Cleaning up

.idea/.idea.VR Cycling/.idea/dictionaries/marce.xml

@@ -0,0 +1,3 @@
+<component name="ProjectDictionaryState">
+  <dictionary name="marce" />
+</component>

Assembly-CSharp-Editor.csproj

@@ -12,7 +12,7 @@
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     <SchemaVersion>2.0</SchemaVersion>
     <RootNamespace></RootNamespace>
-    <ProjectGuid>{52A1073E-9077-F771-CEEB-BB2F43A12AB3}</ProjectGuid>
+    <ProjectGuid>{6EA546DC-64DE-308D-C107-3A365DA0CE9C}</ProjectGuid>
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     <AppDesignerFolder>Properties</AppDesignerFolder>
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@@ -51,666 +51,675 @@
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   <ItemGroup>
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-      <HintPath>C:\Program Files\Unity\Hub\Editor\2019.4.15f1\Editor\Data\Managed/UnityEngine/UnityEngine.dll</HintPath>
+      <HintPath>C:\Program Files\Unity Editors\2019.4.15f1\Editor\Data\Managed/UnityEngine/UnityEngine.dll</HintPath>
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     <Reference Include="UnityEditor">
-      <HintPath>C:\Program Files\Unity\Hub\Editor\2019.4.15f1\Editor\Data\Managed/UnityEditor.dll</HintPath>
+      <HintPath>C:\Program Files\Unity Editors\2019.4.15f1\Editor\Data\Managed/UnityEditor.dll</HintPath>
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      <Compile Include="Assets\TutorialInfo\Scripts\Editor\ReadmeEditor.cs" />
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- <HintPath>C:/Users/student/Desktop/VRCyling/Library/ScriptAssemblies/UnityEditor.TestRunner.dll</HintPath>
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- <HintPath>C:/Users/student/Desktop/VRCyling/Library/ScriptAssemblies/UnityEngine.TestRunner.dll</HintPath>
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- <HintPath>C:/Users/student/Desktop/VRCyling/Library/ScriptAssemblies/Unity.InputSystem.dll</HintPath>
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- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/4.7.1-api/Facades/System.Xml.XPath.XDocument.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/4.7.1-api/Facades/System.Xml.XPath.XDocument.dll</HintPath>
  </Reference>
  <Reference Include="UnityScript">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/unityscript/UnityScript.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/unityscript/UnityScript.dll</HintPath>
  </Reference>
  <Reference Include="UnityScript.Lang">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/unityscript/UnityScript.Lang.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/unityscript/UnityScript.Lang.dll</HintPath>
  </Reference>
  <Reference Include="Boo.Lang">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/unityscript/Boo.Lang.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/unityscript/Boo.Lang.dll</HintPath>
  </Reference>
   </ItemGroup>
   <ItemGroup>
     <ProjectReference Include="SteamVR_Actions.csproj">
-      <Project>{C8866180-64C6-F02E-A914-446507B36928}</Project>
+      <Project>{67161614-2DB4-7745-C3F6-F9DD455AD582}</Project>
       <Name>SteamVR_Actions</Name>
     </ProjectReference>
     <ProjectReference Include="SteamVR_Input_Editor.csproj">
-      <Project>{54152D6B-1E30-6A08-B2F2-6A642758DE58}</Project>
+      <Project>{1140961C-B987-84EB-8395-EA3F31446727}</Project>
       <Name>SteamVR_Input_Editor</Name>
     </ProjectReference>
     <ProjectReference Include="SteamVR_Editor.csproj">
-      <Project>{3E8A5CA9-A461-ACB7-88CF-437458189DB9}</Project>
+      <Project>{D8C7B615-CB75-29C4-6CE4-D38FB9BA7D1D}</Project>
       <Name>SteamVR_Editor</Name>
     </ProjectReference>
     <ProjectReference Include="SteamVR.csproj">
-      <Project>{AA2F3384-93C6-6339-7224-30BEFA100592}</Project>
+      <Project>{38F48EE2-F28D-DDBC-80B3-619ED7F38A17}</Project>
       <Name>SteamVR</Name>
     </ProjectReference>
     <ProjectReference Include="SteamVR_Windows_EditorHelper.csproj">
-      <Project>{93AF3A7F-4D0E-9DB2-6791-66B2405AEB3C}</Project>
+      <Project>{CDC4B8D5-119D-91FE-D16D-283F6632AFF5}</Project>
       <Name>SteamVR_Windows_EditorHelper</Name>
     </ProjectReference>
   </ItemGroup>

Assets/Editor/FrontWheelTrackerEditor.cs

@@ -1,4 +1,5 @@
 using System;
+using Tracking;
 using UnityEditor;
 using UnityEngine;
 

Assets/FrontWheelTracker.cs

@@ -1,84 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class FrontWheelTracker : MonoBehaviour
-{
-    private const String KEY_POS_X = "vive_tracker_pos_x";
-    private const String KEY_POS_Y = "vive_tracker_pos_y";
-    private const String KEY_POS_Z = "vive_tracker_pos_z";
-    private const String KEY_ROT_X = "vive_tracker_rot_x";
-    private const String KEY_ROT_Y = "vive_tracker_rot_y";
-    private const String KEY_ROT_Z = "vive_tracker_rot_z";
-
-    private Transform trackerTransform;
-    private Vector3 zeroRot;
-    private Vector3 zeroPos;
-
-    public Vector3 Rotation
-    {
-        get
-        {
-            var newVal = trackerTransform.localRotation.eulerAngles - zeroRot;
-            var x = newVal.x;
-            var y = newVal.y;
-            var z = newVal.z;
-            if (x > 180) x = -(360 - x);
-            if (y > 180) y = -(360 - y);
-            if (z > 180) z = -(360 - z);
-            
-            if (x < -180) x = -(-360 - x);
-            if (y < -180) y = -(-360 - y);
-            if (z < -180) z = -(-360 - z);
-            return new Vector3(x,y,z);
-        }
-    }
-
-    public Vector3  Position => trackerTransform.localPosition - zeroPos;
-    public Vector3 ZeroRot => zeroRot;
-
-    public Vector3 ZeroPos => zeroPos;
-
-    // Start is called before the first frame update
-    void Start()
-    {
-        trackerTransform = transform;
-        if (PlayerPrefs.HasKey(KEY_POS_X) && PlayerPrefs.HasKey(KEY_POS_Y) && PlayerPrefs.HasKey(KEY_POS_Z))
-        {
-            var x = PlayerPrefs.GetFloat(KEY_POS_X);
-            var y = PlayerPrefs.GetFloat(KEY_POS_Y);
-            var z = PlayerPrefs.GetFloat(KEY_POS_Z);
-
-            zeroPos = new Vector3(x, y, z);
-        }
-
-        if (PlayerPrefs.HasKey(KEY_ROT_X) && PlayerPrefs.HasKey(KEY_ROT_Y) && PlayerPrefs.HasKey(KEY_ROT_Z))
-        {
-            var x = PlayerPrefs.GetFloat(KEY_ROT_X);
-            var y = PlayerPrefs.GetFloat(KEY_ROT_Y);
-            var z = PlayerPrefs.GetFloat(KEY_ROT_Z);
-
-            zeroRot = new Vector3(x, y, z);
-        }
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-    }
-
-    //sets current position as zero -> straighten handlebar and call this function
-    public void Calibrate()
-    {
-        zeroRot = trackerTransform.localRotation.eulerAngles;
-        zeroPos = trackerTransform.localPosition;
-        PlayerPrefs.SetFloat(KEY_ROT_X, zeroRot.x);
-        PlayerPrefs.SetFloat(KEY_ROT_Y, zeroRot.y);
-        PlayerPrefs.SetFloat(KEY_ROT_Z, zeroRot.z);
-        PlayerPrefs.SetFloat(KEY_POS_X, zeroPos.x);
-        PlayerPrefs.SetFloat(KEY_POS_Y, zeroPos.y);
-        PlayerPrefs.SetFloat(KEY_POS_Z, zeroPos.z);
-        PlayerPrefs.Save();
-    }
-}

Assets/OverrideLeaningController.cs

@@ -1,30 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class OverrideLeaningController : MonoBehaviour
-{
-    private BicycleController bicycleController;
-    private Rigidbody rigidbody;
-
-    // Start is called before the first frame update
-    void Start()
-    {
-        bicycleController = GetComponent<BicycleController>();
-        rigidbody = GetComponentInChildren<Rigidbody>();
-
-        bicycleController.offsetCollidersFromWheel = 2f;
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-        //rigidbody.rotation = Quaternion.AngleAxis(bicycleController.CurrentLeaningAngle, rigidbody.transform.forward);
-    }
-
-    private void FixedUpdate()
-    {
-        //rigidbody.MoveRotation(Quaternion.AngleAxis(bicycleController.CurrentLeaningAngle, rigidbody.transform.forward));
-    }
-}

Assets/OverrideLeaningController.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: f859d490f3e63ce44a8ce1f2ce7a885b
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/RbMovement.cs

@@ -1,87 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class RbMovement : MonoBehaviour
-{
-    private Transform t;
-    public Transform bottom;
-
-    private Rigidbody rb;
-    // Start is called before the first frame update
-
-    private float speedIncreasePerSecond = 2f;
-    private float leanIncreasePerSecond = 10f;
-    private float steerIncreasePerSecond = 15f;
-
-    private float speed;
-    private float lean;
-    private float steer;
-
-    void Start()
-    {
-        rb = GetComponent<Rigidbody>();
-        t = transform;
-    }
-
-    private void Update()
-    {
-        if (Input.GetKey(KeyCode.W))
-        {
-            speed += speedIncreasePerSecond * Time.deltaTime;
-        }
-        else if (Input.GetKeyUp(KeyCode.W))
-        {
-            speed = 0;
-        }
-
-        if (Input.GetKey(KeyCode.S))
-        {
-            speed -= speedIncreasePerSecond * Time.deltaTime;
-        }
-        else if (Input.GetKeyUp(KeyCode.S))
-        {
-            speed = 0;
-        }
-
-
-        if (Input.GetKey(KeyCode.A))
-        {
-            steer += steerIncreasePerSecond * Time.deltaTime;
-        }
-
-        if (Input.GetKey(KeyCode.D))
-        {
-            steer -= steerIncreasePerSecond * Time.deltaTime;
-        }
-
-        if (Input.GetKeyUp(KeyCode.A) || Input.GetKeyUp(KeyCode.D))
-        {
-            steer = 0;
-        }
-
-        if (Input.GetKey(KeyCode.Q))
-        {
-            lean -= leanIncreasePerSecond * Time.deltaTime;
-        }
-
-        if (Input.GetKey(KeyCode.E))
-        {
-            lean += leanIncreasePerSecond * Time.deltaTime;
-        }
-
-        if (Input.GetKeyUp(KeyCode.Q) || Input.GetKeyUp(KeyCode.E))
-        {
-            lean = 0f;
-        }
-    }
-
-    // Update is called once per frame
-    void FixedUpdate()
-    {
-        t.RotateAround(t.position, t.up, steer);
-        t.RotateAround(bottom.position, t.forward, lean);
-        rb.MovePosition(rb.position + t.forward * (Time.deltaTime * speed));
-    }
-}

Assets/RbMovement.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 44afa483c1b39384ba8eb17306e6f872
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/RollingSphere.cs

@@ -1,20 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class RollingSphere : MonoBehaviour
-{
-    private Rigidbody sphere;
-    // Start is called before the first frame update
-    void Start()
-    {
-        sphere = GetComponent<Rigidbody>();
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-        sphere.AddTorque(0,0,1);
-        
-    }
-}

Assets/RollingSphere.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: cc00e1f5b2b73a64ab23f0794cfef5d6
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/Scripts/Animation/BikeAnimation.cs

@@ -1,91 +1,93 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
+using System.Collections.Generic;
+using Controller;
+using Sensors;
 using UnityEngine;
-using UnityEngine.Serialization;
 
-public class BikeAnimation : MonoBehaviour
+namespace Animation
 {
-    #region Variables
+    public class BikeAnimation : MonoBehaviour
+    {
+        #region Variables
 
-    [Header("Wheels - rotating around center")]
-    public GameObject rearWheel;
+        [Header("Wheels - rotating around center")]
+        public GameObject rearWheel;
 
-    public GameObject frontWheel;
+        public GameObject frontWheel;
 
-   [Header("Other with defined rotation axis")]
-    public Rotatable crankSet;
+        [Header("Other with defined rotation axis")]
+        public Rotatable crankSet;
 
-    public Rotatable fork;
+        public Rotatable fork;
 
-    [Header("Parameters")] public float wheelCircumference = 2.096f;
-    public float defaultCadence = 80;
+        [Header("Parameters")] public float wheelCircumference = 2.096f;
+        public float defaultCadence = 80;
 
-    private BicycleController bicycleController;
+        private BicycleController bicycleController;
 
-    private readonly Dictionary<Rotatable, Vector3> initialPositions = new Dictionary<Rotatable, Vector3>();
-    private readonly Dictionary<Rotatable, Quaternion> initialRotations = new Dictionary<Rotatable, Quaternion>();
+        private readonly Dictionary<Rotatable, Vector3> initialPositions = new Dictionary<Rotatable, Vector3>();
+        private readonly Dictionary<Rotatable, Quaternion> initialRotations = new Dictionary<Rotatable, Quaternion>();
 
-    #endregion
+        #endregion
 
 
-    // Start is called before the first frame update
-    void Start()
-    {
-        bicycleController = GetComponentInParent<BicycleController>();
-        initialPositions[crankSet] = crankSet.gameObject.transform.localPosition;
-        initialPositions[fork] = fork.gameObject.transform.localPosition;
-        initialRotations[crankSet] = crankSet.gameObject.transform.localRotation;
-        initialRotations[fork] = fork.gameObject.transform.localRotation;
-    }
+        // Start is called before the first frame update
+        void Start()
+        {
+            bicycleController = GetComponentInParent<BicycleController>();
+            initialPositions[crankSet] = crankSet.gameObject.transform.localPosition;
+            initialPositions[fork] = fork.gameObject.transform.localPosition;
+            initialRotations[crankSet] = crankSet.gameObject.transform.localRotation;
+            initialRotations[fork] = fork.gameObject.transform.localRotation;
+        }
 
-    void Update()
-    {
-        var cadence = BikeSensorData.Instance.PowermeterData?.InstantaneousCadence ?? defaultCadence; //rpm
-        var cadenceAngle = cadence / 60 * 360 * Time.deltaTime; //rps * 360 deg for one round
+        void Update()
+        {
+            var cadence = BikeSensorData.Instance.PowermeterData?.InstantaneousCadence ?? defaultCadence; //rpm
+            var cadenceAngle = cadence / 60 * 360 * Time.deltaTime; //rps * 360 deg for one round
 
-        RotateWheels();
-        RotateAroundDefinedAxis(fork, bicycleController.CurrentSteerAngle);
-        RotateAroundDefinedAxis(crankSet, cadenceAngle, false);
-    }
+            RotateWheels();
+            RotateAroundDefinedAxis(fork, bicycleController.CurrentSteerAngle);
+            RotateAroundDefinedAxis(crankSet, cadenceAngle, false);
+        }
 
-    private void RotateWheels()
-    {
-        var speed = bicycleController.rigidBody.velocity.magnitude;
-        var rps = speed / wheelCircumference;
-        var angle = rps * Time.deltaTime;
+        private void RotateWheels()
+        {
+            var speed = bicycleController.rigidBody.velocity.magnitude;
+            var rps = speed / wheelCircumference;
+            var angle = rps * Time.deltaTime;
         
-        //TODO: only works for this specific model
-        rearWheel.transform.RotateAround(rearWheel.transform.position, -rearWheel.transform.right, angle);
-        frontWheel.transform.RotateAround(frontWheel.transform.position, -frontWheel.transform.right, angle);
-    }
+            //TODO: only works for this specific model
+            rearWheel.transform.RotateAround(rearWheel.transform.position, -rearWheel.transform.right, angle);
+            frontWheel.transform.RotateAround(frontWheel.transform.position, -frontWheel.transform.right, angle);
+        }
 
-    private void RotateAroundDefinedAxis(Rotatable rotatable, float angle, bool resetBeforeRotate = true)
-    {
-        if (resetBeforeRotate)
+        private void RotateAroundDefinedAxis(Rotatable rotatable, float angle, bool resetBeforeRotate = true)
         {
-            rotatable.gameObject.transform.localPosition = initialPositions[rotatable];
-            rotatable.gameObject.transform.localRotation = initialRotations[rotatable];
+            if (resetBeforeRotate)
+            {
+                rotatable.gameObject.transform.localPosition = initialPositions[rotatable];
+                rotatable.gameObject.transform.localRotation = initialRotations[rotatable];
+            }
+
+            Vector3 axis;
+            if (rotatable.rotateAxis == RotateAxis.Up)
+                axis = rotatable.rotateAround.up;
+            else if (rotatable.rotateAxis == RotateAxis.Forward)
+                axis = rotatable.rotateAround.forward;
+            else
+                axis = rotatable.rotateAround.right;
+
+            fork.gameObject.transform.RotateAround(rotatable.rotateAround.position, axis, angle);
         }
 
-        Vector3 axis;
-        if (rotatable.rotateAxis == RotateAxis.Up)
-            axis = rotatable.rotateAround.up;
-        else if (rotatable.rotateAxis == RotateAxis.Forward)
-            axis = rotatable.rotateAround.forward;
-        else
-            axis = rotatable.rotateAround.right;
-
-        fork.gameObject.transform.RotateAround(rotatable.rotateAround.position, axis, angle);
-    }
-
 
-    //rotates the meshes
-    void RotateObject(GameObject obj, float multiplier)
-    {
-        obj.transform.Rotate(
-            Time.deltaTime * bicycleController.rigidBody.velocity.magnitude * (360f / 12f) * multiplier, 0,
-            0);
-        //obj.transform.Rotate(Time.deltaTime * rotSpeed * (360f / oneRotationSpeed) * multiplier, 0, 0);
+        //rotates the meshes
+        void RotateObject(GameObject obj, float multiplier)
+        {
+            obj.transform.Rotate(
+                Time.deltaTime * bicycleController.rigidBody.velocity.magnitude * (360f / 12f) * multiplier, 0,
+                0);
+            //obj.transform.Rotate(Time.deltaTime * rotSpeed * (360f / oneRotationSpeed) * multiplier, 0, 0);
+        }
     }
 }

Assets/Scripts/Animation/Rotatable.cs

@@ -1,15 +1,18 @@
 using System;
 using UnityEngine;
 
-public enum RotateAxis
+namespace Animation
 {
-    Up, Right, Forward
-}
+    public enum RotateAxis
+    {
+        Up, Right, Forward
+    }
 
-[Serializable]
-public struct Rotatable
-{
-    public GameObject gameObject;
-    public Transform rotateAround;
-    public RotateAxis rotateAxis;
+    [Serializable]
+    public struct Rotatable
+    {
+        public GameObject gameObject;
+        public Transform rotateAround;
+        public RotateAxis rotateAxis;
+    }
 }

