Fixing Tracker Positions and trying to track two trackers

.idea/.idea.VRCyling/.idea/contentModel.xml

@@ -231,7 +231,10 @@
           </e>
         </e>
         <e p="Editor" t="Include">
+          <e p="CalibratableTrackerEditor.cs" t="Include" />
+          <e p="CustomWheelColliderEditor.cs" t="Include" />
           <e p="FrontWheelTrackerEditor.cs" t="Include" />
+          <e p="KineticLegTrackerEditor.cs" t="Include" />
         </e>
         <e p="InputActions" t="Include">
           <e p="InputMaster.cs" t="Include" />
@@ -248,11 +251,13 @@
             <e p="BikeAnimation.cs" t="Include" />
             <e p="Rotatable.cs" t="Include" />
           </e>
+          <e p="Axis.cs" t="Include" />
           <e p="Calibration" t="Include">
             <e p="BikeReset.cs" t="Include" />
             <e p="MovePlayerPosition.cs" t="Include" />
             <e p="PersistatePlayerPosition.cs" t="Include" />
           </e>
+          <e p="ColliderAddSlopeAdjustment.cs" t="Include" />
           <e p="Controller" t="Include">
             <e p="Bicycle" t="Include">
               <e p="BicycleControllerBaseBehaviour.cs" t="Include" />
@@ -267,6 +272,8 @@
             <e p="SensorBikeController.cs" t="Include" />
             <e p="ViveBikeController.cs" t="Include" />
           </e>
+          <e p="CustomWheelCollider.cs" t="Include" />
+          <e p="CustomWheelColliderSlopeAdjustment.cs" t="Include" />
           <e p="Display" t="Include">
             <e p="BikeDataDisplay.cs" t="Include" />
             <e p="DebugDisplay.cs" t="Include" />
@@ -274,6 +281,7 @@
             <e p="ViveTrackerDebugDisplay.cs" t="Include" />
             <e p="WcDebugDisplay.cs" t="Include" />
           </e>
+          <e p="Helpers.cs" t="Include" />
           <e p="Sensors" t="Include">
             <e p="Ant" t="Include">
               <e p="HrReceiver.cs" t="Include" />
@@ -289,7 +297,9 @@
             </e>
           </e>
           <e p="Tracking" t="Include">
+            <e p="CalibratableTracker.cs" t="Include" />
             <e p="FrontWheelTracker.cs" t="Include" />
+            <e p="KineticLegTracker.cs" t="Include" />
           </e>
         </e>
         <e p="SteamVR" t="Include">

.idea/.idea.VRCyling/.idea/indexLayout.xml

@@ -32,6 +32,7 @@
       <Path>Integrations</Path>
       <Path>Library</Path>
       <Path>Logs</Path>
+      <Path>Temp</Path>
       <Path>UserSettings</Path>
       <Path>obj</Path>
     </explicitExcludes>

