscotch!
2025-03-04 11:55:51 -05:00
committed by GitHub
parent 4dac7d28e4
commit 4ae197618e
3 changed files with 43 additions and 49 deletions
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45
server/core/src/main/java/dev/slimevr/autobone/errors/FootHeightOffsetError.kt
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@@ -2,9 +2,9 @@ package dev.slimevr.autobone.errors
import dev.slimevr.autobone.AutoBoneStep
import dev.slimevr.autobone.PoseFrameStep
import dev.slimevr.tracking.processor.BoneType
import dev.slimevr.tracking.processor.skeleton.HumanSkeleton
import dev.slimevr.tracking.trackers.Tracker
import dev.slimevr.tracking.trackers.TrackerRole
import io.github.axisangles.ktmath.Vector3
import kotlin.math.*
// The offset between the height both feet at one instant and over time
@@ -16,32 +16,31 @@ class FootHeightOffsetError : IAutoBoneError {
)
companion object {
fun getSlideError(skeleton1: HumanSkeleton, skeleton2: HumanSkeleton): Float {
val leftTracker1: Tracker = skeleton1.getComputedTracker(TrackerRole.LEFT_FOOT)
val rightTracker1: Tracker = skeleton1.getComputedTracker(TrackerRole.RIGHT_FOOT)
val leftTracker2: Tracker = skeleton2.getComputedTracker(TrackerRole.LEFT_FOOT)
val rightTracker2: Tracker = skeleton2.getComputedTracker(TrackerRole.RIGHT_FOOT)
return getFootHeightError(leftTracker1, rightTracker1, leftTracker2, rightTracker2)
}
fun getSlideError(skeleton1: HumanSkeleton, skeleton2: HumanSkeleton): Float = getFootHeightError(
skeleton1.getBone(BoneType.LEFT_LOWER_LEG).getTailPosition(),
skeleton1.getBone(BoneType.RIGHT_LOWER_LEG).getTailPosition(),
skeleton2.getBone(BoneType.LEFT_LOWER_LEG).getTailPosition(),
skeleton2.getBone(BoneType.RIGHT_LOWER_LEG).getTailPosition(),
)
fun getFootHeightError(
leftTracker1: Tracker,
rightTracker1: Tracker,
leftTracker2: Tracker,
rightTracker2: Tracker,
leftFoot1: Vector3,
rightFoot1: Vector3,
leftFoot2: Vector3,
rightFoot2: Vector3,
): Float {
val leftFoot1 = leftTracker1.position.y
val rightFoot1 = rightTracker1.position.y
val leftFoot2 = leftTracker2.position.y
val rightFoot2 = rightTracker2.position.y
val lFoot1Y = leftFoot1.y
val rFoot1Y = rightFoot1.y
val lFoot2Y = leftFoot2.y
val rFoot2Y = rightFoot2.y
// Compute all combinations of heights
val dist1 = abs(leftFoot1 - rightFoot1)
val dist2 = abs(leftFoot1 - leftFoot2)
val dist3 = abs(leftFoot1 - rightFoot2)
val dist4 = abs(rightFoot1 - leftFoot2)
val dist5 = abs(rightFoot1 - rightFoot2)
val dist6 = abs(leftFoot2 - rightFoot2)
val dist1 = abs(lFoot1Y - rFoot1Y)
val dist2 = abs(lFoot1Y - lFoot2Y)
val dist3 = abs(lFoot1Y - rFoot2Y)
val dist4 = abs(rFoot1Y - lFoot2Y)
val dist5 = abs(rFoot1Y - rFoot2Y)
val dist6 = abs(lFoot2Y - rFoot2Y)
// Divide by 12 (6 values * 2 to halve) to halve and average, it's
// halved because you want to approach a midpoint, not the other point

29
server/core/src/main/java/dev/slimevr/autobone/errors/OffsetSlideError.kt
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@@ -2,9 +2,9 @@ package dev.slimevr.autobone.errors
import dev.slimevr.autobone.AutoBoneStep
import dev.slimevr.autobone.PoseFrameStep
import dev.slimevr.tracking.processor.BoneType
import dev.slimevr.tracking.processor.skeleton.HumanSkeleton
import dev.slimevr.tracking.trackers.Tracker