Assets/Scripts/BicyleController/BicycleController - Copy.cs

@@ -1,198 +0,0 @@
-/*using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using UnityEngine;
-using Valve.VR.InteractionSystem;
-
-public enum Controller
-{
-    Sensors,
-    SpeedSensorOnly,
-    Keyboard,
-    KeyboardSpeedPolarSteer
-}
-
-public class BicycleController : MonoBehaviour
-{
-    [Header("GameObjects")] public GameObject rearWheel;
-    public GameObject frontWheel;
-    public GameObject crank;
-
-    public GameObject bike;
-
-    //public GameObject pedalL;
-    //public GameObject pedalR;
-    public GameObject fork;
-    public Transform centerOfMass;
-
-    [Header("Configuration")] public Controller controller = Controller.Sensors;
-
-    [Header("Values")] public float oneRotationSpeed = 2.7f;
-    public float crankMultiplier = 2f;
-    public List<AxleInfo> axleInfos;
-    public float maxMotorTorque = 1000;
-    public float maxSteeringAngle = 5f;
-    [Range(0, 1)] public float relativeLeanAmount = 0.01f;
-    public Transform leftWheels;
-    public Transform rightWheels;
-
-    private float currentSteerAngle = 0f;
-    private float desiredSpeed = 0f;
-    private float currentLeaningAngle = 0f;
-    public float rotSpeed = 10;
-
-    private Vector3[] wheelPositions;
-    public Rigidbody rb;
-    private Quaternion startForkRot;
-    private Vector3 upDirection = Vector3.up;
-
-    private float calculatedWheelSpeed;
-
-    private float currentMotorTorque;
-
-    private readonly float maxSpeed = 11.111f;
-
-
-    // Start is called before the first frame update
-    void Start()
-    {
-        //rb = GetComponent<Rigidbody>();
-        rb.centerOfMass = centerOfMass.localPosition;
-        //startForkRot = fork.transform.localRotation;
-        wheelPositions = new Vector3[axleInfos.Count];
-        for (int i = 0; i < axleInfos.Count; i++)
-        {
-            wheelPositions[i] = axleInfos[i].wheel.center;
-        }
-    }
-
-    private void OnGUI()
-    {
-        GUI.TextField(new Rect(114, 10, 280, 20),
-            $"Wanted speed {(desiredSpeed * 3.6):n2} km/h; Current Speed {(rb.velocity.magnitude * 3.6):n2}");
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-        if (controller == Controller.Keyboard || controller == Controller.KeyboardSpeedPolarSteer)
-        {
-            desiredSpeed = Input.GetAxis("Vertical") * 4.3333f;
-        }
-
-        if (controller == Controller.Keyboard)
-        {
-            currentSteerAngle = Input.GetAxis("Horizontal") * maxSteeringAngle;
-        }
-
-        RotateMeshes();
-        //RotateFork();
-        Debug.Log("rotation: " + currentSteerAngle);
-    }
-
-
-    public void FixedUpdate()
-    {
-        ApplyWheelForce();
-        Lean();
-        //RotateStraight();
-    }
-
-    void RotateMeshes()
-    {
-        //RotateObject(crank, 1);
-        //RotateObject(pedalL, -1);
-        //RotateObject(pedalR, -1);
-        RotateObject(rearWheel, crankMultiplier);
-        RotateObject(frontWheel, crankMultiplier);
-    }
-
-    void RotateFork()
-    {
-        fork.transform.localRotation = startForkRot;
-        fork.transform.RotateAround(fork.transform.position, fork.transform.up, maxSteeringAngle * currentSteerAngle);
-    }
-
-    void Lean()
-    {
-        upDirection = Vector3.Normalize(Vector3.up + transform.right *
-            (maxSteeringAngle * relativeLeanAmount * currentSteerAngle * rb.velocity.magnitude) / 100);
-    }
-
-
-    void ApplyWheelForce()
-    {
-        ControlSteer(axleInfos.Where(a => a.steering).Select(a => a.wheel));
-        ControlTorque(axleInfos.Where(a => a.motor).Select(a => a.wheel));
-    }
-
-    private void ControlSteer(IEnumerable<WheelCollider> colliders)
-    {
-        float steering = maxSteeringAngle * currentSteerAngle * 0.2f;
-        leftWheels.localPosition = -Vector3.up * (relativeLeanAmount * currentSteerAngle * rb.velocity.magnitude * 0.2f);
-        rightWheels.localPosition = Vector3.up * (relativeLeanAmount * currentSteerAngle * rb.velocity.magnitude * 0.2f);
-        colliders.ForEach(c => c.steerAngle = steering);
-    }
-
-    private void ControlTorque(IEnumerable<WheelCollider> colliders)
-    {
-        var currentSpeed = rb.velocity.magnitude;
-        var speedDif = desiredSpeed - currentSpeed;
-        var ratio = speedDif / maxSpeed;
-        var torque = maxMotorTorque * ratio;
-        if (speedDif >= .1f) // 0.36 km/h
-        {
-            Debug.Log($"SpeedDif = {speedDif} -> applying Torque {torque} (Ratio: {ratio})");
-            colliders.ForEach(c =>
-            {
-                c.brakeTorque = 0;
-                c.motorTorque = torque;
-            });
-        }
-        else if (speedDif <= -.1f)
-        {
-            Debug.Log($"SpeedDif = {speedDif} -> applying brake Torque {torque} (Ratio: {ratio})");
-            colliders.ForEach(c =>
-            {
-                c.motorTorque = 0;
-                c.brakeTorque = -torque;
-            });
-        }
-    }
-
-
-    public void SetSpeed(float speed)
-    {
-        if (controller == Controller.Keyboard || controller == Controller.KeyboardSpeedPolarSteer) return;
-        desiredSpeed = speed;
-    }
-
-    public void SetLeaningAngle(float angle)
-    {
-        if (controller == Controller.Keyboard) return;t
-        currentLeaningAngle = angle;
-    }
-
-    public void SetSteeringAngle(float angle)
-    {
-        if (controller == Controller.Keyboard || controller == Controller.SpeedSensorOnly) return;
-        currentSteerAngle = angle;
-    }
-
-    //rotates the meshes
-    void RotateObject(GameObject obj, float multiplier)
-    {
-        obj.transform.Rotate(Time.deltaTime * rb.velocity.magnitude * (360f / oneRotationSpeed) * multiplier, 0, 0);
-        //obj.transform.Rotate(Time.deltaTime * rotSpeed * (360f / oneRotationSpeed) * multiplier, 0, 0);
-    }
-
-
-    [System.Serializable]
-    public class AxleInfo
-    {
-        public WheelCollider wheel;
-        public bool motor; // is this wheel attached to motor?
-        public bool steering; // does this wheel apply steer angle?
-    }
-}*/

Assets/Scripts/BicyleController/BicycleController - Copy.cs.meta

@@ -1,3 +0,0 @@
-fileFormatVersion: 2
-guid: 9075f70ff85744088a8b23a9ff0c0312
-timeCreated: 1606311992

Assets/Scripts/BicyleController/BicycleController.cs

@@ -1,147 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using UnityEngine;
-using UnityEngine.EventSystems;
-using UnityEngine.Serialization;
-using Valve.VR.InteractionSystem;
-
-public class BicycleController : MonoBehaviour
-{
-    #region Variables
-
-    [Header("Visible Game Objects")] public GameObject rearWheel;
-    public GameObject frontWheel;
-
-    [Header("Game Objects for Physics")] public Transform centerOfMass;
-    [FormerlySerializedAs("rb")] public Rigidbody rigidBody;
-    public WheelConfig wheelConfig;
-
-    [Header("Values")] public float offsetCollidersFromWheel = 0.25f;
-    public float maxLeaningAngle = 35f;
-    public float maxSteeringAngle = 80f;
-    public float maxMotorTorque = 2000f;
-    public float maxBreakTorque = 2000f;
-
-    public float CurrentSteerAngle
-    {
-        get => currentSteerAngle;
-        set => currentSteerAngle = Mathf.Clamp(value, -maxSteeringAngle, maxSteeringAngle);
-    }
-
-    public float CurrentMotorTorque
-    {
-        get => currentMotorTorque;
-        set => currentMotorTorque = Mathf.Clamp(value, -maxMotorTorque, maxMotorTorque);
-    }
-
-    public float CurrentBrakeTorque
-    {
-        get => currentBrakeTorque;
-        set => currentBrakeTorque = Mathf.Clamp(value, -maxBreakTorque, maxBreakTorque);
-    }
-
-    public float CurrentLeaningAngle
-    {
-        get => currentLeaningAngle;
-        set => currentLeaningAngle = Mathf.Clamp(value, -maxLeaningAngle, maxLeaningAngle);
-    }
-
-    private WheelCollider[] allWheelColliders;
-    private float initialWheelColliderY;
-    private float currentSteerAngle = 0f;
-    private float currentMotorTorque = 0f;
-    private float currentBrakeTorque = 0f;
-    private float currentLeaningAngle = 0f;
-
-    #endregion
-
-    // Start is called before the first frame update
-    void Start()
-    {
-        rigidBody.centerOfMass = centerOfMass.localPosition;
-        allWheelColliders = wheelConfig.AllWheels;
-        wheelConfig.AdjustToGameObjects(frontWheel.transform, rearWheel.transform, offsetCollidersFromWheel);
-        initialWheelColliderY = allWheelColliders[0].transform.localPosition.y;
-    }
-
-
-    void FixedUpdate()
-    {
-        ApplyColliderForces();
-        Lean();
-        //RotateStraight();
-    }
-
-    private void ApplyColliderForces()
-    {
-        //offsetCollidersFromWheel = Mathf.Max(0.05f, 0.45f - rigidBody.velocity.magnitude * 0.07f);
-        //wheelConfig.AdjustToGameObjects(frontWheel.transform, rearWheel.transform, offsetCollidersFromWheel);
-        ControlSteer(new[] {wheelConfig.frontLeft, wheelConfig.frontRight});
-        ControlTorque(new[] {wheelConfig.rearLeft, wheelConfig.rearRight});
-    }
-
-    private void ControlSteer(IEnumerable<WheelCollider> colliders)
-    {
-        //float steering = maxSteeringAngle * CurrentSteerAngle * 0.2f;
-        //leftWheels.localPosition = -Vector3.up * (relativeLeanAmount * CurrentSteerAngle * rigidBody.velocity.magnitude * 0.2f);
-        //rightWheels.localPosition = Vector3.up * (relativeLeanAmount * CurrentSteerAngle * rigidBody.velocity.magnitude * 0.2f);
-        colliders.ForEach(c => c.steerAngle = CurrentSteerAngle);
-    }
-
-    private void ControlTorque(IEnumerable<WheelCollider> colliders)
-    {
-        foreach (var c in colliders)
-        {
-            c.motorTorque = CurrentMotorTorque;
-            c.brakeTorque = CurrentBrakeTorque;
-        }
-    }
-
-    private void Lean()
-    {
-
-        //reset all wheels to being centered
-        if (CurrentLeaningAngle == 0) //TODO: maybe add a threshold for leaning, e.g. < -0.05 and > 0.05 
-        {
-            //leaning left, left wheels up, right wheels down
-            ApplyOffsetToTransform(wheelConfig.frontLeft.transform, initialWheelColliderY);
-            ApplyOffsetToTransform(wheelConfig.rearLeft.transform, initialWheelColliderY);
-            ApplyOffsetToTransform(wheelConfig.frontRight.transform, initialWheelColliderY);
-            ApplyOffsetToTransform(wheelConfig.rearRight.transform, initialWheelColliderY);
-        }
-
-        //CurrentLeaningAngle < 0 -> leaning left, > 0 -> right
-        var leaningAbs = Mathf.Abs(CurrentLeaningAngle * Mathf.Deg2Rad);
-
-        //calculate offset for wheels; description Docu folder
-        //1.57079633 rad = 90 deg
-        var verticalOffset = offsetCollidersFromWheel * Mathf.Sin(leaningAbs) / Mathf.Sin(1.57079633f - leaningAbs);
-        var yPlusOffset = initialWheelColliderY + verticalOffset;
-        var yMinusOffset = initialWheelColliderY - verticalOffset;
-
-        if (CurrentLeaningAngle < 0) //TODO: maybe add a threshold for leaning, e.g. < -0.05 and > 0.05 
-        {
-            //leaning left, left wheels up, right wheels down
-            ApplyOffsetToTransform(wheelConfig.frontLeft.transform, yPlusOffset);
-            ApplyOffsetToTransform(wheelConfig.rearLeft.transform, yPlusOffset);
-            ApplyOffsetToTransform(wheelConfig.frontRight.transform, yMinusOffset);
-            ApplyOffsetToTransform(wheelConfig.rearRight.transform, yMinusOffset);
-        }
-        else if (CurrentLeaningAngle > 0)
-        {
-            //leaning right, right wheels up, left wheels down
-            ApplyOffsetToTransform(wheelConfig.frontLeft.transform, yMinusOffset);
-            ApplyOffsetToTransform(wheelConfig.rearLeft.transform, yMinusOffset);
-            ApplyOffsetToTransform(wheelConfig.frontRight.transform, yPlusOffset);
-            ApplyOffsetToTransform(wheelConfig.rearRight.transform, yPlusOffset);
-        }
-    }
-
-    private void ApplyOffsetToTransform(Transform t, float newY)
-    {
-        var oldPos = t.localPosition;
-        t.localPosition = new Vector3(oldPos.x, newY, oldPos.z);
-    }
-}

Assets/Scripts/BicyleController/GamepadBikeController.cs

@@ -1,68 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using JetBrains.Annotations;
-using UnityEngine;
-using UnityEngine.InputSystem;
-
-[RequireComponent(typeof(PlayerInput))]
-[RequireComponent(typeof(BicycleController))]
-public class GamepadBikeController : MonoBehaviour
-{
-    public bool useSpeed;
-    public bool useSteer;
-    public bool useLean;
-
-    public float speedMultiplier = 200f;
-    public float leanMultiplier = 20f;
-    public float steerMultiplier = 15f;
-
-    private float speed;
-    private float lean;
-    private float steer;
-    private BicycleController bicycleController;
-        
-    private void Start()
-    {
-        bicycleController = GetComponent<BicycleController>();
-    }
-    
-    private void Update()
-    {
-        if(useSteer) bicycleController.CurrentSteerAngle = steer;
-        if(useLean) bicycleController.CurrentLeaningAngle = lean;
-        if (useSpeed)
-        {
-            if (speed < 0)
-            {
-                bicycleController.CurrentMotorTorque = 0;
-                bicycleController.CurrentBrakeTorque = -speed;
-            }
-            else
-            {
-                bicycleController.CurrentBrakeTorque = 0;
-                bicycleController.CurrentMotorTorque = speed;
-            }
-        }
-    }
-    
-    [UsedImplicitly]
-    public void OnSpeed(InputValue value)
-    {
-        speed = value.Get<float>() * speedMultiplier;
-    }
-    
-    [UsedImplicitly]
-    public void OnLean(InputValue value)
-    {
-        lean = value.Get<float>() * leanMultiplier;
-    }
-    
-    [UsedImplicitly]
-    public void OnSteer(InputValue value)
-    {
-        steer = value.Get<float>() * steerMultiplier;
-    }
-
-
-}

Assets/Scripts/BicyleController/KeyboardBikeController.cs

@@ -1,89 +0,0 @@
-using System;
-using UnityEngine;
-
-
-public class KeyboardBikeController : MonoBehaviour
-{
-    private BicycleController bicycleController;
-
-    public bool steer = true;
-    public bool lean = true;
-    public bool accelerate = true;
-
-    public float torqueIncreasePerSecond = 10f;
-    public float brakeTorqueIncreasePerSecond = 20f;
-    public float leaningAngleIncreasePerSecond = 2f;
-    public float steeringAngleIncreasePerSecond = 2.5f;
-
-    public float maxMotorTorque = 400f;
-    public float maxBrakeTorque = 600f;
-    public float maxLeaningAngle = 35f;
-    public float maxSteeringAngle = 70f;
-
-    private void Start()
-    {
-        bicycleController = GetComponent<BicycleController>();
-    }
-
-    private void Update()
-    {
-        if (accelerate)
-        {
-            if (Input.GetKey(KeyCode.T))
-            {
-                bicycleController.CurrentBrakeTorque = 0f;
-                bicycleController.CurrentMotorTorque += torqueIncreasePerSecond * Time.deltaTime;
-            }
-            else if (Input.GetKeyUp(KeyCode.T))
-            {
-                bicycleController.CurrentMotorTorque = 0f;
-            }
-
-            if (Input.GetKey(KeyCode.G))
-            {
-                bicycleController.CurrentMotorTorque = 0f;
-                bicycleController.CurrentBrakeTorque += brakeTorqueIncreasePerSecond * Time.deltaTime;
-            }
-            else if (Input.GetKeyUp(KeyCode.G))
-            {
-                bicycleController.CurrentBrakeTorque = 0f;
-            }
-        }
-
-        if (steer)
-        {
-            if (Input.GetKey(KeyCode.F))
-            {
-                bicycleController.CurrentSteerAngle -= steeringAngleIncreasePerSecond * Time.deltaTime;
-            }
-
-            if (Input.GetKey(KeyCode.H))
-            {
-                bicycleController.CurrentSteerAngle += steeringAngleIncreasePerSecond * Time.deltaTime;
-            }
-
-            if (Input.GetKeyUp(KeyCode.F) || Input.GetKeyUp(KeyCode.H))
-            {
-                bicycleController.CurrentSteerAngle = 0f;
-            }
-        }
-
-        if (lean)
-        {
-            if (Input.GetKey(KeyCode.R))
-            {
-                bicycleController.CurrentLeaningAngle -= leaningAngleIncreasePerSecond * Time.deltaTime;
-            }
-
-            if (Input.GetKey(KeyCode.Z))
-            {
-                bicycleController.CurrentLeaningAngle += leaningAngleIncreasePerSecond * Time.deltaTime;
-            }
-
-            if (Input.GetKeyUp(KeyCode.R) || Input.GetKeyUp(KeyCode.Z))
-            {
-                bicycleController.CurrentLeaningAngle = 0f;
-            }
-        }
-    }
-}

Assets/Scripts/BicyleController/SensorBikeController.cs

@@ -1,114 +0,0 @@
-using System;
-using UnityEngine;
-using UnityEngine.Serialization;
-
-[Serializable]
-public struct PolarRotationMapping
-{
-    public float maxRight;
-    public float center;
-}
-
-[Serializable]
-public struct FrontWheelTrackerConfig
-{
-    public FrontWheelTracker frontWheelTracker;
-    public float multiplicator;
-
-    public Vector3 AdjustedRotation => frontWheelTracker.Rotation * multiplicator;
-}
-
-public class SensorBikeController : MonoBehaviour
-{
-    public float maxSpeed = 40f;
-    public float maxMotorTorque = 1000;
-    public PolarRotationMapping polarRotationMapping;
-
-    public SpeedSensorConfig speedSensorConfig;
-    public PolarSensorConfig polarSensorConfig;
-    public FrontWheelTrackerConfig frontWheelTrackerConfig;
-
-    public bool steer = true;
-    public bool accelerate = true;
-    public bool lean = true;
-
-    private BicycleController bicycleController;
-    private BikeSensorData sensorData;
-    private float leanFactor;
-    private bool isFrontWheelTrackerNotNull;
-
-    private async void Start()
-    {
-        isFrontWheelTrackerNotNull = frontWheelTrackerConfig.frontWheelTracker != null;
-        bicycleController = GetComponent<BicycleController>();
-        sensorData = BikeSensorData.Instance;
-        await sensorData.StartListening(polarSensorConfig: polarSensorConfig, speedSensorConfig: speedSensorConfig);
-        leanFactor = 90f / (polarRotationMapping.maxRight - polarRotationMapping.center);
-    }
-
-    private void Update()
-    {
-        var speedData = sensorData.SpeedData;
-        var polarData = sensorData.PolarData;
-
-        if (speedData != null && accelerate)
-        {
-            SetSpeed(speedData.Value);
-        }
-
-        if (isFrontWheelTrackerNotNull && steer)
-        {
-            SetSteer();
-        }
-
-        if (polarData != null && lean)
-        {
-            SetLeaningAngle(polarData.Value);
-        }
-    }
-
-    private void SetSteer()
-    {
-        bicycleController.CurrentSteerAngle = frontWheelTrackerConfig.AdjustedRotation.y; //TODO: something a bit smarter
-    }
-
-    private void OnDestroy()
-    {
-        sensorData.Dispose();
-    }
-
-    private void SetLeaningAngle(PolarSensorData polarData)
-    {
-        //don't lean while standing / walking to bike
-        if (bicycleController.rigidBody.velocity.magnitude > .5f)
-        {
-            bicycleController.CurrentLeaningAngle = (polarData.Acc.y - polarRotationMapping.center) * leanFactor;
-        }
-    }
-
-    private void SetSpeed(SpeedSensorData speedData)
-    {
-        var currentSpeed = bicycleController.rigidBody.velocity.magnitude;
-        var speedDif = speedData.Speed - currentSpeed;
-        var ratio = speedDif / maxSpeed;
-        var torque = maxMotorTorque * ratio;
-        if (speedDif >= .1f) // 0.36 km/h
-        {
-            Debug.Log($"SpeedDif = {speedDif} -> applying Torque {torque} (Ratio: {ratio})");
-            bicycleController.CurrentBrakeTorque = 0;
-            bicycleController.CurrentMotorTorque = torque;
-        }
-        else if (speedDif <= -.1f)
-        {
-            Debug.Log($"SpeedDif = {speedDif} -> applying brake Torque {torque} (Ratio: {ratio})");
-            bicycleController.CurrentMotorTorque = 0;
-            bicycleController.CurrentBrakeTorque = -torque;
-        }
-        // without else the speed overshoots a bit, but is way closer to real speed
-        /*else
-        {
-            bicycleController.CurrentMotorTorque = 0;
-            bicycleController.CurrentBrakeTorque = 0;
-        }*/
-    }
-}