.idea/.idea.VRCyling/.idea/workspace.xml

@@ -20,17 +20,44 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="ae9d46da-fd77-45ea-9287-d8d155f44bcf" name="Default Changelist" comment="Test Vive Tracker on back">
+      <change afterPath="$PROJECT_DIR$/Assembly-CSharp.csproj.DotSettings" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/Assets/Editor/CalibratableTrackerEditor.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/Assets/Editor/CalibratableTrackerEditor.cs.meta" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/Assets/Editor/KineticLegTrackerEditor.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/Assets/Editor/KineticLegTrackerEditor.cs.meta" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/Assets/Scripts/Helpers.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/Assets/Scripts/Helpers.cs.meta" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/Assets/Scripts/Tracking/CalibratableTracker.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/Assets/Scripts/Tracking/CalibratableTracker.cs.meta" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/Assets/Scripts/Tracking/KineticLegTracker.cs" afterDir="false" />
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       <change beforePath="$PROJECT_DIR$/Assets/Editor/FrontWheelTrackerEditor.cs" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/Editor/FrontWheelTrackerEditor.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/Assets/Scripts/Animation/BikeAnimation.cs" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/Scripts/Animation/BikeAnimation.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/Prefabs/Player/BikePlayer - RigidBody.prefab" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/Prefabs/Player/BikePlayer - RigidBody.prefab" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/Prefabs/Player/BikePlayer - WheelCollider.prefab" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/Prefabs/Player/BikePlayer - WheelCollider.prefab" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/Prefabs/Player/BikePlayer.prefab" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/Prefabs/Player/BikePlayer.prefab" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/Scenes/MainScene.unity" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/Scenes/MainScene.unity" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/Scripts/Controller/Bicycle/IBicycleController.cs" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/Scripts/Controller/Bicycle/IBicycleController.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/Assets/Scripts/Controller/Bicycle/RbBicycleController.cs" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/Scripts/Controller/Bicycle/RbBicycleController.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/Assets/Scripts/Controller/SensorBikeController.cs" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/Scripts/Controller/SensorBikeController.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/Scripts/Display/ViveTrackerDebugDisplay.cs" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/Scripts/Display/ViveTrackerDebugDisplay.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/Assets/Scripts/Tracking/FrontWheelTracker.cs" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/Scripts/Tracking/FrontWheelTracker.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/Packages/packages-lock.json" beforeDir="false" afterPath="$PROJECT_DIR$/Packages/packages-lock.json" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/Settings/SampleSceneProfile.asset" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/Settings/SampleSceneProfile.asset" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/SteamVR/InteractionSystem/Core/Prefabs/RightRenderModel Slim.prefab" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/SteamVR/InteractionSystem/Core/Prefabs/RightRenderModel Slim.prefab" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/AlienHand.mat" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/AlienHand.mat" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/No Name.mat" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/No Name.mat" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/floppyHand.mat" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/floppyHand.mat" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/knuckles_right.mat" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/knuckles_right.mat" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/models_hands_vr_glove.vmat.mat" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/models_hands_vr_glove.vmat.mat" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/vr_glove_color.mat" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/vr_glove_color.mat" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/vr_glove_color_red.mat" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/SteamVR/Models/Materials/vr_glove_color_red.mat" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assets/SteamVR/Prefabs/vr_glove_right.prefab" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/SteamVR/Prefabs/vr_glove_right.prefab" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ProjectSettings/DynamicsManager.asset" beforeDir="false" afterPath="$PROJECT_DIR$/ProjectSettings/DynamicsManager.asset" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ProjectSettings/QualitySettings.asset" beforeDir="false" afterPath="$PROJECT_DIR$/ProjectSettings/QualitySettings.asset" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ProjectSettings/URPProjectSettings.asset" beforeDir="false" afterPath="$PROJECT_DIR$/ProjectSettings/URPProjectSettings.asset" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/SteamVR.csproj" beforeDir="false" afterPath="$PROJECT_DIR$/SteamVR.csproj" afterDir="false" />
