polar steering wip

Assets/Coin/CoinCreation.cs

@@ -28,7 +28,7 @@ public class CoinCreation : MonoBehaviour
     //[SerializeField] public bool Draw_Cross; // Maybe draw on Line
     public float stepsize; // public float stepsize = 10; //TODO welcher Wert ist hier passend?
     List<float> differeces = new List<float>();
-    int counter = 0; // How many Coins were drawn on the road
+    public int counter = 0; // How many Coins were drawn on the road
 
     public CoinPool coinPool;
     public List<RoutePoint> points = new List<RoutePoint>();

Assets/Scenes/MainScene.unity

@@ -27,7 +27,7 @@ RenderSettings:
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   m_SubtractiveShadowColor: {r: 0.13296545, g: 0.19145328, b: 0.33962262, a: 1}
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+  m_SkyboxMaterial: {fileID: 1854705457}
   m_HaloStrength: 0
   m_FlareStrength: 1
   m_FlareFadeSpeed: 3
@@ -17631,6 +17631,8 @@ MonoBehaviour:
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   m_Name: 
   m_EditorClassIdentifier: 
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+  framesToConsider: 10
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@@ -420190,288 +420192,6 @@ Transform:
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---- !u!21 &357644771
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 --- !u!1001 &357745027
 PrefabInstance:
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@@ -605852,9 +605572,10 @@ MonoBehaviour:
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   m_EditorClassIdentifier: 
   Coin_Number: 200
-  Distance_Cross: 5
+  Distance_Cross: 6
   Distance_Slalom: 1.5
   stepsize: 5
+  counter: 0
   coinPool: {fileID: 258009322}
   points:
   - name: start (0)
@@ -1301745,7 +1301466,7 @@ MonoBehaviour:
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   m_Name: 
@@ -2348258,6 +2347979,288 @@ Transform:
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+    - _BumpScale: 1
+    - _CloudHeight: 0
+    - _CloudsCat: 1
+    - _CloudsHeight: 0.1
+    - _CloudsLitbySun: 1
+    - _CloudsRotation: 10
+    - _CloudsRotationSpeed: 1
+    - _Contrast: 0.477
+    - _Contrsat: 1
+    - _Cutoff: 0
+    - _DetailNormalMapScale: 1
+    - _DisableCloudsRotation: 0
+    - _DisableDirectionLight: 1
+    - _DisableRotation: 0
+    - _DstBlend: 0
+    - _Enable1Twinkling: 0
+    - _EnableBuiltinFog: 0
+    - _EnableClouds: 1
+    - _EnableCloudsRotation: 0
+    - _EnableDirectionLight: 1
+    - _EnableFogMessage: 0
+    - _EnableMoon: 0
+    - _EnablePatternOverlay: 0
+    - _EnableSkyPatternOverlay: 0
+    - _EnableStars: 0
+    - _EnableStarsRotation: 0
+    - _EnableStarsTwinkling: 0
+    - _EnableSun: 1
+    - _EnableSunMask: 0
+    - _EnableSunMoon: 1
+    - _EnableSunMoonMask: 1
+    - _EnableTwinkling: 0
+    - _EqHeight: 0.419
+    - _EquatorHeight: 0.275
+    - _EquatorSmoothness: 0.741
+    - _Exposure: 0
+    - _Fade: 0.463
+    - _Float0: 2.7
+    - _Float1: 0
+    - _Float2: 0
+    - _Float3: 8.91
+    - _Float4: -1
+    - _Float5: -0.2
+    - _Float6: 1
+    - _FogCat: 1
+    - _FogFill: 0.273
+    - _FogHeight: 0.165
+    - _FogIntensity: 0
+    - _FogSmoothness: 0.47
+    - _GlossMapScale: 1
+    - _Glossiness: 0.5
+    - _GlossyReflections: 1
+    - _Keyword0: 0
+    - _Metallic: 0
+    - _Mode: 0
+    - _MoonCat: 1
+    - _MoonIntensity: 1
+    - _MoonSize: 0.5
+    - _OcclusionStrength: 1
+    - _Parallax: 0.02
+    - _PatternCat: 1
+    - _PatternContrast: 0.2
+    - _RoatationSpeed: 0.4
+    - _Rotation: 0
+    - _RotationSpeed: 0.5
+    - _SkyPatternContrast: 0.477
+    - _SkyPatternOverlay: 0
+    - _SmoothnessTextureChannel: 0
+    - _SpecularHighlights: 1
+    - _SrcBlend: 1
+    - _StarsAmount: 3
+    - _StarsCat: 1
+    - _StarsHeightMask: 0
+    - _StarsIntensity: 0
+    - _StarsLayer: 1
+    - _StarsRotation: 360
+    - _StarsRotationSpeed: 0.5
+    - _StarsSize: 0
+    - _StarsSunMask: 0
+    - _SunCat: 1
+    - _SunIntensity: 2.33