Assets/Scripts/BicyleController/ViveBikeController.cs

@@ -1,25 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-using Valve.VR;
-
-public class ViveBikeController : MonoBehaviour
-{
-    public SteamVR_Action_Pose steerPose;
-    public float multiplier = 40f;
-
-    private BicycleController bicycleController;
-    
-    // Start is called before the first frame update
-    void Start()
-    {
-        bicycleController = GetComponent<BicycleController>();
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-        var rot = steerPose.localRotation.y;
-        bicycleController.CurrentSteerAngle = rot * multiplier;
-    }
-}

Assets/Scripts/BicyleController/WheelConfig.cs

@@ -1,41 +0,0 @@
-using UnityEngine;
-
-[System.Serializable]
-public class WheelConfig
-{
-    public WheelCollider frontLeft;
-    public WheelCollider frontRight;
-    public WheelCollider rearLeft;
-    public WheelCollider rearRight;
-
-    public WheelCollider[] AllWheels => new[] {frontLeft, frontRight, rearLeft, rearLeft};
-
-    public void AdjustToGameObjects(Transform frontWheel, Transform rearWheel, float offset)
-    {
-        var x0 = Vector3.one - Vector3.right;
-
-        var posFront = frontWheel.localPosition;
-        var newXLeftFront = posFront.x - offset;
-        var newXRightFront = posFront.x + offset;
-        
-        var posRear = rearWheel.localPosition;
-        var newXLeftRear = posRear.x - offset;
-        var newXRightRear = posRear.x + offset;
-
-        var transform = frontLeft.transform;
-        var localPosition = transform.localPosition;
-        var newY = localPosition.y;
-        var newZFront = localPosition.z;
-        var newZRear = rearLeft.transform.localPosition.z;
-        
-        SetNewCoords(transform, newXLeftFront, newY, newZFront);
-        SetNewCoords(frontRight.transform, newXRightFront, newY, newZFront);
-        SetNewCoords(rearLeft.transform, newXLeftRear, newY, newZRear);
-        SetNewCoords(rearRight.transform, newXRightRear, newY, newZRear);
-    }
-
-    private void SetNewCoords(Transform transform, float newX, float newY, float newZ)
-    {
-        transform.localPosition = new Vector3(newX, newY, newZ);
-    }
-}

Assets/Scripts/Calibration/BikeReset.cs

@@ -0,0 +1,28 @@
+using UnityEngine;
+using Valve.VR;
+
+namespace Calibration
+{
+    public class BikeReset : MonoBehaviour
+    {
+        public SteamVR_Action_Boolean resetPosition;
+
+        private Vector3 initialPosition;
+        private Quaternion initialRotation;
+        private Transform bikeTransform;
+        void Start()
+        {
+            bikeTransform = transform;
+            initialPosition = bikeTransform.localPosition;
+            initialRotation = bikeTransform.localRotation;
+            resetPosition.AddOnStateUpListener(OnResetPosition, SteamVR_Input_Sources.Any);
+        }
+
+        private void OnResetPosition(SteamVR_Action_Boolean fromaction, SteamVR_Input_Sources fromsource)
+        {
+            Debug.Log("Resetting Bike Position and Rotation");
+            bikeTransform.localPosition = initialPosition;
+            bikeTransform.localRotation = initialRotation;
+        }
+    }
+}

Assets/Scripts/Calibration/MovePlayerPosition.cs

@@ -0,0 +1,51 @@
+using UnityEngine;
+using Valve.VR;
+
+namespace Calibration
+{
+    public class MovePlayerPosition : MonoBehaviour
+    {
+        public SteamVR_Action_Boolean resetAction;
+        public SteamVR_Action_Boolean modeAction;
+
+        public SteamVR_Action_Boolean moveForwards;
+        public SteamVR_Action_Boolean moveBackwards;
+        public SteamVR_Action_Boolean moveRight;
+        public SteamVR_Action_Boolean moveLeft;
+
+        public float movementSpeed = 1f;
+
+        private Transform playerTransform;
+        private bool moveModeForwards = false;
+
+        private void Start()
+        {
+            playerTransform = GetComponent<Transform>();
+            resetAction.AddOnStateUpListener(OnResetActionUp, SteamVR_Input_Sources.Any);
+            modeAction.AddOnStateUpListener(OnModeSwitchUp, SteamVR_Input_Sources.Any);
+        }
+
+        private void Update()
+        {
+            var left = moveLeft.GetState(SteamVR_Input_Sources.Any) ? 1 : 0;
+            var right = moveRight.GetState(SteamVR_Input_Sources.Any) ? 1 : 0;
+            var forward = moveForwards.GetState(SteamVR_Input_Sources.Any) ? 1 : 0;
+            var backward = moveBackwards.GetState(SteamVR_Input_Sources.Any) ? 1 : 0;
+
+            var x = right - left;
+            var y = moveModeForwards ? 0f : forward - backward; var z = moveModeForwards ? forward - backward : 0f;
+
+            playerTransform.localPosition += new Vector3(x, y, z) * (Time.deltaTime * movementSpeed);
+        }
+
+        private void OnResetActionUp(SteamVR_Action_Boolean fomAction, SteamVR_Input_Sources fromSource)
+        {
+            OpenVR.Chaperone.ResetZeroPose(ETrackingUniverseOrigin.TrackingUniverseStanding);
+        }
+
+        private void OnModeSwitchUp(SteamVR_Action_Boolean fromAction, SteamVR_Input_Sources fromSource)
+        {
+            moveModeForwards = !moveModeForwards;
+        }
+    }
+}

Assets/Scripts/Calibration/PersistatePlayerPosition.cs

@@ -0,0 +1,48 @@
+using System;
+using UnityEngine;
+using Valve.VR;
+
+namespace Calibration
+{
+    public class PersistatePlayerPosition : MonoBehaviour
+    {
+        private const String KEY_PLAYER_POS_X = "player_pos_x";
+        private const String KEY_PLAYER_POS_Y = "player_pos_y";
+        private const String KEY_PLAYER_POS_Z = "player_pos_z";
+    
+        private Transform playerTransform;
+
+        public SteamVR_Action_Boolean savePos;
+    
+        // Start is called before the first frame update
+        void Start()
+        {
+            playerTransform = GetComponent<Transform>();
+            savePos.AddOnStateDownListener(OnSavePos, SteamVR_Input_Sources.Any);
+            Load();
+        }
+
+        private void OnSavePos(SteamVR_Action_Boolean fromaction, SteamVR_Input_Sources fromsource) => Save();
+
+        void Load()
+        {
+            if (PlayerPrefs.HasKey(KEY_PLAYER_POS_X) && PlayerPrefs.HasKey(KEY_PLAYER_POS_Y) && PlayerPrefs.HasKey(KEY_PLAYER_POS_Z))
+            {
+                var x = PlayerPrefs.GetFloat(KEY_PLAYER_POS_X);
+                var y = PlayerPrefs.GetFloat(KEY_PLAYER_POS_Y);
+                var z = PlayerPrefs.GetFloat(KEY_PLAYER_POS_Z);
+                playerTransform.position = new Vector3(x,y,z);
+            }
+        
+        }
+
+        public void Save()
+        {
+            var position = playerTransform.position;
+            PlayerPrefs.SetFloat(KEY_PLAYER_POS_X, position.x);
+            PlayerPrefs.SetFloat(KEY_PLAYER_POS_Y, position.y);
+            PlayerPrefs.SetFloat(KEY_PLAYER_POS_Z, position.z);
+            PlayerPrefs.Save();
+        }
+    }
+}

Assets/Scripts/Controller/BicycleController.cs

@@ -0,0 +1,149 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+using UnityEngine.EventSystems;
+using UnityEngine.Serialization;
+using Valve.VR.InteractionSystem;
+
+namespace Controller
+{
+    public class BicycleController : MonoBehaviour
+    {
+        #region Variables
+
+        [Header("Visible Game Objects")] public GameObject rearWheel;
+        public GameObject frontWheel;
+
+        [Header("Game Objects for Physics")] public Transform centerOfMass;
+        [FormerlySerializedAs("rb")] public Rigidbody rigidBody;
+        public WheelConfig wheelConfig;
+
+        [Header("Values")] public float offsetCollidersFromWheel = 0.25f;
+        public float maxLeaningAngle = 35f;
+        public float maxSteeringAngle = 80f;
+        public float maxMotorTorque = 2000f;
+        public float maxBreakTorque = 2000f;
+
+        public float CurrentSteerAngle
+        {
+            get => currentSteerAngle;
+            set => currentSteerAngle = Mathf.Clamp(value, -maxSteeringAngle, maxSteeringAngle);
+        }
+
+        public float CurrentMotorTorque
+        {
+            get => currentMotorTorque;
+            set => currentMotorTorque = Mathf.Clamp(value, -maxMotorTorque, maxMotorTorque);
+        }
+
+        public float CurrentBrakeTorque
+        {
+            get => currentBrakeTorque;
+            set => currentBrakeTorque = Mathf.Clamp(value, -maxBreakTorque, maxBreakTorque);
+        }
+
+        public float CurrentLeaningAngle
+        {
+            get => currentLeaningAngle;
+            set => currentLeaningAngle = Mathf.Clamp(value, -maxLeaningAngle, maxLeaningAngle);
+        }
+
+        private WheelCollider[] allWheelColliders;
+        private float initialWheelColliderY;
+        private float currentSteerAngle = 0f;
+        private float currentMotorTorque = 0f;
+        private float currentBrakeTorque = 0f;
+        private float currentLeaningAngle = 0f;
+
+        #endregion
+
+        // Start is called before the first frame update
+        void Start()
+        {
+            rigidBody.centerOfMass = centerOfMass.localPosition;
+            allWheelColliders = wheelConfig.AllWheels;
+            wheelConfig.AdjustToGameObjects(frontWheel.transform, rearWheel.transform, offsetCollidersFromWheel);
+            initialWheelColliderY = allWheelColliders[0].transform.localPosition.y;
+        }
+
+
+        void FixedUpdate()
+        {
+            ApplyColliderForces();
+            Lean();
+            //RotateStraight();
+        }
+
+        private void ApplyColliderForces()
+        {
+            //offsetCollidersFromWheel = Mathf.Max(0.05f, 0.45f - rigidBody.velocity.magnitude * 0.07f);
+            //wheelConfig.AdjustToGameObjects(frontWheel.transform, rearWheel.transform, offsetCollidersFromWheel);
+            ControlSteer(new[] {wheelConfig.frontLeft, wheelConfig.frontRight});
+            ControlTorque(new[] {wheelConfig.rearLeft, wheelConfig.rearRight});
+        }
+
+        private void ControlSteer(IEnumerable<WheelCollider> colliders)
+        {
+            //float steering = maxSteeringAngle * CurrentSteerAngle * 0.2f;
+            //leftWheels.localPosition = -Vector3.up * (relativeLeanAmount * CurrentSteerAngle * rigidBody.velocity.magnitude * 0.2f);
+            //rightWheels.localPosition = Vector3.up * (relativeLeanAmount * CurrentSteerAngle * rigidBody.velocity.magnitude * 0.2f);
+            colliders.ForEach(c => c.steerAngle = CurrentSteerAngle);
+        }
+
+        private void ControlTorque(IEnumerable<WheelCollider> colliders)
+        {
+            foreach (var c in colliders)
+            {
+                c.motorTorque = CurrentMotorTorque;
+                c.brakeTorque = CurrentBrakeTorque;
+            }
+        }
+
+        private void Lean()
+        {
+            //reset all wheels to being centered
+            if (CurrentLeaningAngle == 0) //TODO: maybe add a threshold for leaning, e.g. < -0.05 and > 0.05 
+            {
+                //leaning left, left wheels up, right wheels down
+                ApplyOffsetToTransform(wheelConfig.frontLeft.transform, initialWheelColliderY);
+                ApplyOffsetToTransform(wheelConfig.rearLeft.transform, initialWheelColliderY);
+                ApplyOffsetToTransform(wheelConfig.frontRight.transform, initialWheelColliderY);
+                ApplyOffsetToTransform(wheelConfig.rearRight.transform, initialWheelColliderY);
+            }
+
+            //CurrentLeaningAngle < 0 -> leaning left, > 0 -> right
+            var leaningAbs = Mathf.Abs(CurrentLeaningAngle * Mathf.Deg2Rad);
+
+            //calculate offset for wheels; description Docu folder
+            //1.57079633 rad = 90 deg
+            var verticalOffset = offsetCollidersFromWheel * Mathf.Sin(leaningAbs) / Mathf.Sin(1.57079633f - leaningAbs);
+            var yPlusOffset = initialWheelColliderY + verticalOffset;
+            var yMinusOffset = initialWheelColliderY - verticalOffset;
+
+            if (CurrentLeaningAngle < 0) //TODO: maybe add a threshold for leaning, e.g. < -0.05 and > 0.05 
+            {
+                //leaning left, left wheels up, right wheels down
+                ApplyOffsetToTransform(wheelConfig.frontLeft.transform, yPlusOffset);
+                ApplyOffsetToTransform(wheelConfig.rearLeft.transform, yPlusOffset);
+                ApplyOffsetToTransform(wheelConfig.frontRight.transform, yMinusOffset);
+                ApplyOffsetToTransform(wheelConfig.rearRight.transform, yMinusOffset);
+            }
+            else if (CurrentLeaningAngle > 0)
+            {
+                //leaning right, right wheels up, left wheels down
+                ApplyOffsetToTransform(wheelConfig.frontLeft.transform, yMinusOffset);
+                ApplyOffsetToTransform(wheelConfig.rearLeft.transform, yMinusOffset);
+                ApplyOffsetToTransform(wheelConfig.frontRight.transform, yPlusOffset);
+                ApplyOffsetToTransform(wheelConfig.rearRight.transform, yPlusOffset);
+            }
+        }
+
+        private void ApplyOffsetToTransform(Transform t, float newY)
+        {
+            var oldPos = t.localPosition;
+            t.localPosition = new Vector3(oldPos.x, newY, oldPos.z);
+        }
+    }
+}

Assets/Scripts/Controller/GamepadBikeController.cs

@@ -0,0 +1,68 @@
+using JetBrains.Annotations;
+using UnityEngine;
+using UnityEngine.InputSystem;
+
+namespace Controller
+{
+    [RequireComponent(typeof(PlayerInput))]
+    [RequireComponent(typeof(BicycleController))]
+    public class GamepadBikeController : MonoBehaviour
+    {
+        public bool useSpeed;
+        public bool useSteer;
+        public bool useLean;
+
+        public float speedMultiplier = 200f;
+        public float leanMultiplier = 20f;
+        public float steerMultiplier = 15f;
+
+        private float speed;
+        private float lean;
+        private float steer;
+        private BicycleController bicycleController;
+        
+        private void Start()
+        {
+            bicycleController = GetComponent<BicycleController>();
+        }
+    
+        private void Update()
+        {
+            if(useSteer) bicycleController.CurrentSteerAngle = steer;
+            if(useLean) bicycleController.CurrentLeaningAngle = lean;
+            if (useSpeed)
+            {
+                if (speed < 0)
+                {
+                    bicycleController.CurrentMotorTorque = 0;
+                    bicycleController.CurrentBrakeTorque = -speed;
+                }
+                else
+                {
+                    bicycleController.CurrentBrakeTorque = 0;
+                    bicycleController.CurrentMotorTorque = speed;
+                }
+            }
+        }
+    
+        [UsedImplicitly]
+        public void OnSpeed(InputValue value)
+        {
+            speed = value.Get<float>() * speedMultiplier;
+        }
+    
+        [UsedImplicitly]
+        public void OnLean(InputValue value)
+        {
+            lean = value.Get<float>() * leanMultiplier;
+        }
+    
+        [UsedImplicitly]
+        public void OnSteer(InputValue value)
+        {
+            steer = value.Get<float>() * steerMultiplier;
+        }
+
+
+    }
+}

Assets/Scripts/Controller/IBicycleController.cs

@@ -0,0 +1,3 @@
+public interface IBicycleController
+{
+}

Assets/Scripts/Controller/IBicycleController.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: b5174f4bcbb94227b12713e2f8f06866
+timeCreated: 1607498369

Assets/Scripts/Controller/KeyboardBikeController.cs

@@ -0,0 +1,90 @@
+using UnityEngine;
+
+namespace Controller
+{
+    public class KeyboardBikeController : MonoBehaviour
+    {
+        private BicycleController bicycleController;
+
+        public bool steer = true;
+        public bool lean = true;
+        public bool accelerate = true;
+
+        public float torqueIncreasePerSecond = 10f;
+        public float brakeTorqueIncreasePerSecond = 20f;
+        public float leaningAngleIncreasePerSecond = 2f;
+        public float steeringAngleIncreasePerSecond = 2.5f;
+
+        public float maxMotorTorque = 400f;
+        public float maxBrakeTorque = 600f;
+        public float maxLeaningAngle = 35f;
+        public float maxSteeringAngle = 70f;
+
+        private void Start()
+        {
+            bicycleController = GetComponent<BicycleController>();
+        }
+
+        private void Update()
+        {
+            if (accelerate)
+            {
+                if (Input.GetKey(KeyCode.T))
+                {
+                    bicycleController.CurrentBrakeTorque = 0f;
+                    bicycleController.CurrentMotorTorque += torqueIncreasePerSecond * Time.deltaTime;
+                }
+                else if (Input.GetKeyUp(KeyCode.T))
+                {
+                    bicycleController.CurrentMotorTorque = 0f;
+                }
+
+                if (Input.GetKey(KeyCode.G))
+                {
+                    bicycleController.CurrentMotorTorque = 0f;
+                    bicycleController.CurrentBrakeTorque += brakeTorqueIncreasePerSecond * Time.deltaTime;
+                }
+                else if (Input.GetKeyUp(KeyCode.G))
+                {
+                    bicycleController.CurrentBrakeTorque = 0f;
+                }
+            }
+
+            if (steer)
+            {
+                if (Input.GetKey(KeyCode.F))
+                {
+                    bicycleController.CurrentSteerAngle -= steeringAngleIncreasePerSecond * Time.deltaTime;
+                }
+
+                if (Input.GetKey(KeyCode.H))
+                {
+                    bicycleController.CurrentSteerAngle += steeringAngleIncreasePerSecond * Time.deltaTime;
+                }
+
+                if (Input.GetKeyUp(KeyCode.F) || Input.GetKeyUp(KeyCode.H))
+                {
+                    bicycleController.CurrentSteerAngle = 0f;
+                }
+            }
+
+            if (lean)
+            {
+                if (Input.GetKey(KeyCode.R))
+                {
+                    bicycleController.CurrentLeaningAngle -= leaningAngleIncreasePerSecond * Time.deltaTime;
+                }
+
+                if (Input.GetKey(KeyCode.Z))
+                {
+                    bicycleController.CurrentLeaningAngle += leaningAngleIncreasePerSecond * Time.deltaTime;
+                }
+
+                if (Input.GetKeyUp(KeyCode.R) || Input.GetKeyUp(KeyCode.Z))
+                {
+                    bicycleController.CurrentLeaningAngle = 0f;
+                }
+            }
+        }
+    }
+}