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@@ -48,9 +75,11 @@
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     <setting file="file://$PROJECT_DIR$/Assets/Scripts/Animation/BikeAnimation.cs" root0="FORCE_HIGHLIGHTING" />
-    <setting file="file://$PROJECT_DIR$/Library/PackageCache/com.unity.inputsystem@1.0.1/InputSystem/Utilities/PrimitiveValue.cs" root0="FORCE_HIGHLIGHTING" />
+    <setting file="file://$PROJECT_DIR$/Library/PackageCache/com.unity.inputsystem@1.0.1/InputSystem/Utilities/PrimitiveValue.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$PROJECT_DIR$/Assets/Scripts/Tracking/KineticLegTracker.cs" root0="FORCE_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/526469D5-A48C-43EE-BD9A-F19F8745AFA1/68/360ad80c/PlayerPrefs.cs" root0="SKIP_HIGHLIGHTING" />
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+    <setting file="file://$PROJECT_DIR$/Library/PackageCache/com.unity.inputsystem@1.0.1/InputSystem/InputManager.cs" root0="SKIP_HIGHLIGHTING" />
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@@ -69,10 +98,23 @@
         <option value="$PROJECT_DIR$/Assets/FrontWheelTracker.cs" />
         <option value="$PROJECT_DIR$/Assets/ViveDebugData.cs" />
         <option value="$PROJECT_DIR$/Assets/Scripts/Animation/BikeAnimation.cs" />
+        <option value="$PROJECT_DIR$/Assets/SeatpostTracker.cs" />
+        <option value="$PROJECT_DIR$/Assets/Scripts/Helpers.cs" />
+        <option value="$PROJECT_DIR$/Assets/Scripts/Tracking/SeatpostTracker.cs" />
+        <option value="$PROJECT_DIR$/Assets/Scripts/Tracking/ForkTracker.cs" />
+        <option value="$PROJECT_DIR$/Assets/Editor/ForkTrackerEditor.cs" />
+        <option value="$PROJECT_DIR$/Assets/Scripts/Tracking/CalibrateableTracker.cs" />
+        <option value="$PROJECT_DIR$/Assets/Scripts/Tracking/CalibratableTracker.cs" />
         <option value="$PROJECT_DIR$/Assets/Editor/FrontWheelTrackerEditor.cs" />
-        <option value="$PROJECT_DIR$/Assets/Scripts/Controller/Bicycle/RbBicycleController.cs" />
+        <option value="$PROJECT_DIR$/Assets/Editor/KineticLegTrackerEditor.cs" />
+        <option value="$PROJECT_DIR$/Assets/Scripts/Tracking/KineticLegTracker.cs" />
+        <option value="$PROJECT_DIR$/Assets/Editor/CalibratableTrackerEditor.cs" />
         <option value="$PROJECT_DIR$/Assets/Scripts/Tracking/FrontWheelTracker.cs" />
+        <option value="$PROJECT_DIR$/Assets/Scripts/Sensors/BikeSensorData.cs" />
+        <option value="$PROJECT_DIR$/Assets/Scripts/Display/ViveTrackerDebugDisplay.cs" />
+        <option value="$PROJECT_DIR$/Assets/Scripts/Controller/Bicycle/IBicycleController.cs" />
         <option value="$PROJECT_DIR$/Assets/Scripts/Controller/SensorBikeController.cs" />
+        <option value="$PROJECT_DIR$/Assets/Scripts/Controller/Bicycle/RbBicycleController.cs" />
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@@ -96,10 +138,10 @@
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+    <configuration name="Attach to Unity Editor &amp; Play" type="UNITY_DEBUG_RUN_CONFIGURATION" factoryName="UNITY_ATTACH_AND_PLAY" show_console_on_std_err="false" show_console_on_std_out="false" port="50000" address="localhost" ignored-value-for-modified-check="11696">
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@@ -126,7 +168,9 @@
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       <workItem from="1607418056368" duration="4074000" />
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+      <workItem from="1608111814180" duration="1242000" />
+      <workItem from="1608191738071" duration="10660000" />
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     <task id="LOCAL-00001" summary="VR Stuff, Bicycle Animations">
       <created>1606399745852</created>
@@ -170,7 +214,14 @@
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       <updated>1607425594752</updated>
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-    <option name="localTasksCounter" value="7" />
+    <task id="LOCAL-00007" summary="Proper steering calculation">
+      <created>1607593418906</created>
+      <option name="number" value="00007" />
+      <option name="presentableId" value="LOCAL-00007" />
+      <option name="project" value="LOCAL" />
+      <updated>1607593418906</updated>
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+    <option name="localTasksCounter" value="8" />
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@@ -198,77 +249,82 @@
     <MESSAGE value="Primitive steering with Vive Tracker" />
     <MESSAGE value="Vive Tracker Adjustments" />
     <MESSAGE value="Test Vive Tracker on back" />
-    <option name="LAST_COMMIT_MESSAGE" value="Test Vive Tracker on back" />
+    <MESSAGE value="Proper steering calculation" />
+    <option name="LAST_COMMIT_MESSAGE" value="Proper steering calculation" />
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      <Compile Include="Assets\Scripts\Display\WcDebugDisplay.cs" />
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      <Compile Include="Assets\Scripts\Sensors\Polar\UdpConnection.cs" />
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      <Compile Include="Assets\Scripts\Tracking\FrontWheelTracker.cs" />
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Assembly-CSharp.csproj.DotSettings