+    - _SunRadiusB: 0
+    - _SunRadoisA: 0.463
+    - _SunSize: 0.864
+    - _ToggleSwitch0: 0
+    - _TwinklingContrast: 0
+    - _TwinklingSpeed: 0
+    - _UVSec: 0
+    - _UseCUBEMAP: 1
+    - _UseEnvironmentGradient: 1
+    - _UseSkyPatternOverlay: 0
+    - _UseTexture: 1
+    - _WaveScale: 0
+    - _WaveSpeed: 0
+    - _ZWrite: 1
+    - __dirty: 0
+    - _adf: 0
+    - _angle: 145
+    - _fresnell: 0
+    - _mip: 0
+    m_Colors:
+    - _CloudLightColor: {r: 1, g: 1, b: 1, a: 1}
+    - _CloudShadowColor: {r: 0.33239606, g: 0.46899295, b: 0.85294116, a: 1}
+    - _CloudsLightColor: {r: 0.9338235, g: 0.9338235, b: 0.9338235, a: 1}
+    - _CloudsShadowColor: {r: 0.4625865, g: 0.49787903, b: 0.9117647, a: 1}
+    - _Color: {r: 1, g: 1, b: 1, a: 1}
+    - _Color0: {r: 0, g: 0.5054344, b: 1, a: 0}
+    - _Color1: {r: 1, g: 1, b: 1, a: 0}
+    - _Color2: {r: 0.059472326, g: 0.25068596, b: 0.8088235, a: 0}
+    - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
+    - _Eq: {r: 1, g: 0.6769777, b: 0.330882, a: 0}
+    - _EquatorColor: {r: 1, g: 0.956522, b: 0.8632076, a: 0}
+    - _Ground: {r: 0.4779411, g: 0.43111518, b: 0.23545504, a: 0}
+    - _GroundColor: {r: 0.3679245, g: 0.3679245, b: 0.3679245, a: 0}
+    - _MoonColor: {r: 1, g: 1, b: 1, a: 1}
+    - _Sky: {r: 0.6691177, g: 0.29519898, b: 0.29519898, a: 0}
+    - _SkyColor: {r: 0.4462442, g: 0.5670902, b: 0.8679245, a: 0}
+    - _Skycol: {r: 0.27941146, g: 0.64219046, b: 1, a: 0}
+    - _SunColor: {r: 1, g: 0.85071, b: 0.66176474, a: 1}
+    - _Tint: {r: 1, g: 1, b: 1, a: 0}
+    - _Vector1: {r: 0, g: 1, b: 0, a: 0}
+    - _water: {r: 0.5, g: 0.5, b: 0.5, a: 1}
+  m_BuildTextureStacks: []
 --- !u!1001 &1854760641
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -2897616,18 +2897619,28 @@ PrefabInstance:
     - target: {fileID: 653210788318262021, guid: a065ef1d4c56ffa49bb0b821da25d91b,
         type: 3}
       propertyPath: m_Enabled
-      value: 0
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 653210788318262021, guid: a065ef1d4c56ffa49bb0b821da25d91b,
         type: 3}
       propertyPath: accelerate
       value: 1
       objectReference: {fileID: 0}
+    - target: {fileID: 653210788318262021, guid: a065ef1d4c56ffa49bb0b821da25d91b,
+        type: 3}
+      propertyPath: framesToConsider
+      value: 5
+      objectReference: {fileID: 0}
     - target: {fileID: 653210788318262021, guid: a065ef1d4c56ffa49bb0b821da25d91b,
         type: 3}
       propertyPath: steeringSelection
       value: 2
       objectReference: {fileID: 0}
+    - target: {fileID: 653210788318262021, guid: a065ef1d4c56ffa49bb0b821da25d91b,
+        type: 3}
+      propertyPath: polarRotationMapping.center
+      value: -4
+      objectReference: {fileID: 0}
     - target: {fileID: 653210788318262021, guid: a065ef1d4c56ffa49bb0b821da25d91b,
         type: 3}
       propertyPath: hmdTrackerConfig.cameraTracker
@@ -2897873,6 +2897886,12 @@ MonoBehaviour:
   _targetParentForCombinedGameObjects: {fileID: 0}
   _combinedResult: {fileID: 0}
   _scSettings: {fileID: 0}
+--- !u!4 &5488976311213337969 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 653210787133548210, guid: a065ef1d4c56ffa49bb0b821da25d91b,
+    type: 3}
+  m_PrefabInstance: {fileID: 5488976311213337966}
+  m_PrefabAsset: {fileID: 0}
 --- !u!1001 &5495224713304524648
 PrefabInstance:
   m_ObjectHideFlags: 0

Assets/Scripts/Controller/SensorBikeController.cs

@@ -1,9 +1,12 @@
 using System;
+using System.Collections.Generic;
 using Controller.Bicycle;
 using Controller.Lean;
 using Sensors;
 using Sensors.ANT;
+using Sensors.Bluetooth;
 using Tracking;
+using System.Linq;
 using UnityEngine;
 
 // Declare outisde for public visibility
@@ -28,6 +31,7 @@ namespace Controller
         public float steeringOffset;
 
         public float AdjustedRotation => cameraTracker.SteerRotation * multiplicator;
+        public float AdjustedLean => cameraTracker.LeanRotation * multiplicator;
     }
 