Assets/Scripts/Controller/SensorBikeController.cs

@@ -0,0 +1,121 @@
+using System;
+using Sensors;
+using Sensors.ANT;
+using Sensors.Polar;
+using Tracking;
+using UnityEngine;
+using UnityEngine.Serialization;
+
+namespace Controller
+{
+    [Serializable]
+    public struct PolarRotationMapping
+    {
+        public float maxRight;
+        public float center;
+    }
+
+    [Serializable]
+    public struct FrontWheelTrackerConfig
+    {
+        public FrontWheelTracker frontWheelTracker;
+        public float multiplicator;
+
+        public Vector3 AdjustedRotation => frontWheelTracker.Rotation * multiplicator;
+    }
+
+    public class SensorBikeController : MonoBehaviour
+    {
+        public float maxSpeed = 40f;
+        public float maxMotorTorque = 1000;
+        public PolarRotationMapping polarRotationMapping;
+
+        public SpeedSensorConfig speedSensorConfig;
+        public PolarSensorConfig polarSensorConfig;
+        public FrontWheelTrackerConfig frontWheelTrackerConfig;
+
+        public bool steer = true;
+        public bool accelerate = true;
+        public bool lean = true;
+
+        private BicycleController bicycleController;
+        private BikeSensorData sensorData;
+        private float leanFactor;
+        private bool isFrontWheelTrackerNotNull;
+
+        private async void Start()
+        {
+            isFrontWheelTrackerNotNull = frontWheelTrackerConfig.frontWheelTracker != null;
+            bicycleController = GetComponent<BicycleController>();
+            sensorData = BikeSensorData.Instance;
+            await sensorData.StartListening(polarSensorConfig: polarSensorConfig, speedSensorConfig: speedSensorConfig);
+            leanFactor = 90f / (polarRotationMapping.maxRight - polarRotationMapping.center);
+        }
+
+        private void Update()
+        {
+            var speedData = sensorData.SpeedData;
+            var polarData = sensorData.PolarData;
+
+            if (speedData != null && accelerate)
+            {
+                SetSpeed(speedData.Value);
+            }
+
+            if (isFrontWheelTrackerNotNull && steer)
+            {
+                SetSteer();
+            }
+
+            if (polarData != null && lean)
+            {
+                SetLeaningAngle(polarData.Value);
+            }
+        }
+
+        private void SetSteer()
+        {
+            bicycleController.CurrentSteerAngle = frontWheelTrackerConfig.AdjustedRotation.y; //TODO: something a bit smarter
+        }
+
+        private void OnDestroy()
+        {
+            sensorData.Dispose();
+        }
+
+        private void SetLeaningAngle(PolarSensorData polarData)
+        {
+            //don't lean while standing / walking to bike
+            if (bicycleController.rigidBody.velocity.magnitude > .5f)
+            {
+                bicycleController.CurrentLeaningAngle = (polarData.Acc.y - polarRotationMapping.center) * leanFactor;
+            }
+        }
+
+        private void SetSpeed(SpeedSensorData speedData)
+        {
+            var currentSpeed = bicycleController.rigidBody.velocity.magnitude;
+            var speedDif = speedData.Speed - currentSpeed;
+            var ratio = speedDif / maxSpeed;
+            var torque = maxMotorTorque * ratio;
+            if (speedDif >= .1f) // 0.36 km/h
+            {
+                Debug.Log($"SpeedDif = {speedDif} -> applying Torque {torque} (Ratio: {ratio})");
+                bicycleController.CurrentBrakeTorque = 0;
+                bicycleController.CurrentMotorTorque = torque;
+            }
+            else if (speedDif <= -.1f)
+            {
+                Debug.Log($"SpeedDif = {speedDif} -> applying brake Torque {torque} (Ratio: {ratio})");
+                bicycleController.CurrentMotorTorque = 0;
+                bicycleController.CurrentBrakeTorque = -torque;
+            }
+            // without else the speed overshoots a bit, but is way closer to real speed
+            /*else
+        {
+            bicycleController.CurrentMotorTorque = 0;
+            bicycleController.CurrentBrakeTorque = 0;
+        }*/
+        }
+    }
+}

Assets/Scripts/Controller/ViveBikeController.cs

@@ -0,0 +1,26 @@
+using UnityEngine;
+using Valve.VR;
+
+namespace Controller
+{
+    public class ViveBikeController : MonoBehaviour
+    {
+        public SteamVR_Action_Pose steerPose;
+        public float multiplier = 40f;
+
+        private BicycleController bicycleController;
+    
+        // Start is called before the first frame update
+        void Start()
+        {
+            bicycleController = GetComponent<BicycleController>();
+        }
+
+        // Update is called once per frame
+        void Update()
+        {
+            var rot = steerPose.localRotation.y;
+            bicycleController.CurrentSteerAngle = rot * multiplier;
+        }
+    }
+}

Assets/Scripts/Controller/WheelConfig.cs

@@ -0,0 +1,44 @@
+using UnityEngine;
+
+namespace Controller
+{
+    [System.Serializable]
+    public class WheelConfig
+    {
+        public WheelCollider frontLeft;
+        public WheelCollider frontRight;
+        public WheelCollider rearLeft;
+        public WheelCollider rearRight;
+
+        public WheelCollider[] AllWheels => new[] {frontLeft, frontRight, rearLeft, rearLeft};
+
+        public void AdjustToGameObjects(Transform frontWheel, Transform rearWheel, float offset)
+        {
+            var x0 = Vector3.one - Vector3.right;
+
+            var posFront = frontWheel.localPosition;
+            var newXLeftFront = posFront.x - offset;
+            var newXRightFront = posFront.x + offset;
+        
+            var posRear = rearWheel.localPosition;
+            var newXLeftRear = posRear.x - offset;
+            var newXRightRear = posRear.x + offset;
+
+            var transform = frontLeft.transform;
+            var localPosition = transform.localPosition;
+            var newY = localPosition.y;
+            var newZFront = localPosition.z;
+            var newZRear = rearLeft.transform.localPosition.z;
+        
+            SetNewCoords(transform, newXLeftFront, newY, newZFront);
+            SetNewCoords(frontRight.transform, newXRightFront, newY, newZFront);
+            SetNewCoords(rearLeft.transform, newXLeftRear, newY, newZRear);
+            SetNewCoords(rearRight.transform, newXRightRear, newY, newZRear);
+        }
+
+        private void SetNewCoords(Transform transform, float newX, float newY, float newZ)
+        {
+            transform.localPosition = new Vector3(newX, newY, newZ);
+        }
+    }
+}

Assets/Scripts/Display/BikeDataDisplay.cs

@@ -1,72 +1,76 @@
-using TMPro;
+using Sensors;
+using TMPro;
 using UnityEngine;
 
-public class BikeDataDisplay : MonoBehaviour
+namespace Display
 {
-    [Header("Speed")] 
-    public TextMeshProUGUI speedDisplay;
+    public class BikeDataDisplay : MonoBehaviour
+    {
+        [Header("Speed")] 
+        public TextMeshProUGUI speedDisplay;
     
-    [Header("Powermeter")] 
-    public int powerMeterId = 0;
-    public TextMeshProUGUI powerDisplay;
-    public TextMeshProUGUI cadenceDisplay;
-    public TextMeshProUGUI torqueDisplay;
+        [Header("Powermeter")] 
+        public int powerMeterId = 0;
+        public TextMeshProUGUI powerDisplay;
+        public TextMeshProUGUI cadenceDisplay;
+        public TextMeshProUGUI torqueDisplay;
 
-    [Header("Heart Rate")] public int hrAntId = 0;
-    public TextMeshProUGUI heartRateDisplay;
+        [Header("Heart Rate")] public int hrAntId = 0;
+        public TextMeshProUGUI heartRateDisplay;
     
 
-    private bool speedDisplayAvailable;
-    private bool powerDisplayAvailable;
-    private bool cadenceDisplayAvailable;
-    private bool torqueDisplayAvailable;
-    private bool heartRateDisplayAvailable;
-
-    private BikeSensorData sensorData;
+        private bool speedDisplayAvailable;
+        private bool powerDisplayAvailable;
+        private bool cadenceDisplayAvailable;
+        private bool torqueDisplayAvailable;
+        private bool heartRateDisplayAvailable;
 
-    // Start is called before the first frame update
-    void Start()
-    {
-        sensorData = BikeSensorData.Instance;
-        //powermeter and ANT hr only for displaying for now TODO: move to controller if used for controlling
-        sensorData.StartListening(powermeterId: powerMeterId, hrAntId: hrAntId);
+        private BikeSensorData sensorData;
 
-        speedDisplayAvailable = speedDisplay != null;
-        powerDisplayAvailable = powerDisplay != null;
-        torqueDisplayAvailable = torqueDisplay != null;
-        cadenceDisplayAvailable = cadenceDisplay != null;
-        heartRateDisplayAvailable = heartRateDisplay != null;
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-        //transform.Translate(Vector3.forward * (Time.deltaTime * (speedSensorReceiver?.Speed ?? 0)));
-        //bicycleController.SetSpeed(speedSensorReceiver?.Speed ?? 0);
-        //bicycleController.SetTorque(powerMeterReceiver?.CrankTorque ?? 0); //TODO crank to wheel torque;
-        if (speedDisplayAvailable)
+        // Start is called before the first frame update
+        void Start()
         {
-            speedDisplay.text = $"{(sensorData.SpeedData?.SpeedKmh ?? 0f):n2} km/h";
-        }
+            sensorData = BikeSensorData.Instance;
+            //powermeter and ANT hr only for displaying for now TODO: move to controller if used for controlling
+            sensorData.StartListening(powermeterId: powerMeterId, hrAntId: hrAntId);
 
-        if (powerDisplayAvailable)
-        {
-            powerDisplay.text = $"{(sensorData.PowermeterData?.InstantaneousPower ?? 0f):0} W";
+            speedDisplayAvailable = speedDisplay != null;
+            powerDisplayAvailable = powerDisplay != null;
+            torqueDisplayAvailable = torqueDisplay != null;
+            cadenceDisplayAvailable = cadenceDisplay != null;
+            heartRateDisplayAvailable = heartRateDisplay != null;
         }
 
-        if (cadenceDisplayAvailable)
+        // Update is called once per frame
+        void Update()
         {
-            cadenceDisplay.text = $"{(sensorData.PowermeterData?.InstantaneousCadence ?? 0f):0} rpm";
-        }
+            //transform.Translate(Vector3.forward * (Time.deltaTime * (speedSensorReceiver?.Speed ?? 0)));
+            //bicycleController.SetSpeed(speedSensorReceiver?.Speed ?? 0);
+            //bicycleController.SetTorque(powerMeterReceiver?.CrankTorque ?? 0); //TODO crank to wheel torque;
+            if (speedDisplayAvailable)
+            {
+                speedDisplay.text = $"{(sensorData.SpeedData?.SpeedKmh ?? 0f):n2} km/h";
+            }
 
-        if (torqueDisplayAvailable)
-        {
-            torqueDisplay.text = $"{(sensorData.PowermeterData?.CrankTorque ?? 0f):F2} Nm";
-        }
+            if (powerDisplayAvailable)
+            {
+                powerDisplay.text = $"{(sensorData.PowermeterData?.InstantaneousPower ?? 0f):0} W";
+            }
 
-        if (heartRateDisplayAvailable)
-        {
-            heartRateDisplay.text = $"{(sensorData.HrData?.HeartRate ?? 0):0} bpm";
+            if (cadenceDisplayAvailable)
+            {
+                cadenceDisplay.text = $"{(sensorData.PowermeterData?.InstantaneousCadence ?? 0f):0} rpm";
+            }
+
+            if (torqueDisplayAvailable)
+            {
+                torqueDisplay.text = $"{(sensorData.PowermeterData?.CrankTorque ?? 0f):F2} Nm";
+            }
+
+            if (heartRateDisplayAvailable)
+            {
+                heartRateDisplay.text = $"{(sensorData.HrData?.HeartRate ?? 0):0} bpm";
+            }
         }
     }
 }

Assets/Scripts/Display/DebugDisplay.cs

@@ -1,66 +1,70 @@
 using System;
 using System.Net;
 using System.Text;
+using Controller;
+using Sensors;
 using UnityEngine;
 
-
-public class DebugDisplay : MonoBehaviour
+namespace Display
 {
-    public BicycleController bicycleController;
-    private BikeSensorData sensorData = BikeSensorData.Instance;
-
-    private string ip;
-    private string text;
+    public class DebugDisplay : MonoBehaviour
+    {
+        public BicycleController bicycleController;
+        private BikeSensorData sensorData = BikeSensorData.Instance;
 
+        private string ip;
+        private string text;
 
-    private void Start()
-    {
-        ip = GetIp();
-    }
 
-    private void Update()
-    {
-        var rbSpeed = bicycleController.rigidBody.velocity.magnitude * 3.6;
-        var sensorSpeed = sensorData.SpeedData?.SpeedKmh ?? 0f;
-        var sb = new StringBuilder();
-        sb.Append(
-            $"MotorTorque: {bicycleController.CurrentMotorTorque:n2}\nBrakeTorque: {bicycleController.CurrentBrakeTorque:n2}\nSteer: {bicycleController.CurrentSteerAngle}\nLean: {bicycleController.CurrentLeaningAngle:n4}\n");
-        sb.Append("-----Sensors------\n");
-        sb.Append(
-            $"Speed: {(sensorData.SpeedData?.Speed ?? 0f):n4} m/s\nPolar Acc ({(sensorData.PolarData?.Acc.x ?? 0f):n4}; {(sensorData.PolarData?.Acc.y ?? 0f):n4}; {(sensorData.PolarData?.Acc.z ?? 0f):n4}) ");
-        sb.Append("\n\n");
-        sb.Append($"IP: {ip}\n");
-        sb.Append("----BicycleController-----\n");
-        sb.Append($"Actual Speed {rbSpeed:n2} km/h - Dif: {(sensorSpeed - rbSpeed):n2}");
-        text = sb.ToString();
-    }
+        private void Start()
+        {
+            ip = GetIp();
+        }
 
-    private void OnGUI()
-    {
-        var padding = 10;
-        var width = 260;
-        var height = 175;
-        var x = Screen.width - width - padding;
-        var y = Screen.height - height - padding;
+        private void Update()
+        {
+            var rbSpeed = bicycleController.rigidBody.velocity.magnitude * 3.6;
+            var sensorSpeed = sensorData.SpeedData?.SpeedKmh ?? 0f;
+            var sb = new StringBuilder();
+            sb.Append(
+                $"MotorTorque: {bicycleController.CurrentMotorTorque:n2}\nBrakeTorque: {bicycleController.CurrentBrakeTorque:n2}\nSteer: {bicycleController.CurrentSteerAngle}\nLean: {bicycleController.CurrentLeaningAngle:n4}\n");
+            sb.Append("-----Sensors------\n");
+            sb.Append(
+                $"Speed: {(sensorData.SpeedData?.Speed ?? 0f):n4} m/s\nPolar Acc ({(sensorData.PolarData?.Acc.x ?? 0f):n4}; {(sensorData.PolarData?.Acc.y ?? 0f):n4}; {(sensorData.PolarData?.Acc.z ?? 0f):n4}) ");
+            sb.Append("\n\n");
+            sb.Append($"IP: {ip}\n");
+            sb.Append("----BicycleController-----\n");
+            sb.Append($"Actual Speed {rbSpeed:n2} km/h - Dif: {(sensorSpeed - rbSpeed):n2}");
+            text = sb.ToString();
+        }
 
-        GUI.TextField(new Rect(x, y, width, height), text);
-    }
+        private void OnGUI()
+        {
+            var padding = 10;
+            var width = 260;
+            var height = 175;
+            var x = Screen.width - width - padding;
+            var y = Screen.height - height - padding;
 
-    private String GetIp()
-    {
-        string usedIp = null;
+            GUI.TextField(new Rect(x, y, width, height), text);
+        }
 
-        foreach (var ip in Dns.GetHostEntry(Dns.GetHostName()).AddressList)
+        private String GetIp()
         {
-            if (ip.AddressFamily == System.Net.Sockets.AddressFamily.InterNetwork)
+            string usedIp = null;
+
+            foreach (var ip in Dns.GetHostEntry(Dns.GetHostName()).AddressList)
             {
-                if (usedIp == null || ip.ToString().StartsWith("192.168.1."))
+                if (ip.AddressFamily == System.Net.Sockets.AddressFamily.InterNetwork)
                 {
-                    usedIp = ip.ToString();
+                    if (usedIp == null || ip.ToString().StartsWith("192.168.1."))
+                    {
+                        usedIp = ip.ToString();
+                    }
                 }
             }
-        }
 
-        return usedIp;
+            return usedIp;
+        }
     }
 }

Assets/Scripts/Display/ViveTrackerDebugDisplay.cs

@@ -0,0 +1,28 @@
+using TMPro;
+using Tracking;
+using UnityEngine;
+
+namespace Display
+{
+    public class ViveTrackerDebugDisplay : MonoBehaviour
+    {
+
+        public FrontWheelTracker tracker;
+
+        public TextMeshProUGUI posText;
+
+        public TextMeshProUGUI rotText;
+        // Start is called before the first frame update
+        void Start()
+        {
+        
+        }
+
+        // Update is called once per frame
+        void Update()
+        {
+            posText.text = $"Pos: {tracker.Position.ToString()}";
+            rotText.text = $"Rot: {tracker.Rotation.ToString()}";
+        }
+    }
+}

Assets/Scripts/ResetPlayerPosition/BikeReset.cs

@@ -1,27 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-using Valve.VR;
-
-public class BikeReset : MonoBehaviour
-{
-    public SteamVR_Action_Boolean resetPosition;
-
-    private Vector3 initialPosition;
-    private Quaternion initialRotation;
-    private Transform bikeTransform;
-    void Start()
-    {
-        bikeTransform = transform;
-        initialPosition = bikeTransform.localPosition;
-        initialRotation = bikeTransform.localRotation;
-        resetPosition.AddOnStateUpListener(OnResetPosition, SteamVR_Input_Sources.Any);
-    }
-
-    private void OnResetPosition(SteamVR_Action_Boolean fromaction, SteamVR_Input_Sources fromsource)
-    {
-        Debug.Log("Resetting Bike Position and Rotation");
-        bikeTransform.localPosition = initialPosition;
-        bikeTransform.localRotation = initialRotation;
-    }
-}