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+	<s:String x:Key="/Default/CodeInspection/CSharpLanguageProject/LanguageLevel/@EntryValue">Default</s:String></wpf:ResourceDictionary>

Assets/Editor/CalibratableTrackerEditor.cs

@@ -0,0 +1,39 @@
+using System;
+using System.Globalization;
+using Tracking;
+using UnityEditor;
+using UnityEngine;
+
+// ReSharper disable once CheckNamespace
+public abstract class CalibratableTrackerEditor : Editor
+{
+    protected CalibratableTracker tracker;
+
+    protected virtual void OnEnable()
+    {
+        tracker = (CalibratableTracker) target;
+    }
+
+    public override void OnInspectorGUI()
+    {
+        DrawDefaultInspector();
+        if (!(EditorApplication.isPlaying || EditorApplication.isPaused)) return;
+
+        tracker.bicycleTransform = (Transform) EditorGUILayout.ObjectField("Bicycle Transform", tracker.bicycleTransform,
+            typeof(Transform), false);
+
+        EditorGUILayout.Space();
+        EditorGUILayout.LabelField("Attach Vive Tracker to Wheel and press Button to calibrate");
+        if (GUILayout.Button("Calibrate")) tracker.Calibrate();
+
+        EditorGUILayout.Space();
+        EditorGUILayout.LabelField("Data", EditorStyles.boldLabel);
+        EditorGUILayout.LabelField("Zero Rot:", tracker.ZeroRot.ToString());
+        EditorGUILayout.LabelField("Zero Pos:", tracker.ZeroPos.ToString());
+
+        EditorGUILayout.Space();
+        EditorGUILayout.LabelField("Relative Position", tracker.RelativePosition.ToString());
+        EditorGUILayout.LabelField("Relative Rotation", tracker.RelativeRotation.ToString());
+       
+    }
+}

Assets/Editor/CalibratableTrackerEditor.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 5c495195c775409ba114774bf07c497b
+timeCreated: 1608200436

Assets/Editor/FrontWheelTrackerEditor.cs

@@ -2,71 +2,26 @@
 using System.Globalization;
 using Tracking;
 using UnityEditor;
+using UnityEditor.Recorder.Input;
 using UnityEngine;
 
 [CustomEditor(typeof(FrontWheelTracker))]
 // ReSharper disable once CheckNamespace
-public class FrontWheelTrackerEditor : Editor
+public class FrontWheelTrackerEditor : CalibratableTrackerEditor
 {
-
-    private SerializedProperty radiusProperty;
     private FrontWheelTracker fwt;
-    private void OnEnable()
+
+    protected override void OnEnable()
     {
-        fwt = (FrontWheelTracker) target;
-        if (fwt.isActiveAndEnabled)
-        {
-            radiusProperty = serializedObject.FindProperty("trackerDistanceToWheelCenterPoint");
-            fwt.Init();
-        }
+        base.OnEnable();
+        fwt = (FrontWheelTracker) tracker;
     }
 