     [RequireComponent(typeof(IBicycleController))]
@@ -48,6 +52,9 @@ namespace Controller
         private bool isHMDTrackerNotNull;
         private BikeSensorData sensorData;
 
+        private Queue<float> previousLeanValues;
+        public int framesToConsider = 10;
+
         private void Start()
         {
             isFrontWheelTrackerNotNull = frontWheelTrackerConfig.frontWheelTracker != null;
@@ -55,6 +62,7 @@ namespace Controller
             bicycleController = GetComponent<IBicycleController>();
             sensorData = BikeSensorData.Instance;
             leanFactor = 90f / (polarRotationMapping.maxRight - polarRotationMapping.center);
+            if (framesToConsider > 1) previousLeanValues = new Queue<float>(framesToConsider);
         }
 
         private void Update()
@@ -82,7 +90,12 @@ namespace Controller
                     var polarData = sensorData.BleData;
                     if (polarData != null)
                     {
-                        bicycleController.CurrentLeaningAngle = (polarData.Value.Acc.y - polarRotationMapping.center) * leanFactor;
+                        Debug.Log("Updating Polar Data");
+                        Debug.Log("Polar Y: " + polarData.Value.Acc);
+                        var polarLean = CalculateLeanRotationMultiFrame(polarData);
+                        Debug.Log("Ploar Post-Processed: " + polarLean);
+                        bicycleController.CurrentLeaningAngle = polarLean;
+                        bicycleController.CurrentSteerAngle = polarLean;
                         // Activate below in case we also need the steering angle
                         //bicycleController.CurrentSteerAngle = (polarData.Value.Acc.y - polarRotationMapping.center) * leanFactor;
                     }
@@ -92,7 +105,7 @@ namespace Controller
                     {
                         // We emprirically observed a right-drift
                         // We subtract a constant to counteract this
-                        bicycleController.CurrentSteerAngle = hmdTrackerConfig.AdjustedRotation - 2f;
+                        bicycleController.CurrentSteerAngle = hmdTrackerConfig.AdjustedRotation;
                     }
                     break;
             }
@@ -108,5 +121,22 @@ namespace Controller
         {
             bicycleController.CurrentSpeed = speedData.Speed;
         }
+
+        // Helpers for Lean Steering
+        private float CalculateLeanRotationSingleFrame(BleSensorData? polarData)
+        {
+            return (-1f) * (polarData.Value.Acc.y - polarRotationMapping.center) * leanFactor;
+        }
+
+        private float CalculateLeanRotationMultiFrame(BleSensorData? polarData)
+        {
+            var angleThisFrame = CalculateLeanRotationSingleFrame(polarData);
+            if (previousLeanValues.Count > framesToConsider) previousLeanValues.Dequeue();
+
+            previousLeanValues.Enqueue(angleThisFrame);
+
+            //easiest way -> avg; TODO maybe in future, remove outliers
+            return previousLeanValues.Average();
+        }
     }
 }

Assets/Scripts/Tracking/CameraTracker.cs

@@ -1,4 +1,6 @@
-using UnityEngine;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
 
 namespace Tracking
 {
@@ -20,5 +22,6 @@ namespace Tracking
             GUI.TextArea(new Rect(0, 400, 200, 90),
                 $"LeanRotation: {LeanRotation}\nRelativeRotation: {RelativeRotation}\nRelativePosition: {RelativePosition}");
         }*/
+
     }
 }

Assets/Scripts/Tracking/HMDTracker.cs

@@ -12,12 +12,18 @@ namespace Tracking
             ? CalculateSteerRotationMultiFrame()
             : CalculateSteerRotationSingleFrame();
 
+        public float LeanRotation => framesToConsider > 1
+            ? CalculateLeanRotationMultiFrame()
+            : CalculateLeanRotationSingleFrame();
+
         protected override string KeyPrefix => "fw";
         private Queue<float> previousValues;
+        private Queue<float> previousLeanValues;
 
         private void OnEnable()
         {
             if (framesToConsider > 1) previousValues = new Queue<float>(framesToConsider);
+            if (framesToConsider > 1) previousLeanValues = new Queue<float>(framesToConsider);
         }
 
         /*private void OnGUI()
@@ -41,5 +47,21 @@ namespace Tracking
             //easiest way -> avg; TODO maybe in future, remove outliers
             return previousValues.Average();
         }
+
+        private float CalculateLeanRotationSingleFrame()
+        {
+            return RelativeRotation.z;
+        }
+
+        private float CalculateLeanRotationMultiFrame()
+        {
+            var angleThisFrame = CalculateLeanRotationSingleFrame();
+            if (previousLeanValues.Count > framesToConsider) previousLeanValues.Dequeue();
+
+            previousLeanValues.Enqueue(angleThisFrame);
+
+            //easiest way -> avg; TODO maybe in future, remove outliers
+            return previousLeanValues.Average();
+        }
     }
 }