Assets/Scripts/ResetPlayerPosition/MovePlayerPosition.cs

@@ -1,49 +0,0 @@
-using System;
-using UnityEngine;
-using Valve.VR;
-
-public class MovePlayerPosition : MonoBehaviour
-{
-    public SteamVR_Action_Boolean resetAction;
-    public SteamVR_Action_Boolean modeAction;
-
-    public SteamVR_Action_Boolean moveForwards;
-    public SteamVR_Action_Boolean moveBackwards;
-    public SteamVR_Action_Boolean moveRight;
-    public SteamVR_Action_Boolean moveLeft;
-
-    public float movementSpeed = 1f;
-
-    private Transform playerTransform;
-    private bool moveModeForwards = false;
-
-    private void Start()
-    {
-        playerTransform = GetComponent<Transform>();
-        resetAction.AddOnStateUpListener(OnResetActionUp, SteamVR_Input_Sources.Any);
-        modeAction.AddOnStateUpListener(OnModeSwitchUp, SteamVR_Input_Sources.Any);
-    }
-
-    private void Update()
-    {
-        var left = moveLeft.GetState(SteamVR_Input_Sources.Any) ? 1 : 0;
-        var right = moveRight.GetState(SteamVR_Input_Sources.Any) ? 1 : 0;
-        var forward = moveForwards.GetState(SteamVR_Input_Sources.Any) ? 1 : 0;
-        var backward = moveBackwards.GetState(SteamVR_Input_Sources.Any) ? 1 : 0;
-
-        var x = right - left;
-        var y = moveModeForwards ? 0f : forward - backward; var z = moveModeForwards ? forward - backward : 0f;
-
-        playerTransform.localPosition += new Vector3(x, y, z) * (Time.deltaTime * movementSpeed);
-    }
-
-    private void OnResetActionUp(SteamVR_Action_Boolean fomAction, SteamVR_Input_Sources fromSource)
-    {
-        OpenVR.Chaperone.ResetZeroPose(ETrackingUniverseOrigin.TrackingUniverseStanding);
-    }
-
-    private void OnModeSwitchUp(SteamVR_Action_Boolean fromAction, SteamVR_Input_Sources fromSource)
-    {
-        moveModeForwards = !moveModeForwards;
-    }
-}

Assets/Scripts/ResetPlayerPosition/PersistatePlayerPosition.cs

@@ -1,47 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-using Valve.VR;
-
-public class PersistatePlayerPosition : MonoBehaviour
-{
-    private const String KEY_PLAYER_POS_X = "player_pos_x";
-    private const String KEY_PLAYER_POS_Y = "player_pos_y";
-    private const String KEY_PLAYER_POS_Z = "player_pos_z";
-    
-    private Transform playerTransform;
-
-    public SteamVR_Action_Boolean savePos;
-    
-    // Start is called before the first frame update
-    void Start()
-    {
-        playerTransform = GetComponent<Transform>();
-        savePos.AddOnStateDownListener(OnSavePos, SteamVR_Input_Sources.Any);
-        Load();
-    }
-
-    private void OnSavePos(SteamVR_Action_Boolean fromaction, SteamVR_Input_Sources fromsource) => Save();
-
-    void Load()
-    {
-        if (PlayerPrefs.HasKey(KEY_PLAYER_POS_X) && PlayerPrefs.HasKey(KEY_PLAYER_POS_Y) && PlayerPrefs.HasKey(KEY_PLAYER_POS_Z))
-        {
-            var x = PlayerPrefs.GetFloat(KEY_PLAYER_POS_X);
-            var y = PlayerPrefs.GetFloat(KEY_PLAYER_POS_Y);
-            var z = PlayerPrefs.GetFloat(KEY_PLAYER_POS_Z);
-            playerTransform.position = new Vector3(x,y,z);
-        }
-        
-    }
-
-    public void Save()
-    {
-        var position = playerTransform.position;
-        PlayerPrefs.SetFloat(KEY_PLAYER_POS_X, position.x);
-        PlayerPrefs.SetFloat(KEY_PLAYER_POS_Y, position.y);
-        PlayerPrefs.SetFloat(KEY_PLAYER_POS_Z, position.z);
-        PlayerPrefs.Save();
-    }
-}

Assets/Scripts/Sensors/ANT+/HrReceiver.cs

@@ -1,103 +0,0 @@
-using UnityEngine;
-using System.Collections.Generic;
-using ANT_Managed_Library;
-using System;
-
-public struct HRSensorData
-{
-    public float HeartRate;
-}
-
-public class HrReceiver
-{
-    private AntChannel backgroundScanChannel;
-    private AntChannel deviceChannel;
-    private HRSensorData sensorData;
-
-    public int DeviceID { get; } = 0;
-    public bool Connected { get; private set; } = false;
-    public List<AntDevice> ScanResult { get; private set; }
-    public HRSensorData SensorData => sensorData;
-
-
-    public HrReceiver()
-    {
-    }
-
-    public HrReceiver(int deviceID) => this.DeviceID = deviceID;
-
-    //Start a background Scan to find the device
-    public void StartScan()
-    {
-        Debug.Log("Looking for ANT + HeartRate sensor");
-        AntManager.Instance.Init();
-        ScanResult = new List<AntDevice>();
-        backgroundScanChannel = AntManager.Instance.OpenBackgroundScanChannel(0);
-        backgroundScanChannel.onReceiveData += ReceivedBackgroundScanData;
-    }
-
-    void ReceivedBackgroundScanData(Byte[] data)
-    {
-        byte deviceType = (data[12]); // extended info Device Type byte
-
-        switch (deviceType)
-        {
-            case AntplusDeviceType.HeartRate:
-            {
-                int deviceNumber = (data[10]) | data[11] << 8;
-                byte transType = data[13];
-                foreach (AntDevice d in ScanResult)
-                {
-                    if (d.deviceNumber == deviceNumber && d.transType == transType) //device already found
-                        return;
-                }
-
-                AntDevice foundDevice = new AntDevice();
-                foundDevice.deviceType = deviceType;
-                foundDevice.deviceNumber = deviceNumber;
-                foundDevice.transType = transType;
-                foundDevice.period = 8070;
-                foundDevice.radiofreq = 57;
-                foundDevice.name = "heartrate(" + foundDevice.deviceNumber + ")";
-                ScanResult.Add(foundDevice);
-                if (deviceNumber == DeviceID)
-                {
-                    Debug.Log($"Desired HR Sensor with id {deviceNumber} found!");
-                    ConnectToDevice(foundDevice);
-                }
-                else
-                {
-                    Debug.Log($"HR sensor ({deviceNumber}) found and added to ScanResult");
-                }
-
-                break;
-            }
-        }
-    }
-
-    void ConnectToDevice(AntDevice device)
-    {
-        AntManager.Instance.CloseBackgroundScanChannel();
-        byte channelID = AntManager.Instance.GetFreeChannelID();
-        deviceChannel = AntManager.Instance.OpenChannel(ANT_ReferenceLibrary.ChannelType.BASE_Slave_Receive_0x00,
-            channelID, (ushort) device.deviceNumber, device.deviceType, device.transType, (byte) device.radiofreq,
-            (ushort) device.period, false);
-        Connected = true;
-        deviceChannel.onReceiveData += Data;
-        deviceChannel.onChannelResponse += ChannelResponse;
-
-        deviceChannel.hideRXFAIL = true;
-    }
-
-
-    //Deal with the received Data
-    private void Data(Byte[] data)
-    {
-        sensorData.HeartRate = (data[7]);
-    }
-
-
-    void ChannelResponse(ANT_Response response)
-    {
-    }
-}

Assets/Scripts/Sensors/ANT+/PowerMeterReceiver.cs

@@ -1,182 +0,0 @@
-using UnityEngine;
-using System.Collections;
-using System.Collections.Generic;
-using ANT_Managed_Library;
-using System;
-
-/*
-
-    Frequencies such as 4.06 Hz (ANT+ Heart
-Rate) and 4.005 Hz (ANT+ Bike Power) will
-periodically “drift” into each other, or into
-other channel periods that may be present
-in the vicinity. During this overlap, channel
-collisions may occur as the radio can only
-service channel at a time. 
-*/
-
-public struct PowermeterSensorData
-{
-    public int InstantaneousPower; // the instantaneous power in watt
-    public int InstantaneousCadence; // crank cadence in RPM if available ( 255 indicates invalid)
-    public float CrankTorque;
-}
-
-public class PowerMeterReceiver
-{
-    private AntChannel backgroundScanChannel;
-    private AntChannel deviceChannel;
-    private byte[] pageToSend;
-    private PowermeterSensorData sensorData;
-
-    public int DeviceID { get; } = 0;
-    public bool Connected { get; private set; } = false;
-    public List<AntDevice> ScanResult { get; private set; }
-    public PowermeterSensorData SensorData => sensorData;
-
-    public PowerMeterReceiver()
-    {
-    }
-
-    public PowerMeterReceiver(int deviceID) => DeviceID = deviceID;
-
-    public void StartScan()
-    {
-        Debug.Log("Looking for ANT + power meter sensor");
-
-        AntManager.Instance.Init();
-        ScanResult = new List<AntDevice>();
-        backgroundScanChannel = AntManager.Instance.OpenBackgroundScanChannel(0);
-        backgroundScanChannel.onReceiveData += ReceivedBackgroundScanData;
-    }
-
-
-    void ReceivedBackgroundScanData(Byte[] data)
-    {
-        byte deviceType = (data[12]); // extended info Device Type byte
-
-        switch (deviceType)
-        {
-            case AntplusDeviceType.BikePower:
-            {
-                int deviceNumber = (data[10]) | data[11] << 8;
-                byte transType = data[13];
-                foreach (AntDevice d in ScanResult)
-                {
-                    if (d.deviceNumber == deviceNumber && d.transType == transType) //device already found
-                        return;
-                }
-
-                AntDevice foundDevice = new AntDevice();
-                foundDevice.deviceType = deviceType;
-                foundDevice.deviceNumber = deviceNumber;
-                foundDevice.transType = transType;
-                foundDevice.period = 8182;
-                foundDevice.radiofreq = 57;
-                foundDevice.name = "Powermeter(" + foundDevice.deviceNumber + ")";
-                ScanResult.Add(foundDevice);
-                if (deviceNumber == DeviceID)
-                {
-                    Debug.Log($"Desired Power Sensor with id {deviceNumber} found!");
-                    ConnectToDevice(foundDevice);
-                }
-                else
-                {
-                    Debug.Log($"Power sensor ({deviceNumber}) found and added to ScanResult");
-                }
-
-                break;
-            }
-        }
-    }
-
-    void ConnectToDevice(AntDevice device)
-    {
-        AntManager.Instance.CloseBackgroundScanChannel();
-        byte channelID = AntManager.Instance.GetFreeChannelID();
-        deviceChannel = AntManager.Instance.OpenChannel(ANT_ReferenceLibrary.ChannelType.BASE_Slave_Receive_0x00,
-            channelID, (ushort) device.deviceNumber, device.deviceType, device.transType, (byte) device.radiofreq,
-            (ushort) device.period, false);
-        Connected = true;
-        deviceChannel.onReceiveData += Data;
-        deviceChannel.onChannelResponse += ChannelResponse;
-
-        deviceChannel.hideRXFAIL = true;
-    }
-
-    private readonly Dictionary<int, int> updateEventCount = new Dictionary<int, int> {{0x10, 0}, {0x12, 0}};
-
-    private readonly Dictionary<int, int> sameEventCounter = new Dictionary<int, int> {{0x10, 0}, {0x12, 0}};
-
-    private int previousAccumulatedTorqueValue = 0;
-    private int previousTorqueEventCount = 0;
-
-    //Deal with the received Data
-    private void Data(Byte[] data)
-    {
-        if (data[0] == 0x10) // Standard Power-Only Main Data Page
-        {
-            if (data[1] == updateEventCount[0x10])
-                sameEventCounter[0x10]++;
-            else
-                sameEventCounter[0x10] = 0;
-
-            updateEventCount[0x10] = data[1];
-
-            if (sameEventCounter[0x10] > 3)
-            {
-                sensorData.InstantaneousPower = 0;
-                sensorData.InstantaneousCadence = 0;
-            }
-            else
-            {
-                sensorData.InstantaneousPower = data[6] | data[7] << 8;
-                sensorData.InstantaneousCadence = data[3];
-            }
-        }
-
-        if (data[0] == 0x12) // Standard Crank Torque Main Data Page
-        {
-            Debug.Log($"Torque Data {data}");
-            if (data[1] == updateEventCount[0x12])
-                sameEventCounter[0x12]++;
-            else
-                sameEventCounter[0x12] = 0;
-
-            updateEventCount[0x12] = data[1];
-
-            if (sameEventCounter[0x12] > 3)
-            {
-                sensorData.CrankTorque = 0;
-            }
-            else
-            {
-                int accumulatedTorque = data[6] | data[7] << 8;
-                float divisor = (32 * (updateEventCount[0x12] - previousTorqueEventCount));
-                if (divisor > 0)
-                {
-                    sensorData.CrankTorque = (accumulatedTorque - previousAccumulatedTorqueValue) / divisor;
-                }
-                previousAccumulatedTorqueValue = accumulatedTorque;
-                previousTorqueEventCount = updateEventCount[0x12];
-            }
-        }
-    }
-
-
-    public void Calibrate()
-    {
-        Debug.Log("Sending : Manual Zero Calibration request");
-        pageToSend = new byte[8] {0x01, 0xAA, 0x0FF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
-
-        deviceChannel.sendAcknowledgedData(pageToSend);
-    }
-
-    void ChannelResponse(ANT_Response response)
-    {
-        if (response.getChannelEventCode() == ANT_ReferenceLibrary.ANTEventID.EVENT_TRANSFER_TX_FAILED_0x06)
-        {
-            deviceChannel.sendAcknowledgedData(pageToSend); //send the page again if the transfer failed
-        }
-    }
-}

Assets/Scripts/Sensors/ANT+/SpeedSensorReceiver.cs

@@ -1,159 +0,0 @@
-using UnityEngine;
-using System.Collections;
-using System.Collections.Generic;
-using ANT_Managed_Library;
-using System;
-using UnityEngine.Serialization;
-
-[System.Serializable]
-public struct SpeedSensorConfig
-{
-    public int deviceId;
-    public float wheelCircumference;
-
-    public SpeedSensorConfig(int deviceId = 0, float wheelCircumference = 2.096f)
-    {
-        this.deviceId = deviceId;
-        this.wheelCircumference = wheelCircumference;
-    }
-}
-
-public struct SpeedSensorData
-{
-    public float Speed;
-    public float SpeedKmh => Speed * 3.6f;
-    public float Distance;
-}
-
-public class SpeedSensorReceiver
-{
-    private AntChannel backgroundScanChannel;
-    private AntChannel deviceChannel;
-
-    private int stopRevCounterSpeed = 0;
-    private int prevMeasTimeSpeed = 0;
-    private int prevRevCountSpeed = 0;
-    private int revCountZero = 0;
-    private SpeedSensorData sensorData;
-
-    public SpeedSensorConfig Config { get; }
-    public bool Connected { get; private set; }
-    public List<AntDevice> ScanResult { get; private set; }
-    public SpeedSensorData SensorData => sensorData;
-
-    public SpeedSensorReceiver()
-    {
-    }
-
-    public SpeedSensorReceiver(SpeedSensorConfig config) => this.Config = config;
-
-    public SpeedSensorReceiver(int deviceId) => Config = new SpeedSensorConfig(deviceId);
-
-    public SpeedSensorReceiver(int deviceId, float wheelCircumference) =>
-        Config = new SpeedSensorConfig(deviceId, wheelCircumference);
-
-    //Start a background Scan to find the device
-    public void StartScan()
-    {
-        Debug.Log("Looking for ANT + Speed sensor");
-        AntManager.Instance.Init();
-        ScanResult = new List<AntDevice>();
-        backgroundScanChannel = AntManager.Instance.OpenBackgroundScanChannel(0);
-        backgroundScanChannel.onReceiveData += ReceivedBackgroundScanData;
-    }
-
-    //If the device is found
-    void ReceivedBackgroundScanData(Byte[] data)
-    {
-        byte deviceType = (data[12]); // extended info Device Type byte
-
-        switch (deviceType)
-        {
-            case AntplusDeviceType.BikeSpeed:
-            {
-                int deviceNumber = (data[10]) | data[11] << 8;
-                byte transType = data[13];
-                foreach (AntDevice d in ScanResult)
-                {
-                    if (d.deviceNumber == deviceNumber && d.transType == transType) //device already found
-                        return;
-                }
-
-
-                AntDevice foundDevice = new AntDevice();
-                foundDevice.deviceType = deviceType;
-                foundDevice.deviceNumber = deviceNumber;
-                foundDevice.transType = transType;
-                foundDevice.period = 8118;
-                foundDevice.radiofreq = 57;
-                foundDevice.name = "BikeSpeed(" + foundDevice.deviceNumber + ")";
-                ScanResult.Add(foundDevice);
-                if (deviceNumber == Config.deviceId)
-                {
-                    Debug.Log($"Desired Speed Sensor with id {deviceNumber} found!");
-                    ConnectToDevice(foundDevice);
-                }
-                else
-                {
-                    Debug.Log($"Speed sensor ({deviceNumber}) found and added to ScanResult");
-                }
-
-                break;
-            }
-        }
-    }
-
-    void ConnectToDevice(AntDevice device)
-    {
-        AntManager.Instance.CloseBackgroundScanChannel();
-        byte channelID = AntManager.Instance.GetFreeChannelID();
-        deviceChannel = AntManager.Instance.OpenChannel(ANT_ReferenceLibrary.ChannelType.BASE_Slave_Receive_0x00,
-            channelID, (ushort) device.deviceNumber, device.deviceType, device.transType, (byte) device.radiofreq,
-            (ushort) device.period, false);
-        Connected = true;
-        deviceChannel.onReceiveData += Data;
-        deviceChannel.onChannelResponse += ChannelResponse;
-
-        deviceChannel.hideRXFAIL = true;
-    }
-
-    //Deal with the received Data
-    private void Data(Byte[] data)
-    {
-        //SPEED
-        int measTime_speed = (data[4]) | data[5] << 8;
-        int revCount_speed = (data[6]) | data[7] << 8;
-
-
-        if (prevMeasTimeSpeed != 0 && measTime_speed != prevMeasTimeSpeed && prevMeasTimeSpeed < measTime_speed &&
-            prevRevCountSpeed < revCount_speed)
-        {
-            sensorData.Speed = (Config.wheelCircumference * (revCount_speed - prevRevCountSpeed) * 1024) /
-                               (measTime_speed - prevMeasTimeSpeed);
-            stopRevCounterSpeed = 0;
-        }
-        else
-            stopRevCounterSpeed++;
-
-        if (stopRevCounterSpeed >= 5)
-        {
-            stopRevCounterSpeed = 5;
-            sensorData.Speed = 0;
-        }
-
-
-        prevMeasTimeSpeed = measTime_speed;
-        prevRevCountSpeed = revCount_speed;
-
-        //DISTANCE
-        if (revCountZero == 0)
-            revCountZero = revCount_speed;
-
-        sensorData.Distance = Config.wheelCircumference * (revCount_speed - revCountZero);
-    }
-
-
-    void ChannelResponse(ANT_Response response)
-    {
-    }
-}