     public override void OnInspectorGUI()
     {
-        serializedObject.Update();
-        
-       
-        fwt.bicycleTransform = (Transform) EditorGUILayout.ObjectField("Bicycle Transform", fwt.bicycleTransform,
-            typeof(Transform), false);
-
-        if (fwt.isActiveAndEnabled)
-        {
-            EditorGUILayout.Space();
-            EditorGUILayout.LabelField("Attach Vive Tracker to Wheel and press Button to calibrate");
-            if (GUILayout.Button("Calibrate"))fwt.Calibrate();
-            EditorGUILayout.Space();
-        }
-
-        fwt.trackerDistanceToWheelCenterPoint = EditorGUILayout.FloatField(
-            new GUIContent("Tracker Distance to Hub",
-                "Distance of Vive Tracker to The Center of the wheel hub on the x,z plane of the tracker"),
-            fwt.trackerDistanceToWheelCenterPoint);
-
-        if (!fwt.isActiveAndEnabled) return;
-
-        EditorGUILayout.LabelField("Rotate Wheel to 90 degrees to calibrate radius");
-        if (GUILayout.Button("Calibrate Radius")) CalibrateRadius();
-
-        EditorGUILayout.Space();
-        EditorGUILayout.LabelField("Data", EditorStyles.boldLabel);
-        EditorGUILayout.LabelField("Zero Rot:", fwt.ZeroRot.ToString());
-        EditorGUILayout.LabelField("Zero Pos:", fwt.ZeroPos.ToString());
-
-        var rotation = fwt.Rotation;
-        var position = fwt.Position;
-
-        EditorGUILayout.Space();
-        EditorGUILayout.LabelField("Relative Position", fwt.Position.ToString());
-        EditorGUILayout.LabelField("Relative Rotation", fwt.Rotation.ToString());
+        base.OnInspectorGUI();
+        if (!(EditorApplication.isPlaying || EditorApplication.isPaused)) return;
         EditorGUILayout.LabelField("Calculated Steer Rotation",
-            fwt.CalculatedSteerRotation.ToString(CultureInfo.CurrentCulture));
-    }
-
-    //TODO: call when not playing
-    private void CalibrateRadius()
-    {
-        var posOnBikePlane = Vector3.ProjectOnPlane(fwt.Position, fwt.bicycleTransform.up);
-        radiusProperty.floatValue = posOnBikePlane.x / Mathf.Cos(90 * Mathf.Deg2Rad);
-        serializedObject.ApplyModifiedProperties();
+            fwt.SteerRotation.ToString(CultureInfo.CurrentCulture));
     }
 }

Assets/Editor/KineticLegTrackerEditor.cs

@@ -0,0 +1,27 @@
+using System;
+using System.Globalization;
+using Tracking;
+using UnityEditor;
+using UnityEditor.Recorder.Input;
+using UnityEngine;
+
+[CustomEditor(typeof(KineticLegTracker))]
+// ReSharper disable once CheckNamespace
+public class KineticLegTrackerEditor : CalibratableTrackerEditor
+{
+    private KineticLegTracker legTracker;
+
+    protected override void OnEnable()
+    {
+        base.OnEnable();
+        legTracker = (KineticLegTracker) tracker;
+    }
+
+    public override void OnInspectorGUI()
+    {
+        base.OnInspectorGUI();
+        /*if (!(EditorApplication.isPlaying || EditorApplication.isPaused)) return;
+        EditorGUILayout.LabelField("Calculated Steer Rotation",
+            fwt.SteerRotation.ToString(CultureInfo.CurrentCulture));*/
+    }
+}

Assets/Editor/KineticLegTrackerEditor.cs.meta

@@ -0,0 +1,3 @@
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+guid: 1d362301314d46fabed31585a47a8c45
+timeCreated: 1608200952

Assets/Prefabs/Player/BikePlayer - RigidBody.prefab

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+        type: 3}
+      propertyPath: m_Layer
+      value: 9
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+        type: 3}
+      propertyPath: m_Layer
+      value: 9
+      objectReference: {fileID: 0}
+    - target: {fileID: 4988978072741403360, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
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+      value: 9
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       objectReference: {fileID: 0}
     - target: {fileID: 4988978073311274400, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
         type: 3}
@@ -277198,6 +277496,11 @@ PrefabInstance:
       propertyPath: m_LocalEulerAnglesHint.x
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 4988978073311274402, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
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+      propertyPath: m_LocalPosition.y
+      value: 0.55
+      objectReference: {fileID: 0}
     - target: {fileID: 4988978073311274404, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
         type: 3}
       propertyPath: frontWheel.wheel
@@ -277228,12 +277531,198 @@ PrefabInstance:
       propertyPath: frontWheel.rotationAxis
       value: 0
       objectReference: {fileID: 0}
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+      value: 2
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       propertyPath: m_LocalPosition.y
       value: -0.039
       objectReference: {fileID: 0}
-    m_RemovedComponents: []
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+      propertyPath: m_RootOrder
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+      propertyPath: frontWheelTracker
+      value: 
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+      propertyPath: bicycleTransform
+      value: 
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+      value: KineticLegTracker
+      objectReference: {fileID: 0}
+    m_RemovedComponents:
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   m_SourcePrefab: {fileID: 100100000, guid: 3b07d6594636ab04d9c1fac04c1cde7e, type: 3}
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 PrefabInstance:

Assets/Scripts/Controller/Bicycle/IBicycleController.cs

@@ -8,7 +8,7 @@ namespace Controller.Bicycle
         Independent,
         LeaningAngleDependentOnSteerAngle
     }
-    
+
     public interface IBicycleController
     {
         BicycleControllerMode ControllerMode { get; set; }
@@ -18,7 +18,7 @@ namespace Controller.Bicycle
         float CurrentLeaningAngle { get; set; }
 
         float CurrentSteerAngle { get; set; }
-        
+
         Vector3 RigidBodyVelocity { get; }
     }
 }

Assets/Scripts/Controller/Bicycle/RbBicycleController.cs

@@ -27,18 +27,19 @@ namespace Controller.Bicycle
         public float CurrentSteerAngle
         {
             get => currentSteerAngle;
-            set
-            {
-                //don't lean while standing / walking to bike
-                if (rigidBody.velocity.magnitude < .5f) return;
-                currentSteerAngle = Mathf.Clamp(value, -maxSteeringAngle, maxSteeringAngle);
-            }
+            set => currentSteerAngle = Mathf.Clamp(value, -maxSteeringAngle, maxSteeringAngle);
         }
 
         public float CurrentLeaningAngle
         {
             get => currentLeaningAngle;
-            set => currentLeaningAngle = Mathf.Clamp(value, -maxLeaningAngle, maxLeaningAngle);
+            set
+            {
+                
+                //don't lean while standing / walking to bike
+                if (rigidBody.velocity.magnitude < .5f) return;
+                currentLeaningAngle = Mathf.Clamp(value, -maxLeaningAngle, maxLeaningAngle);
+            }
         }
 
         public Vector3 RigidBodyVelocity => rigidBody.velocity;
@@ -74,22 +75,23 @@ namespace Controller.Bicycle
 
         private void ApplySteerAngleAndRotation()
         {
-            //don't lean and rotate when veeeeeery sloooow/standing
+            //don't lean and rotate when veeeeeery sloooow/standing. Otherwise bike will rotate already
             if (CurrentSpeed < 0.3f) //ca 1 km/h
             {
                 CurrentSteerAngle = 0;
                 CurrentLeaningAngle = 0;
             }
+
             if (controllerMode == BicycleControllerMode.Independent)
             {
                 var r = rbTransform.localRotation.eulerAngles;
-                rbTransform.localRotation = Quaternion.Euler(r + new Vector3(0, CurrentSteerAngle, -CurrentLeaningAngle) * Time.fixedDeltaTime);
-                
-            }else if (controllerMode == BicycleControllerMode.LeaningAngleDependentOnSteerAngle)
+                rbTransform.localRotation =
+                    Quaternion.Euler(r + new Vector3(0, CurrentSteerAngle, -CurrentLeaningAngle) * Time.fixedDeltaTime);
+            }
+            else if (controllerMode == BicycleControllerMode.LeaningAngleDependentOnSteerAngle)
             {
                 //TODO
             }
-          
         }
     }
 }

Assets/Scripts/Controller/SensorBikeController.cs

@@ -22,7 +22,7 @@ namespace Controller
         public FrontWheelTracker frontWheelTracker;
         public float multiplicator;
 
-        public float AdjustedRotation => frontWheelTracker.CalculatedSteerRotation * multiplicator;
+        public float AdjustedRotation => frontWheelTracker.SteerRotation * multiplicator;
     }
 
     [RequireComponent(typeof(IBicycleController))]