import dev.slimevr.tracking.trackers.TrackerRole
import io.github.axisangles.ktmath.Vector3
import kotlin.math.*
// The change in distance between both of the ankles over time
@@ -16,24 +16,19 @@ class OffsetSlideError : IAutoBoneError {
)
companion object {
fun getSlideError(skeleton1: HumanSkeleton, skeleton2: HumanSkeleton): Float {
val leftTracker1: Tracker = skeleton1.getComputedTracker(TrackerRole.LEFT_FOOT)
val rightTracker1: Tracker = skeleton1.getComputedTracker(TrackerRole.RIGHT_FOOT)
val leftTracker2: Tracker = skeleton2.getComputedTracker(TrackerRole.LEFT_FOOT)
val rightTracker2: Tracker = skeleton2.getComputedTracker(TrackerRole.RIGHT_FOOT)
return getSlideError(leftTracker1, rightTracker1, leftTracker2, rightTracker2)
}
fun getSlideError(skeleton1: HumanSkeleton, skeleton2: HumanSkeleton): Float = getSlideError(
skeleton1.getBone(BoneType.LEFT_LOWER_LEG).getTailPosition(),
skeleton1.getBone(BoneType.RIGHT_LOWER_LEG).getTailPosition(),
skeleton2.getBone(BoneType.LEFT_LOWER_LEG).getTailPosition(),
skeleton2.getBone(BoneType.RIGHT_LOWER_LEG).getTailPosition(),
)
fun getSlideError(
leftTracker1: Tracker,
rightTracker1: Tracker,
leftTracker2: Tracker,
rightTracker2: Tracker,
leftFoot1: Vector3,
rightFoot1: Vector3,
leftFoot2: Vector3,
rightFoot2: Vector3,
): Float {
val leftFoot1 = leftTracker1.position
val rightFoot1 = rightTracker1.position
val leftFoot2 = leftTracker2.position
val rightFoot2 = rightTracker2.position
val slideDist1 = (rightFoot1 - leftFoot1).len()
val slideDist2 = (rightFoot2 - leftFoot2).len()
val slideDist3 = (rightFoot2 - leftFoot1).len()

18
server/core/src/main/java/dev/slimevr/autobone/errors/SlideError.kt
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@@ -2,9 +2,9 @@ package dev.slimevr.autobone.errors
import dev.slimevr.autobone.AutoBoneStep
import dev.slimevr.autobone.PoseFrameStep
import dev.slimevr.tracking.processor.Bone
import dev.slimevr.tracking.processor.BoneType
import dev.slimevr.tracking.processor.skeleton.HumanSkeleton
import dev.slimevr.tracking.trackers.Tracker
import dev.slimevr.tracking.trackers.TrackerRole
// The change in position of the ankle over time
class SlideError : IAutoBoneError {
@@ -18,26 +18,26 @@ class SlideError : IAutoBoneError {
fun getSlideError(skeleton1: HumanSkeleton, skeleton2: HumanSkeleton): Float {
// Calculate and average between both feet
return (
getSlideError(skeleton1, skeleton2, TrackerRole.LEFT_FOOT) +
getSlideError(skeleton1, skeleton2, TrackerRole.RIGHT_FOOT)
getSlideError(skeleton1, skeleton2, BoneType.LEFT_LOWER_LEG) +
getSlideError(skeleton1, skeleton2, BoneType.RIGHT_LOWER_LEG)
) / 2f
}
fun getSlideError(
skeleton1: HumanSkeleton,
skeleton2: HumanSkeleton,
trackerRole: TrackerRole,
bone: BoneType,
): Float {
// Calculate and average between both feet
return getSlideError(
skeleton1.getComputedTracker(trackerRole),
skeleton2.getComputedTracker(trackerRole),
skeleton1.getBone(bone),
skeleton2.getBone(bone),
)
}
fun getSlideError(tracker1: Tracker, tracker2: Tracker): Float {
fun getSlideError(bone1: Bone, bone2: Bone): Float {
// Return the midpoint distance
return (tracker2.position - tracker1.position).len() / 2f
return (bone2.getTailPosition() - bone1.getTailPosition()).len() / 2f
}
}
}