Assets/Scripts/Sensors/ANT/HrReceiver.cs

@@ -0,0 +1,106 @@
+using System;
+using System.Collections.Generic;
+using ANT_Managed_Library;
+using UnityEngine;
+
+namespace Sensors.ANT
+{
+    public struct HrSensorData
+    {
+        public float HeartRate;
+    }
+
+    public class HrReceiver
+    {
+        private AntChannel backgroundScanChannel;
+        private AntChannel deviceChannel;
+        private HrSensorData sensorData;
+
+        public int DeviceID { get; } = 0;
+        public bool Connected { get; private set; } = false;
+        public List<AntDevice> ScanResult { get; private set; }
+        public HrSensorData SensorData => sensorData;
+
+
+        public HrReceiver()
+        {
+        }
+
+        public HrReceiver(int deviceID) => this.DeviceID = deviceID;
+
+        //Start a background Scan to find the device
+        public void StartScan()
+        {
+            Debug.Log("Looking for ANT + HeartRate sensor");
+            AntManager.Instance.Init();
+            ScanResult = new List<AntDevice>();
+            backgroundScanChannel = AntManager.Instance.OpenBackgroundScanChannel(0);
+            backgroundScanChannel.onReceiveData += ReceivedBackgroundScanData;
+        }
+
+        void ReceivedBackgroundScanData(Byte[] data)
+        {
+            byte deviceType = (data[12]); // extended info Device Type byte
+
+            switch (deviceType)
+            {
+                case AntplusDeviceType.HeartRate:
+                {
+                    int deviceNumber = (data[10]) | data[11] << 8;
+                    byte transType = data[13];
+                    foreach (AntDevice d in ScanResult)
+                    {
+                        if (d.deviceNumber == deviceNumber && d.transType == transType) //device already found
+                            return;
+                    }
+
+                    AntDevice foundDevice = new AntDevice();
+                    foundDevice.deviceType = deviceType;
+                    foundDevice.deviceNumber = deviceNumber;
+                    foundDevice.transType = transType;
+                    foundDevice.period = 8070;
+                    foundDevice.radiofreq = 57;
+                    foundDevice.name = "heartrate(" + foundDevice.deviceNumber + ")";
+                    ScanResult.Add(foundDevice);
+                    if (deviceNumber == DeviceID)
+                    {
+                        Debug.Log($"Desired HR Sensor with id {deviceNumber} found!");
+                        ConnectToDevice(foundDevice);
+                    }
+                    else
+                    {
+                        Debug.Log($"HR sensor ({deviceNumber}) found and added to ScanResult");
+                    }
+
+                    break;
+                }
+            }
+        }
+
+        void ConnectToDevice(AntDevice device)
+        {
+            AntManager.Instance.CloseBackgroundScanChannel();
+            byte channelID = AntManager.Instance.GetFreeChannelID();
+            deviceChannel = AntManager.Instance.OpenChannel(ANT_ReferenceLibrary.ChannelType.BASE_Slave_Receive_0x00,
+                channelID, (ushort) device.deviceNumber, device.deviceType, device.transType, (byte) device.radiofreq,
+                (ushort) device.period, false);
+            Connected = true;
+            deviceChannel.onReceiveData += Data;
+            deviceChannel.onChannelResponse += ChannelResponse;
+
+            deviceChannel.hideRXFAIL = true;
+        }
+
+
+        //Deal with the received Data
+        private void Data(Byte[] data)
+        {
+            sensorData.HeartRate = (data[7]);
+        }
+
+
+        void ChannelResponse(ANT_Response response)
+        {
+        }
+    }
+}

Assets/Scripts/Sensors/ANT/PowerMeterReceiver.cs

@@ -0,0 +1,184 @@
+using System;
+using System.Collections.Generic;
+using ANT_Managed_Library;
+using UnityEngine;
+
+namespace Sensors.ANT
+{
+    /*
+
+    Frequencies such as 4.06 Hz (ANT+ Heart
+Rate) and 4.005 Hz (ANT+ Bike Power) will
+periodically “drift” into each other, or into
+other channel periods that may be present
+in the vicinity. During this overlap, channel
+collisions may occur as the radio can only
+service channel at a time. 
+*/
+
+    public struct PowermeterSensorData
+    {
+        public int InstantaneousPower; // the instantaneous power in watt
+        public int InstantaneousCadence; // crank cadence in RPM if available ( 255 indicates invalid)
+        public float CrankTorque;
+    }
+
+    public class PowerMeterReceiver
+    {
+        private AntChannel backgroundScanChannel;
+        private AntChannel deviceChannel;
+        private byte[] pageToSend;
+        private PowermeterSensorData sensorData;
+
+        public int DeviceID { get; } = 0;
+        public bool Connected { get; private set; } = false;
+        public List<AntDevice> ScanResult { get; private set; }
+        public PowermeterSensorData SensorData => sensorData;
+
+        public PowerMeterReceiver()
+        {
+        }
+
+        public PowerMeterReceiver(int deviceID) => DeviceID = deviceID;
+
+        public void StartScan()
+        {
+            Debug.Log("Looking for ANT + power meter sensor");
+
+            AntManager.Instance.Init();
+            ScanResult = new List<AntDevice>();
+            backgroundScanChannel = AntManager.Instance.OpenBackgroundScanChannel(0);
+            backgroundScanChannel.onReceiveData += ReceivedBackgroundScanData;
+        }
+
+
+        void ReceivedBackgroundScanData(Byte[] data)
+        {
+            byte deviceType = (data[12]); // extended info Device Type byte
+
+            switch (deviceType)
+            {
+                case AntplusDeviceType.BikePower:
+                {
+                    int deviceNumber = (data[10]) | data[11] << 8;
+                    byte transType = data[13];
+                    foreach (AntDevice d in ScanResult)
+                    {
+                        if (d.deviceNumber == deviceNumber && d.transType == transType) //device already found
+                            return;
+                    }
+
+                    AntDevice foundDevice = new AntDevice();
+                    foundDevice.deviceType = deviceType;
+                    foundDevice.deviceNumber = deviceNumber;
+                    foundDevice.transType = transType;
+                    foundDevice.period = 8182;
+                    foundDevice.radiofreq = 57;
+                    foundDevice.name = "Powermeter(" + foundDevice.deviceNumber + ")";
+                    ScanResult.Add(foundDevice);
+                    if (deviceNumber == DeviceID)
+                    {
+                        Debug.Log($"Desired Power Sensor with id {deviceNumber} found!");
+                        ConnectToDevice(foundDevice);
+                    }
+                    else
+                    {
+                        Debug.Log($"Power sensor ({deviceNumber}) found and added to ScanResult");
+                    }
+
+                    break;
+                }
+            }
+        }
+
+        void ConnectToDevice(AntDevice device)
+        {
+            AntManager.Instance.CloseBackgroundScanChannel();
+            byte channelID = AntManager.Instance.GetFreeChannelID();
+            deviceChannel = AntManager.Instance.OpenChannel(ANT_ReferenceLibrary.ChannelType.BASE_Slave_Receive_0x00,
+                channelID, (ushort) device.deviceNumber, device.deviceType, device.transType, (byte) device.radiofreq,
+                (ushort) device.period, false);
+            Connected = true;
+            deviceChannel.onReceiveData += Data;
+            deviceChannel.onChannelResponse += ChannelResponse;
+
+            deviceChannel.hideRXFAIL = true;
+        }
+
+        private readonly Dictionary<int, int> updateEventCount = new Dictionary<int, int> {{0x10, 0}, {0x12, 0}};
+
+        private readonly Dictionary<int, int> sameEventCounter = new Dictionary<int, int> {{0x10, 0}, {0x12, 0}};
+
+        private int previousAccumulatedTorqueValue = 0;
+        private int previousTorqueEventCount = 0;
+
+        //Deal with the received Data
+        private void Data(Byte[] data)
+        {
+            if (data[0] == 0x10) // Standard Power-Only Main Data Page
+            {
+                if (data[1] == updateEventCount[0x10])
+                    sameEventCounter[0x10]++;
+                else
+                    sameEventCounter[0x10] = 0;
+
+                updateEventCount[0x10] = data[1];
+
+                if (sameEventCounter[0x10] > 3)
+                {
+                    sensorData.InstantaneousPower = 0;
+                    sensorData.InstantaneousCadence = 0;
+                }
+                else
+                {
+                    sensorData.InstantaneousPower = data[6] | data[7] << 8;
+                    sensorData.InstantaneousCadence = data[3];
+                }
+            }
+
+            if (data[0] == 0x12) // Standard Crank Torque Main Data Page
+            {
+                Debug.Log($"Torque Data {data}");
+                if (data[1] == updateEventCount[0x12])
+                    sameEventCounter[0x12]++;
+                else
+                    sameEventCounter[0x12] = 0;
+
+                updateEventCount[0x12] = data[1];
+
+                if (sameEventCounter[0x12] > 3)
+                {
+                    sensorData.CrankTorque = 0;
+                }
+                else
+                {
+                    int accumulatedTorque = data[6] | data[7] << 8;
+                    float divisor = (32 * (updateEventCount[0x12] - previousTorqueEventCount));
+                    if (divisor > 0)
+                    {
+                        sensorData.CrankTorque = (accumulatedTorque - previousAccumulatedTorqueValue) / divisor;
+                    }
+                    previousAccumulatedTorqueValue = accumulatedTorque;
+                    previousTorqueEventCount = updateEventCount[0x12];
+                }
+            }
+        }
+
+
+        public void Calibrate()
+        {
+            Debug.Log("Sending : Manual Zero Calibration request");
+            pageToSend = new byte[8] {0x01, 0xAA, 0x0FF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
+
+            deviceChannel.sendAcknowledgedData(pageToSend);
+        }
+
+        void ChannelResponse(ANT_Response response)
+        {
+            if (response.getChannelEventCode() == ANT_ReferenceLibrary.ANTEventID.EVENT_TRANSFER_TX_FAILED_0x06)
+            {
+                deviceChannel.sendAcknowledgedData(pageToSend); //send the page again if the transfer failed
+            }
+        }
+    }
+}

Assets/Scripts/Sensors/ANT/SpeedSensorReceiver.cs

@@ -0,0 +1,160 @@
+using System;
+using System.Collections.Generic;
+using ANT_Managed_Library;
+using UnityEngine;
+
+namespace Sensors.ANT
+{
+    [System.Serializable]
+    public struct SpeedSensorConfig
+    {
+        public int deviceId;
+        public float wheelCircumference;
+
+        public SpeedSensorConfig(int deviceId = 0, float wheelCircumference = 2.096f)
+        {
+            this.deviceId = deviceId;
+            this.wheelCircumference = wheelCircumference;
+        }
+    }
+
+    public struct SpeedSensorData
+    {
+        public float Speed;
+        public float SpeedKmh => Speed * 3.6f;
+        public float Distance;
+    }
+
+    public class SpeedSensorReceiver
+    {
+        private AntChannel backgroundScanChannel;
+        private AntChannel deviceChannel;
+
+        private int stopRevCounterSpeed = 0;
+        private int prevMeasTimeSpeed = 0;
+        private int prevRevCountSpeed = 0;
+        private int revCountZero = 0;
+        private SpeedSensorData sensorData;
+
+        public SpeedSensorConfig Config { get; }
+        public bool Connected { get; private set; }
+        public List<AntDevice> ScanResult { get; private set; }
+        public SpeedSensorData SensorData => sensorData;
+
+        public SpeedSensorReceiver()
+        {
+        }
+
+        public SpeedSensorReceiver(SpeedSensorConfig config) => this.Config = config;
+
+        public SpeedSensorReceiver(int deviceId) => Config = new SpeedSensorConfig(deviceId);
+
+        public SpeedSensorReceiver(int deviceId, float wheelCircumference) =>
+            Config = new SpeedSensorConfig(deviceId, wheelCircumference);
+
+        //Start a background Scan to find the device
+        public void StartScan()
+        {
+            Debug.Log("Looking for ANT + Speed sensor");
+            AntManager.Instance.Init();
+            ScanResult = new List<AntDevice>();
+            backgroundScanChannel = AntManager.Instance.OpenBackgroundScanChannel(0);
+            backgroundScanChannel.onReceiveData += ReceivedBackgroundScanData;
+        }
+
+        //If the device is found
+        void ReceivedBackgroundScanData(Byte[] data)
+        {
+            byte deviceType = (data[12]); // extended info Device Type byte
+
+            switch (deviceType)
+            {
+                case AntplusDeviceType.BikeSpeed:
+                {
+                    int deviceNumber = (data[10]) | data[11] << 8;
+                    byte transType = data[13];
+                    foreach (AntDevice d in ScanResult)
+                    {
+                        if (d.deviceNumber == deviceNumber && d.transType == transType) //device already found
+                            return;
+                    }
+
+
+                    AntDevice foundDevice = new AntDevice();
+                    foundDevice.deviceType = deviceType;
+                    foundDevice.deviceNumber = deviceNumber;
+                    foundDevice.transType = transType;
+                    foundDevice.period = 8118;
+                    foundDevice.radiofreq = 57;
+                    foundDevice.name = "BikeSpeed(" + foundDevice.deviceNumber + ")";
+                    ScanResult.Add(foundDevice);
+                    if (deviceNumber == Config.deviceId)
+                    {
+                        Debug.Log($"Desired Speed Sensor with id {deviceNumber} found!");
+                        ConnectToDevice(foundDevice);
+                    }
+                    else
+                    {
+                        Debug.Log($"Speed sensor ({deviceNumber}) found and added to ScanResult");
+                    }
+
+                    break;
+                }
+            }
+        }
+
+        void ConnectToDevice(AntDevice device)
+        {
+            AntManager.Instance.CloseBackgroundScanChannel();
+            byte channelID = AntManager.Instance.GetFreeChannelID();
+            deviceChannel = AntManager.Instance.OpenChannel(ANT_ReferenceLibrary.ChannelType.BASE_Slave_Receive_0x00,
+                channelID, (ushort) device.deviceNumber, device.deviceType, device.transType, (byte) device.radiofreq,
+                (ushort) device.period, false);
+            Connected = true;
+            deviceChannel.onReceiveData += Data;
+            deviceChannel.onChannelResponse += ChannelResponse;
+
+            deviceChannel.hideRXFAIL = true;
+        }
+
+        //Deal with the received Data
+        private void Data(Byte[] data)
+        {
+            //SPEED
+            int measTime_speed = (data[4]) | data[5] << 8;
+            int revCount_speed = (data[6]) | data[7] << 8;
+
+
+            if (prevMeasTimeSpeed != 0 && measTime_speed != prevMeasTimeSpeed && prevMeasTimeSpeed < measTime_speed &&
+                prevRevCountSpeed < revCount_speed)
+            {
+                sensorData.Speed = (Config.wheelCircumference * (revCount_speed - prevRevCountSpeed) * 1024) /
+                                   (measTime_speed - prevMeasTimeSpeed);
+                stopRevCounterSpeed = 0;
+            }
+            else
+                stopRevCounterSpeed++;
+
+            if (stopRevCounterSpeed >= 5)
+            {
+                stopRevCounterSpeed = 5;
+                sensorData.Speed = 0;
+            }
+
+
+            prevMeasTimeSpeed = measTime_speed;
+            prevRevCountSpeed = revCount_speed;
+
+            //DISTANCE
+            if (revCountZero == 0)
+                revCountZero = revCount_speed;
+
+            sensorData.Distance = Config.wheelCircumference * (revCount_speed - revCountZero);
+        }
+
+
+        void ChannelResponse(ANT_Response response)
+        {
+        }
+    }
+}

Assets/Scripts/Sensors/BikeSensorData.cs

@@ -1,95 +1,98 @@
 using System;
-using System.Configuration;
 using System.Data;
 using System.Threading.Tasks;
 using JetBrains.Annotations;
+using Sensors.ANT;
+using Sensors.Polar;
 
-
-public sealed class BikeSensorData
+namespace Sensors
 {
-    #region signleton
-
-    private static readonly Lazy<BikeSensorData>
-        lazy =
-            new Lazy<BikeSensorData>
-                (() => new BikeSensorData());
+    public sealed class BikeSensorData
+    {
+        #region signleton
 
-    public static BikeSensorData Instance => lazy.Value;
+        private static readonly Lazy<BikeSensorData>
+            lazy =
+                new Lazy<BikeSensorData>
+                    (() => new BikeSensorData());
 
-    #endregion
+        public static BikeSensorData Instance => lazy.Value;
 
-    [CanBeNull] private PowerMeterReceiver powerMeterReceiver;
-    [CanBeNull] private SpeedSensorReceiver speedSensorReceiver;
-    [CanBeNull] private HrReceiver hrReceiver;
-    [CanBeNull] private PolarReceiver polarReceiver;
+        #endregion
 
-    public SpeedSensorData? SpeedData => speedSensorReceiver?.SensorData;
-    public PowermeterSensorData? PowermeterData => powerMeterReceiver?.SensorData;
-    public HRSensorData? HrData => hrReceiver?.SensorData;
-    public PolarSensorData? PolarData => polarReceiver?.SensorData;
+        [CanBeNull] private PowerMeterReceiver powerMeterReceiver;
+        [CanBeNull] private SpeedSensorReceiver speedSensorReceiver;
+        [CanBeNull] private HrReceiver hrReceiver;
+        [CanBeNull] private PolarReceiver polarReceiver;
 
-    private BikeSensorData()
-    {
-    }
+        public SpeedSensorData? SpeedData => speedSensorReceiver?.SensorData;
+        public PowermeterSensorData? PowermeterData => powerMeterReceiver?.SensorData;
+        public HrSensorData? HrData => hrReceiver?.SensorData;
+        public PolarSensorData? PolarData => polarReceiver?.SensorData;
 
-    public async Task StartListening(SpeedSensorConfig? speedSensorConfig = null,
-        PolarSensorConfig? polarSensorConfig = null, int? powermeterId = null, int? hrAntId = null)
-    {
-        if (speedSensorConfig != null)
+        private BikeSensorData()
         {
-            if(speedSensorReceiver != null)
-            {
-                throw new InvalidConstraintException(
-                    "BikeSensorData: Already listening to Speed Sensor");
-            }
-            speedSensorReceiver = new SpeedSensorReceiver(speedSensorConfig.Value);
-            speedSensorReceiver.StartScan();
         }
 
-        if (hrAntId != null)
+        public async Task StartListening(SpeedSensorConfig? speedSensorConfig = null,
+            PolarSensorConfig? polarSensorConfig = null, int? powermeterId = null, int? hrAntId = null)
         {
-            if(hrReceiver != null)
+            if (speedSensorConfig != null)
             {
-                throw new InvalidConstraintException(
-                    "BikeSensorData: Already listening to HR Sensor");
+                if(speedSensorReceiver != null)
+                {
+                    throw new InvalidConstraintException(
+                        "BikeSensorData: Already listening to Speed Sensor");
+                }
+                speedSensorReceiver = new SpeedSensorReceiver(speedSensorConfig.Value);
+                speedSensorReceiver.StartScan();
             }
-            hrReceiver = new HrReceiver(hrAntId.Value);
-            hrReceiver.StartScan();
+
+            if (hrAntId != null)
+            {
+                if(hrReceiver != null)
+                {
+                    throw new InvalidConstraintException(
+                        "BikeSensorData: Already listening to HR Sensor");
+                }
+                hrReceiver = new HrReceiver(hrAntId.Value);
+                hrReceiver.StartScan();
             
-        }
+            }
 
-        if (powermeterId != null)
-        {
-            if (powerMeterReceiver != null)
+            if (powermeterId != null)
             {
-                throw new InvalidConstraintException(
-                    "BikeSensorData: Already listening to Power Sensor");
+                if (powerMeterReceiver != null)
+                {
+                    throw new InvalidConstraintException(
+                        "BikeSensorData: Already listening to Power Sensor");
+                }
+                powerMeterReceiver = new PowerMeterReceiver(powermeterId.Value);
+                powerMeterReceiver.StartScan();
             }
-            powerMeterReceiver = new PowerMeterReceiver(powermeterId.Value);
-            powerMeterReceiver.StartScan();
-        }
 
-        if (polarSensorConfig != null)
-        {
-            if (polarReceiver != null)
+            if (polarSensorConfig != null)
             {
-                throw new InvalidConstraintException(
-                    "BikeSensorData: Already listening to Polar Sensor");
+                if (polarReceiver != null)
+                {
+                    throw new InvalidConstraintException(
+                        "BikeSensorData: Already listening to Polar Sensor");
+                }
+                polarReceiver = new PolarReceiver(polarSensorConfig.Value); //automatically starts listening
+                await polarReceiver.StartListening();
             }
-            polarReceiver = new PolarReceiver(polarSensorConfig.Value); //automatically starts listening
-            await polarReceiver.StartListening();
-        }
         
-    }
+        }
 
-    public void Dispose()
-    {
-        polarReceiver?.Dispose();
-        //TODO: also dispose ANT sensors?
+        public void Dispose()
+        {
+            polarReceiver?.Dispose();
+            //TODO: also dispose ANT sensors?
 
-        polarReceiver = null;
-        speedSensorReceiver = null;
-        powerMeterReceiver = null;
-        hrReceiver = null;
+            polarReceiver = null;
+            speedSensorReceiver = null;
+            powerMeterReceiver = null;
+            hrReceiver = null;
+        }
     }
 }

Assets/Scripts/Sensors/Polar/PolarAccData.cs

@@ -1,32 +1,33 @@
 using System;
-using System.Collections;
 using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;
-using Valve.VR.InteractionSystem;
 
-public struct AccData
+namespace Sensors.Polar
 {
-    public long Timestamp { get; }
-    public List<Vector3> Values { get; }
-
-    AccData(long timestamp, List<Vector3> values)
+    public readonly struct AccData
     {
-        this.Timestamp = timestamp;
-        this.Values = values;
-    }
+        public long Timestamp { get; }
+        public List<Vector3> Values { get; }
 
-    public static AccData FromString(string s)
-    {
-        var data = s.Split(';');
-        if (data.Length == 2)
+        AccData(long timestamp, List<Vector3> values)
         {
-            var t = long.Parse(data[0]);
-            var tupleStrings = data[1].Split(',').Select(item => item.Replace("(", "").Replace(")", ""));
-            var floats = tupleStrings.Select(s1 => s1.Split('/').Select(value => float.Parse(value)).ToList()).ToList();
-            return new AccData(t, floats.Select(a => new Vector3(a[0], a[1], a[2])).ToList());
+            this.Timestamp = timestamp;
+            this.Values = values;
         }
 
-        throw new FormatException("AccData String has wrong format");
+        public static AccData FromString(string s)
+        {
+            var data = s.Split(';');
+            if (data.Length == 2)
+            {
+                var t = long.Parse(data[0]);
+                var tupleStrings = data[1].Split(',').Select(item => item.Replace("(", "").Replace(")", ""));
+                var floats = tupleStrings.Select(s1 => s1.Split('/').Select(value => float.Parse(value)).ToList()).ToList();
+                return new AccData(t, floats.Select(a => new Vector3(a[0], a[1], a[2])).ToList());
+            }
+
+            throw new FormatException("AccData String has wrong format");
+        }
     }
 }

Assets/Scripts/Sensors/Polar/PolarEcgData.cs

@@ -1,31 +1,31 @@
 using System;
-using System.Collections;
 using System.Collections.Generic;
 using System.Linq;
-using UnityEngine;
-using Valve.VR.InteractionSystem;
 
-public struct EcgData
+namespace Sensors.Polar
 {
-    public long Timestamp { get; }
-    public List<float> Values { get; }
-
-    EcgData(long timestamp, List<float> values)
+    public readonly struct EcgData
     {
-        Timestamp = timestamp;
-        Values = values;
-    }
+        public long Timestamp { get; }
+        public List<float> Values { get; }
 
-    public static EcgData FromString(string s)
-    {
-        var data = s.Split(';');
-        if (data.Length == 2)
+        EcgData(long timestamp, List<float> values)
         {
-            var t = long.Parse(data[0]);
-            var values = data[1].Split(',').Select(value => float.Parse(value)).ToList();
-            return new EcgData(t, values);
+            Timestamp = timestamp;
+            Values = values;
         }
 
-        throw new FormatException("EcgData String has wrong format");
+        public static EcgData FromString(string s)
+        {
+            var data = s.Split(';');
+            if (data.Length == 2)
+            {
+                var t = long.Parse(data[0]);
+                var values = data[1].Split(',').Select(value => float.Parse(value)).ToList();
+                return new EcgData(t, values);
+            }
+
+            throw new FormatException("EcgData String has wrong format");
+        }
     }
 }

Assets/Scripts/Sensors/Polar/PolarReceiver.cs

@@ -5,161 +5,164 @@ using Plotting;
 using UnityEngine;
 using UnityEngine.Serialization;
 
-[System.Serializable]
-public struct PolarSensorConfig
+namespace Sensors.Polar
 {
-    public int port;
-    public String ipAddress;
-    public bool plotAcc;
-    public bool plotEcg;
-    public int accSampleRate; //TODO: let user choose between 25, 50, 100, 200
-
-    public PolarSensorConfig(int port = 9099, string ipAddress = "0.0.0.0", bool plotAcc = false, bool plotEcg = false,
-        int accSampleRate = 25)
+    [System.Serializable]
+    public struct PolarSensorConfig
     {
-        this.port = port;
-        this.ipAddress = ipAddress;
-        this.plotAcc = plotAcc;
-        this.plotEcg = plotEcg;
-        this.accSampleRate = accSampleRate;
+        public int port;
+        public String ipAddress;
+        public bool plotAcc;
+        public bool plotEcg;
+        public int accSampleRate; //TODO: let user choose between 25, 50, 100, 200
+
+        public PolarSensorConfig(int port = 9099, string ipAddress = "0.0.0.0", bool plotAcc = false, bool plotEcg = false,
+            int accSampleRate = 25)
+        {
+            this.port = port;
+            this.ipAddress = ipAddress;
+            this.plotAcc = plotAcc;
+            this.plotEcg = plotEcg;
+            this.accSampleRate = accSampleRate;
+        }
     }
-}
-
-public struct PolarSensorData
-{
-    public Vector3 Acc;
-    public float EcgValue;
-}
 
-public struct TimeSync
-{
-    public DateTime StartTime;
-    public long DifStartAccStart;
-    public long DifStartEcgStart;
-}
-
-public class PolarReceiver
-{
-    private UdpConnection connection;
-    private PolarSensorData sensorData;
+    public struct PolarSensorData
+    {
+        public Vector3 Acc;
+        public float EcgValue;
+    }
 
-    public PolarSensorConfig SensorConfig { get; private set; }
-    public PolarSensorData SensorData => sensorData;
+    public struct TimeSync
+    {
+        public DateTime StartTime;
+        public long DifStartAccStart;
+        public long DifStartEcgStart;
+    }
 
-    private PlotFileWriter ecgPlotFile;
-    private PlotFileWriter accPlotFile;
+    public class PolarReceiver
+    {
+        private UdpConnection connection;
+        private PolarSensorData sensorData;
 
-    private static long startTimeAcc = -1;
-    private static long startTimeEcg = -1;
+        public PolarSensorConfig SensorConfig { get; private set; }
+        public PolarSensorData SensorData => sensorData;
 
-    private static TimeSync timeSync;
-    private const int ECG_SAMPLE_RATE = 130;
+        private PlotFileWriter ecgPlotFile;
+        private PlotFileWriter accPlotFile;
 
+        private static long startTimeAcc = -1;
+        private static long startTimeEcg = -1;
 
-    [RuntimeInitializeOnLoadMethod(RuntimeInitializeLoadType.BeforeSceneLoad)]
-    private static void InitTime()
-    {
-        timeSync = new TimeSync {StartTime = DateTime.Now, DifStartAccStart = -1, DifStartEcgStart = -1};
-    }
+        private static TimeSync timeSync;
+        private const int ECG_SAMPLE_RATE = 130;
 
-    public PolarReceiver(PolarSensorConfig config)
-    {
-        SensorConfig = config;
-    }
 
-    public async Task StartListening()
-    {
-        if (SensorConfig.plotAcc)
+        [RuntimeInitializeOnLoadMethod(RuntimeInitializeLoadType.BeforeSceneLoad)]
+        private static void InitTime()
         {
-            accPlotFile = DebugPlot.Instance.StartPlotting("Assets/Plotting/plots/acc.tsv");
-            await accPlotFile.WriteDataLine("timestamp", new[] {"x", "y", "z"});
+            timeSync = new TimeSync {StartTime = DateTime.Now, DifStartAccStart = -1, DifStartEcgStart = -1};
         }
 
-        if (SensorConfig.plotEcg)
+        public PolarReceiver(PolarSensorConfig config)
         {
-            ecgPlotFile = DebugPlot.Instance.StartPlotting("Assets/Plotting/plots/ecg.tsv");
-            await ecgPlotFile.WriteDataLine("timestamp", new[] {"voltage"});
+            SensorConfig = config;
         }
 
-        if (SensorConfig.plotAcc || SensorConfig.plotEcg)
+        public async Task StartListening()
         {
-            DebugPlot.Instance.ShowPlots();
-        }
+            if (SensorConfig.plotAcc)
+            {
+                accPlotFile = DebugPlot.Instance.StartPlotting("Assets/Plotting/plots/acc.tsv");
+                await accPlotFile.WriteDataLine("timestamp", new[] {"x", "y", "z"});
+            }
 
-        connection = new UdpConnection(SensorConfig.ipAddress, SensorConfig.port, OnAccData, OnEcgData);
-        connection.Listen();
-    }
+            if (SensorConfig.plotEcg)
+            {
+                ecgPlotFile = DebugPlot.Instance.StartPlotting("Assets/Plotting/plots/ecg.tsv");
+                await ecgPlotFile.WriteDataLine("timestamp", new[] {"voltage"});
+            }
 
-    public void Dispose()
-    {
-        connection.StopListening();
-        DebugPlot.DestroyInstance();
-    }
+            if (SensorConfig.plotAcc || SensorConfig.plotEcg)
+            {
+                DebugPlot.Instance.ShowPlots();
+            }
 
-    private async void OnAccData(AccData data)
-    {
-        if (timeSync.DifStartAccStart < 0)
-        {
-            timeSync.DifStartAccStart = (long) (DateTime.Now - timeSync.StartTime).TotalMilliseconds;
+            connection = new UdpConnection(SensorConfig.ipAddress, SensorConfig.port, OnAccData, OnEcgData);
+            connection.Listen();
         }
 
-        Debug.Log($"#ACC DATA items: {data.Values.Count}");
-        await Task.WhenAll(UpdateSensorDataForAcc(data), PlotAcc(data));
-    }
-
-    private async Task PlotAcc(AccData data)
-    {
-        if (startTimeAcc < 0)
+        public void Dispose()
         {
-            startTimeAcc = data.Timestamp;
+            connection.StopListening();
+            DebugPlot.DestroyInstance();
         }
 
-        if (SensorConfig.plotAcc)
+        private async void OnAccData(AccData data)
         {
-            var internalTimestamp =
-                (data.Timestamp - startTimeAcc) / 1000000;
-            var timestamp = internalTimestamp + timeSync.DifStartAccStart;
-            foreach (var item in data.Values)
+            if (timeSync.DifStartAccStart < 0)
             {
-                await accPlotFile.WriteDataLine(timestamp, new[] {item.x, item.y, item.z});
-                timestamp += 1000 / SensorConfig.accSampleRate;
+                timeSync.DifStartAccStart = (long) (DateTime.Now - timeSync.StartTime).TotalMilliseconds;
             }
-        }
-    }
 
-    private async Task UpdateSensorDataForAcc(AccData data)
-    {
-        foreach (var item in data.Values)
-        {
-            sensorData.Acc = item;
-            await Task.Delay(1000 / SensorConfig.accSampleRate);
+            Debug.Log($"#ACC DATA items: {data.Values.Count}");
+            await Task.WhenAll(UpdateSensorDataForAcc(data), PlotAcc(data));
         }
-    }
 
-    private async void OnEcgData(EcgData data)
-    {
-        if (timeSync.DifStartEcgStart < 0)
+        private async Task PlotAcc(AccData data)
         {
-            timeSync.DifStartEcgStart = (long) (DateTime.Now - timeSync.StartTime).TotalMilliseconds;
-        }
+            if (startTimeAcc < 0)
+            {
+                startTimeAcc = data.Timestamp;
+            }
 
-        if (startTimeEcg < 0)
-        {
-            startTimeEcg = data.Timestamp;
+            if (SensorConfig.plotAcc)
+            {
+                var internalTimestamp =
+                    (data.Timestamp - startTimeAcc) / 1000000;
+                var timestamp = internalTimestamp + timeSync.DifStartAccStart;
+                foreach (var item in data.Values)
+                {
+                    await accPlotFile.WriteDataLine(timestamp, new[] {item.x, item.y, item.z});
+                    timestamp += 1000 / SensorConfig.accSampleRate;
+                }
+            }
         }
 
-        if (SensorConfig.plotEcg)
+        private async Task UpdateSensorDataForAcc(AccData data)
         {
-            var internalTimestamp =
-                (data.Timestamp - startTimeEcg) / 1000000;
-            var timestamp = internalTimestamp + timeSync.DifStartEcgStart;
             foreach (var item in data.Values)
             {
-                await ecgPlotFile.WriteDataLine(timestamp, new[] {item});
-                timestamp += 1000 / ECG_SAMPLE_RATE;
+                sensorData.Acc = item;
+                await Task.Delay(1000 / SensorConfig.accSampleRate);
             }
         }
 
-        sensorData.EcgValue = data.Values[0]; //TODO
+        private async void OnEcgData(EcgData data)
+        {
+            if (timeSync.DifStartEcgStart < 0)
+            {
+                timeSync.DifStartEcgStart = (long) (DateTime.Now - timeSync.StartTime).TotalMilliseconds;
+            }
+
+            if (startTimeEcg < 0)
+            {
+                startTimeEcg = data.Timestamp;
+            }
+
+            if (SensorConfig.plotEcg)
+            {
+                var internalTimestamp =
+                    (data.Timestamp - startTimeEcg) / 1000000;
+                var timestamp = internalTimestamp + timeSync.DifStartEcgStart;
+                foreach (var item in data.Values)
+                {
+                    await ecgPlotFile.WriteDataLine(timestamp, new[] {item});
+                    timestamp += 1000 / ECG_SAMPLE_RATE;
+                }
+            }
+
+            sensorData.EcgValue = data.Values[0]; //TODO
+        }
     }
 }

Assets/Scripts/Sensors/Polar/UdpConnection.cs

@@ -1,62 +1,63 @@
 using System;
-using System.Collections.Generic;
 using System.Net;
 using System.Net.Sockets;
 using System.Text;
-using System.Threading;
 using System.Threading.Tasks;
 using UnityEngine;
 
-public class UdpConnection
+namespace Sensors.Polar
 {
-    //public int port = 9090;
-    //public String ipAddress = "192.168.1.7";
+    public class UdpConnection
+    {
+        //public int port = 9090;
+        //public String ipAddress = "192.168.1.7";
 
-    private UdpClient client;
+        private UdpClient client;
 
-    private bool listening = false;
-    private Action<AccData> onAccData;
-    private Action<EcgData> onEcgData;
+        private bool listening = false;
+        private Action<AccData> onAccData;
+        private Action<EcgData> onEcgData;
 
-    public UdpConnection(String ipAddress, int port, Action<AccData> onAccData, Action<EcgData> onEcgData)
-    {
-        this.onAccData = onAccData;
-        this.onEcgData = onEcgData;
-        client = new UdpClient(new IPEndPoint(IPAddress.Parse(ipAddress), port));
-    }
-
-    public void Listen() => Task.Run(async () =>
-    {
-        listening = true;
-        while (listening)
+        public UdpConnection(String ipAddress, int port, Action<AccData> onAccData, Action<EcgData> onEcgData)
         {
-            var result = await client.ReceiveAsync();
-            String receivedStr = Encoding.UTF8.GetString(result.Buffer);
+            this.onAccData = onAccData;
+            this.onEcgData = onEcgData;
+            client = new UdpClient(new IPEndPoint(IPAddress.Parse(ipAddress), port));
+        }
 
-            var data = receivedStr.Split(':');
-            if (data.Length == 2)
+        public void Listen() => Task.Run(async () =>
+        {
+            listening = true;
+            while (listening)
             {
-                var name = data[0];
-                if (name.Equals("ACC"))
-                {
-                    onAccData(AccData.FromString(data[1]));
-                }else if (name.Equals("ECG"))
-                {
-                    onEcgData(EcgData.FromString(data[1]));
-                }else if (name.Equals("HR"))
+                var result = await client.ReceiveAsync();
+                String receivedStr = Encoding.UTF8.GetString(result.Buffer);
+
+                var data = receivedStr.Split(':');
+                if (data.Length == 2)
                 {
-                    //TODO
-                }
+                    var name = data[0];
+                    if (name.Equals("ACC"))
+                    {
+                        onAccData(AccData.FromString(data[1]));
+                    }else if (name.Equals("ECG"))
+                    {
+                        onEcgData(EcgData.FromString(data[1]));
+                    }else if (name.Equals("HR"))
+                    {
+                        //TODO
+                    }
                 
-            }
+                }
             
-            Debug.Log($"RECEIVED DATA VIA UDP: {receivedStr}");
-        }
-    });
+                Debug.Log($"RECEIVED DATA VIA UDP: {receivedStr}");
+            }
+        });
 
-    public void StopListening()
-    {
-        listening = false;
-    }
+        public void StopListening()
+        {
+            listening = false;
+        }
     
+    }
 }

Assets/Scripts/SimpleCameraController.cs

@@ -1,182 +0,0 @@
-#if ENABLE_INPUT_SYSTEM && ENABLE_INPUT_SYSTEM_PACKAGE
-#define USE_INPUT_SYSTEM
-    using UnityEngine.InputSystem;
-    using UnityEngine.InputSystem.Controls;
-#endif
-
-using UnityEngine;
-
-namespace UnityTemplateProjects
-{
-    public class SimpleCameraController : MonoBehaviour
-    {
-        class CameraState
-        {
-            public float yaw;
-            public float pitch;
-            public float roll;
-            public float x;
-            public float y;
-            public float z;
-
-            public void SetFromTransform(Transform t)
-            {
-                pitch = t.eulerAngles.x;
-                yaw = t.eulerAngles.y;
-                roll = t.eulerAngles.z;
-                x = t.position.x;
-                y = t.position.y;
-                z = t.position.z;
-            }
-
-            public void Translate(Vector3 translation)
-            {
-                Vector3 rotatedTranslation = Quaternion.Euler(pitch, yaw, roll) * translation;
-
-                x += rotatedTranslation.x;
-                y += rotatedTranslation.y;
-                z += rotatedTranslation.z;
-            }
-
-            public void LerpTowards(CameraState target, float positionLerpPct, float rotationLerpPct)
-            {
-                yaw = Mathf.Lerp(yaw, target.yaw, rotationLerpPct);
-                pitch = Mathf.Lerp(pitch, target.pitch, rotationLerpPct);
-                roll = Mathf.Lerp(roll, target.roll, rotationLerpPct);
-                
-                x = Mathf.Lerp(x, target.x, positionLerpPct);
-                y = Mathf.Lerp(y, target.y, positionLerpPct);
-                z = Mathf.Lerp(z, target.z, positionLerpPct);
-            }
-
-            public void UpdateTransform(Transform t)
-            {
-                t.eulerAngles = new Vector3(pitch, yaw, roll);
-                t.position = new Vector3(x, y, z);
-            }
-        }
-        
-        CameraState m_TargetCameraState = new CameraState();
-        CameraState m_InterpolatingCameraState = new CameraState();
-
-        [Header("Movement Settings")]
-        [Tooltip("Exponential boost factor on translation, controllable by mouse wheel.")]
-        public float boost = 3.5f;
-
-        [Tooltip("Time it takes to interpolate camera position 99% of the way to the target."), Range(0.001f, 1f)]
-        public float positionLerpTime = 0.2f;
-
-        [Header("Rotation Settings")]
-        [Tooltip("X = Change in mouse position.\nY = Multiplicative factor for camera rotation.")]
-        public AnimationCurve mouseSensitivityCurve = new AnimationCurve(new Keyframe(0f, 0.5f, 0f, 5f), new Keyframe(1f, 2.5f, 0f, 0f));
-
-        [Tooltip("Time it takes to interpolate camera rotation 99% of the way to the target."), Range(0.001f, 1f)]
-        public float rotationLerpTime = 0.01f;
-
-        [Tooltip("Whether or not to invert our Y axis for mouse input to rotation.")]
-        public bool invertY = false;
-
-        void OnEnable()
-        {
-            m_TargetCameraState.SetFromTransform(transform);
-            m_InterpolatingCameraState.SetFromTransform(transform);
-        }
-
-        Vector3 GetInputTranslationDirection()
-        {
-            Vector3 direction = new Vector3();
-            if (Input.GetKey(KeyCode.W))
-            {
-                direction += Vector3.forward;
-            }
-            if (Input.GetKey(KeyCode.S))
-            {
-                direction += Vector3.back;
-            }
-            if (Input.GetKey(KeyCode.A))
-            {
-                direction += Vector3.left;
-            }
-            if (Input.GetKey(KeyCode.D))
-            {
-                direction += Vector3.right;
-            }
-            if (Input.GetKey(KeyCode.Q))
-            {
-                direction += Vector3.down;
-            }
-            if (Input.GetKey(KeyCode.E))
-            {
-                direction += Vector3.up;
-            }
-            return direction;
-        }
-        
-        void Update()
-        {
-            Vector3 translation = Vector3.zero;
-
-#if ENABLE_LEGACY_INPUT_MANAGER
-
-            // Exit Sample  
-            if (Input.GetKey(KeyCode.Escape))
-            {
-                Application.Quit();
-				#if UNITY_EDITOR
-				UnityEditor.EditorApplication.isPlaying = false; 
-				#endif
-            }
-            // Hide and lock cursor when right mouse button pressed
-            if (Input.GetMouseButtonDown(1))
-            {
-                Cursor.lockState = CursorLockMode.Locked;
-            }
-
-            // Unlock and show cursor when right mouse button released
-            if (Input.GetMouseButtonUp(1))
-            {
-                Cursor.visible = true;
-                Cursor.lockState = CursorLockMode.None;
-            }
-
-            // Rotation
-            if (Input.GetMouseButton(1))
-            {
-                var mouseMovement = new Vector2(Input.GetAxis("Mouse X"), Input.GetAxis("Mouse Y") * (invertY ? 1 : -1));
-                
-                var mouseSensitivityFactor = mouseSensitivityCurve.Evaluate(mouseMovement.magnitude);
-
-                m_TargetCameraState.yaw += mouseMovement.x * mouseSensitivityFactor;
-                m_TargetCameraState.pitch += mouseMovement.y * mouseSensitivityFactor;
-            }
-            
-            // Translation
-            translation = GetInputTranslationDirection() * Time.deltaTime;
-
-            // Speed up movement when shift key held
-            if (Input.GetKey(KeyCode.LeftShift))
-            {
-                translation *= 10.0f;
-            }
-
-            // Modify movement by a boost factor (defined in Inspector and modified in play mode through the mouse scroll wheel)
-            boost += Input.mouseScrollDelta.y * 0.2f;
-            translation *= Mathf.Pow(2.0f, boost);
-
-#elif USE_INPUT_SYSTEM 
-            // TODO: make the new input system work
-#endif
-
-            m_TargetCameraState.Translate(translation);
-
-            // Framerate-independent interpolation
-            // Calculate the lerp amount, such that we get 99% of the way to our target in the specified time
-            var positionLerpPct = 1f - Mathf.Exp((Mathf.Log(1f - 0.99f) / positionLerpTime) * Time.deltaTime);
-            var rotationLerpPct = 1f - Mathf.Exp((Mathf.Log(1f - 0.99f) / rotationLerpTime) * Time.deltaTime);
-            m_InterpolatingCameraState.LerpTowards(m_TargetCameraState, positionLerpPct, rotationLerpPct);
-
-            m_InterpolatingCameraState.UpdateTransform(transform);
-        }
-    }
-
-}

Assets/Scripts/SimpleCameraController.cs.meta

@@ -1,11 +0,0 @@
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Assets/Scripts/Tracking.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: e17b357bb50142a4942b63b7528977fd
+timeCreated: 1607498996

Assets/Scripts/Tracking/FrontWheelTracker.cs

@@ -0,0 +1,85 @@
+using System;
+using UnityEngine;
+
+namespace Tracking
+{
+    public class FrontWheelTracker : MonoBehaviour
+    {
+        private const String KEY_POS_X = "vive_tracker_pos_x";
+        private const String KEY_POS_Y = "vive_tracker_pos_y";
+        private const String KEY_POS_Z = "vive_tracker_pos_z";
+        private const String KEY_ROT_X = "vive_tracker_rot_x";
+        private const String KEY_ROT_Y = "vive_tracker_rot_y";
+        private const String KEY_ROT_Z = "vive_tracker_rot_z";
+
+        private Transform trackerTransform;
+        private Vector3 zeroRot;
+        private Vector3 zeroPos;
+
+        public Vector3 Rotation
+        {
+            get
+            {
+                var newVal = trackerTransform.localRotation.eulerAngles - zeroRot;
+                var x = newVal.x;
+                var y = newVal.y;
+                var z = newVal.z;
+                if (x > 180) x = -(360 - x);
+                if (y > 180) y = -(360 - y);
+                if (z > 180) z = -(360 - z);
+            
+                if (x < -180) x = -(-360 - x);
+                if (y < -180) y = -(-360 - y);
+                if (z < -180) z = -(-360 - z);
+                return new Vector3(x,y,z);
+            }
+        }
+
+        public Vector3  Position => trackerTransform.localPosition - zeroPos;
+        public Vector3 ZeroRot => zeroRot;
+
+        public Vector3 ZeroPos => zeroPos;
+
+        // Start is called before the first frame update
+        void Start()
+        {
+            trackerTransform = transform;
+            if (PlayerPrefs.HasKey(KEY_POS_X) && PlayerPrefs.HasKey(KEY_POS_Y) && PlayerPrefs.HasKey(KEY_POS_Z))
+            {
+                var x = PlayerPrefs.GetFloat(KEY_POS_X);
+                var y = PlayerPrefs.GetFloat(KEY_POS_Y);
+                var z = PlayerPrefs.GetFloat(KEY_POS_Z);
+
+                zeroPos = new Vector3(x, y, z);
+            }
+
+            if (PlayerPrefs.HasKey(KEY_ROT_X) && PlayerPrefs.HasKey(KEY_ROT_Y) && PlayerPrefs.HasKey(KEY_ROT_Z))
+            {
+                var x = PlayerPrefs.GetFloat(KEY_ROT_X);
+                var y = PlayerPrefs.GetFloat(KEY_ROT_Y);
+                var z = PlayerPrefs.GetFloat(KEY_ROT_Z);
+
+                zeroRot = new Vector3(x, y, z);
+            }
+        }
+
+        // Update is called once per frame
+        void Update()
+        {
+        }
+
+        //sets current position as zero -> straighten handlebar and call this function
+        public void Calibrate()
+        {
+            zeroRot = trackerTransform.localRotation.eulerAngles;
+            zeroPos = trackerTransform.localPosition;
+            PlayerPrefs.SetFloat(KEY_ROT_X, zeroRot.x);
+            PlayerPrefs.SetFloat(KEY_ROT_Y, zeroRot.y);
+            PlayerPrefs.SetFloat(KEY_ROT_Z, zeroRot.z);
+            PlayerPrefs.SetFloat(KEY_POS_X, zeroPos.x);
+            PlayerPrefs.SetFloat(KEY_POS_Y, zeroPos.y);
+            PlayerPrefs.SetFloat(KEY_POS_Z, zeroPos.z);
+            PlayerPrefs.Save();
+        }
+    }
+}

Assets/Scripts/WCTest.meta

@@ -1,8 +0,0 @@
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Assets/Scripts/WCTest/SimpleBikeController.cs

@@ -1,42 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-public class SimpleBikeController : MonoBehaviour
-{
-
-    public WheelCollider[] steeringColliders;
-    public WheelCollider[] motorColliders;
-
-    public float factorTorque = 0.5f;
-    public float factorSteer = 0.2f;
-    public float maxMotorTorque = 100f;
-    
-    private float torque = 0f;
-    private float steer = 0f;
-
-    private void OnGUI()
-    {
-        GUI.Box(new Rect(10 ,10, 80, 40), $"Torque: {torque}\nSteer: {steer}");
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-       torque = Input.GetAxis("Vertical") * factorTorque; 
-       steer = Input.GetAxis("Horizontal") * factorSteer;
-    }
-
-    private void FixedUpdate()
-    {
-        foreach (var c in steeringColliders)
-        {
-            c.steerAngle = steer;
-        }
-
-        foreach (var c in motorColliders)
-        {
-            c.motorTorque = Mathf.Clamp(torque, 0 ,maxMotorTorque);
-        }
-    }
-}

Assets/Scripts/WCTest/SimpleBikeController.cs.meta

@@ -1,11 +0,0 @@
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Assets/Scripts/WCTest/SphereBikeController.cs

@@ -1,52 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class SphereBikeController : MonoBehaviour
-{
-    public GameObject frontCollider;
-    public GameObject rearCollider;
-
-    public float factorRps = 0.5f;
-    public float factorSteer = 0.2f;
-    public float maxRps = 4f;
-
-    private Transform frontTransform;
-    private Transform rearTransform;
-
-    public GameObject bike;
-
-    private Rigidbody rb;
-    private Transform bt;
-
-    private float rps = 0f;
-    private float steer = 0f;
-
-    private void Start()
-    {
-        frontTransform = frontCollider.transform;
-        rearTransform = rearCollider.transform;
-        bt = bike.transform;
-        rb = bike.GetComponent<Rigidbody>();
-        
-    }
-
-    private void OnGUI()
-    {
-        GUI.Box(new Rect(10, 10, 80, 40), $"Rps: {rps}\nSteer: {steer}");
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-        rps = Input.GetAxis("Vertical") * factorRps;
-        steer = Input.GetAxis("Horizontal") * factorSteer;
-    }
-
-    private void FixedUpdate()
-    {
-        rb.velocity = bt.forward * 2;
-        rearTransform.RotateAround(rearTransform.position, rearTransform.right, rps*Time.fixedDeltaTime*360f);
-    }
-}

Assets/Scripts/WCTest/SphereBikeController.cs.meta

@@ -1,3 +0,0 @@
-fileFormatVersion: 2
-guid: 03c690e318b3486eb22336d75cb7684d
-timeCreated: 1605870757

Assets/Scripts/WCTest/Stabilizer.cs

@@ -1,72 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
- 
-[RequireComponent(typeof(WheelCollider))]
-public class Stabilizer : MonoBehaviour { //by Marcos Schultz - www.schultzgames.com
- 
-    [Range(3,50)]
-    public int raysNumber = 36;
-    [Range(45,180)]
-    public float raysMaxAngle = 135;
-    public float rayWidth = 0.15f;
- 
-    WheelCollider _wheelCollider;
-    float orgRadius;
- 
-    void Start () {
-        _wheelCollider = GetComponent<WheelCollider> ();
-        orgRadius = _wheelCollider.radius;
-    }
- 
-    void FixedUpdate () {
-        float radiusOffset = 0.0f;
-        for (int x = 0; x <= raysNumber; x++) {
-            Quaternion wheelAngle = Quaternion.AngleAxis (_wheelCollider.steerAngle, transform.up);
-            float angleToRay = x * (raysMaxAngle / raysNumber) + ((180 - raysMaxAngle) / 2);
-            Vector3 rayDirection = wheelAngle * Quaternion.AngleAxis (angleToRay, transform.right) * transform.forward;
-            //
- 
-            //get wheel position and rotation
-            Vector3 worldPos;
-            Quaternion worldRot;
-            _wheelCollider.GetWorldPose (out worldPos, out worldRot);
- 
-            //raycast center
-            RaycastHit hitCenter;
-            if(Physics.Raycast(worldPos, rayDirection, out hitCenter, _wheelCollider.radius)){
-                if (!hitCenter.transform.IsChildOf (transform.root) && !hitCenter.collider.isTrigger) {
-                    Debug.DrawLine (worldPos, hitCenter.point, Color.red);
-                    radiusOffset = Mathf.Max (radiusOffset, _wheelCollider.radius - hitCenter.distance);
-                }
-            }
-            Debug.DrawRay(worldPos, rayDirection*orgRadius, Color.green);
-             
-            //raycast Right
-            RaycastHit hitRight;
-            if(Physics.Raycast(worldPos + (worldRot * Vector3.right) * rayWidth, rayDirection, out hitRight, _wheelCollider.radius)){
-                if (!hitRight.transform.IsChildOf (transform.root) && !hitRight.collider.isTrigger) {
-                    Debug.DrawLine (worldPos + (worldRot * Vector3.right) * rayWidth, hitRight.point, Color.red);
-                    radiusOffset = Mathf.Max (radiusOffset, _wheelCollider.radius - hitRight.distance);
-                }
-            }
-            Debug.DrawRay(worldPos + (worldRot * Vector3.right) * rayWidth, rayDirection*orgRadius, Color.green);
- 
-            //raycast Left
-            RaycastHit hitLeft;
-            if(Physics.Raycast(worldPos - (worldRot * Vector3.right) * rayWidth, rayDirection, out hitLeft, _wheelCollider.radius)){
-                if (!hitLeft.transform.IsChildOf (transform.root) && !hitLeft.collider.isTrigger) {
-                    Debug.DrawLine (worldPos - (worldRot * Vector3.right) * rayWidth, hitLeft.point, Color.red);
-                    radiusOffset = Mathf.Max (radiusOffset, _wheelCollider.radius - hitLeft.distance);
-                }
-            }
-            Debug.DrawRay(worldPos - (worldRot * Vector3.right) * rayWidth, rayDirection*orgRadius, Color.green);
- 
-            //set correct radius
-            float newRadius = Mathf.Clamp (orgRadius + radiusOffset, orgRadius, orgRadius * 2.0f);
-            if (Mathf.Abs (_wheelCollider.radius - newRadius) > 0.01f) {
-                _wheelCollider.radius = Mathf.LerpUnclamped (_wheelCollider.radius, newRadius, 0.02f);
-            }
-        }
-    }
-}

Assets/Scripts/WCTest/Stabilizer.cs.meta

@@ -1,11 +0,0 @@
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Assets/Scripts/WheelDrive.cs

@@ -1,31 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class WheelDrive : MonoBehaviour
-{
-
-    private WheelCollider wheelCollider;
-    public float torque = 200;
-
-    // Start is called before the first frame update
-    void Start()
-    {
-        wheelCollider = GetComponent<WheelCollider>();
-    }
-
-    private void Go(float accel)
-    {
-        accel = Mathf.Clamp(accel, -1, 1);
-        float thrustTorque = accel * torque;
-        wheelCollider.motorTorque = thrustTorque;
-    }
-    
-
-    // Update is called once per frame
-    void Update()
-    {
-        float a = Input.GetAxis("Vertical");
-        Go(a);
-    }
-}

Assets/Scripts/WheelDrive.cs.meta

@@ -1,11 +0,0 @@
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Assets/ViveDebugData.cs

@@ -1,26 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using TMPro;
-using UnityEngine;
-
-public class ViveDebugData : MonoBehaviour
-{
-
-    public FrontWheelTracker tracker;
-
-    public TextMeshProUGUI posText;
-
-    public TextMeshProUGUI rotText;
-    // Start is called before the first frame update
-    void Start()
-    {
-        
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-        posText.text = $"Pos: {tracker.Position.ToString()}";
-        rotText.text = $"Rot: {tracker.Rotation.ToString()}";
-    }
-}

SteamVR.csproj

@@ -12,7 +12,7 @@
     <ProductVersion>10.0.20506</ProductVersion>
     <SchemaVersion>2.0</SchemaVersion>
     <RootNamespace></RootNamespace>
-    <ProjectGuid>{AA2F3384-93C6-6339-7224-30BEFA100592}</ProjectGuid>
+    <ProjectGuid>{38F48EE2-F28D-DDBC-80B3-619ED7F38A17}</ProjectGuid>
     <OutputType>Library</OutputType>
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <AssemblyName>SteamVR</AssemblyName>
@@ -51,10 +51,10 @@
   </PropertyGroup>
   <ItemGroup>
     <Reference Include="UnityEngine">
-      <HintPath>C:\Program Files\Unity\Hub\Editor\2019.4.15f1\Editor\Data\Managed/UnityEngine/UnityEngine.dll</HintPath>
+      <HintPath>C:\Program Files\Unity Editors\2019.4.15f1\Editor\Data\Managed/UnityEngine/UnityEngine.dll</HintPath>
     </Reference>
     <Reference Include="UnityEditor">
-      <HintPath>C:\Program Files\Unity\Hub\Editor\2019.4.15f1\Editor\Data\Managed/UnityEditor.dll</HintPath>
+      <HintPath>C:\Program Files\Unity Editors\2019.4.15f1\Editor\Data\Managed/UnityEditor.dll</HintPath>
     </Reference>
   </ItemGroup>
   <ItemGroup>
@@ -256,561 +256,570 @@
      <None Include="Assets\SteamVR\SteamVR.asmdef" />
      <None Include="Assets\SteamVR\Resources\SteamVR_Fade.shader" />
  <Reference Include="UnityEditor.UI">
- <HintPath>C:/Users/student/Desktop/VRCyling/Library/ScriptAssemblies/UnityEditor.UI.dll</HintPath>
+ <HintPath>C:/Unity Projects/VR Cycling/Library/ScriptAssemblies/UnityEditor.UI.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.UI">
- <HintPath>C:/Users/student/Desktop/VRCyling/Library/ScriptAssemblies/UnityEngine.UI.dll</HintPath>
+ <HintPath>C:/Unity Projects/VR Cycling/Library/ScriptAssemblies/UnityEngine.UI.dll</HintPath>
  </Reference>
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- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AIModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AIModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.ARModule">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ARModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ARModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AccessibilityModule">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AccessibilityModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AccessibilityModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AndroidJNIModule">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AndroidJNIModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AndroidJNIModule.dll</HintPath>
  </Reference>
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- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AnimationModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AnimationModule.dll</HintPath>
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- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AssetBundleModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AssetBundleModule.dll</HintPath>
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+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AudioModule.dll</HintPath>
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- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ClothModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ClothModule.dll</HintPath>
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- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ClusterInputModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ClusterInputModule.dll</HintPath>
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+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ClusterRendererModule.dll</HintPath>
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+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.CoreModule.dll</HintPath>
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+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.CrashReportingModule.dll</HintPath>
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SteamVR_Windows_EditorHelper.csproj

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