Assets/Scripts/Display/ViveTrackerDebugDisplay.cs

@@ -11,18 +11,20 @@ namespace Display
         public TextMeshProUGUI rotText;
 
         public FrontWheelTracker tracker;
+        private bool istrackerNull;
 
         // Start is called before the first frame update
         private void Start()
         {
+            istrackerNull = tracker == null;
         }
 
         // Update is called once per frame
         private void Update()
         {
-            if (!tracker.isActiveAndEnabled) return;
-            posText.text = $"Pos: {tracker.Position.ToString()}";
-            rotText.text = $"Rot: {tracker.Rotation.ToString()}";
+            if (istrackerNull || !tracker.isActiveAndEnabled) return;
+            posText.text = $"Pos: {tracker.RelativePosition.ToString()}";
+            rotText.text = $"Rot: {tracker.SteerRotation.ToString()}";
         }
     }
 }

Assets/Scripts/Helpers.cs

@@ -0,0 +1,29 @@
+using UnityEngine;
+
+public class Helpers
+{
+    public static void DrawPlane(Vector3 position , Vector3 normal) {
+ 
+        Vector3 v3;
+ 
+        if (normal.normalized != Vector3.forward)
+            v3 = Vector3.Cross(normal, Vector3.forward).normalized * normal.magnitude;
+        else
+            v3 = Vector3.Cross(normal, Vector3.up).normalized * normal.magnitude;;
+     
+        var corner0 = position + v3;
+        var corner2 = position - v3;
+        var q = Quaternion.AngleAxis(90.0f, normal);
+        v3 = q * v3;
+        var corner1 = position + v3;
+        var corner3 = position - v3;
+ 
+        Debug.DrawLine(corner0, corner2, Color.green);
+        Debug.DrawLine(corner1, corner3, Color.green);
+        Debug.DrawLine(corner0, corner1, Color.green);
+        Debug.DrawLine(corner1, corner2, Color.green);
+        Debug.DrawLine(corner2, corner3, Color.green);
+        Debug.DrawLine(corner3, corner0, Color.green);
+        Debug.DrawRay(position, normal, Color.red);
+    }
+}

Assets/Scripts/Helpers.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: cb87e028736343eea058f6b78445d27e
+timeCreated: 1608194729

Assets/Scripts/Tracking/CalibratableTracker.cs

@@ -0,0 +1,81 @@
+using UnityEngine;
+
+namespace Tracking
+{
+    public abstract class CalibratableTracker : MonoBehaviour
+    {
+        protected abstract string KeyPrefix { get; }
+
+        private string KeyPosX => $"{KeyPrefix}_vive_tracker_pos_x";
+
+        private string KeyPosY => $"{KeyPrefix}_vive_tracker_pos_y";
+        private string KeyPosZ => $"{KeyPrefix}_vive_tracker_pos_z";
+        private string KeyRotX => $"{KeyPrefix}_vive_tracker_rot_x";
+        private string KeyRotY => $"{KeyPrefix}_vive_tracker_rot_y";
+        private string KeyRotZ => $"{KeyPrefix}_vive_tracker_rot_z";
+
+        private Transform trackerTransform;
+        private Vector3 zeroRot;
+        private Vector3 zeroPos;
+
+        public Transform bicycleTransform;
+
+        public Vector3 RelativeRotation
+        {
+            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 RelativePosition => trackerTransform == null ? Vector3.zero : trackerTransform.localPosition - zeroPos;
+        public Vector3 ZeroRot => zeroRot;
+        public Vector3 ZeroPos => zeroPos;
+
+        private void Start()
+        {
+            trackerTransform = transform;
+            if (PlayerPrefs.HasKey(KeyPosX) && PlayerPrefs.HasKey(KeyPosY) && PlayerPrefs.HasKey(KeyPosZ))
+            {
+                var x = PlayerPrefs.GetFloat(KeyPosX);
+                var y = PlayerPrefs.GetFloat(KeyPosY);
+                var z = PlayerPrefs.GetFloat(KeyPosZ);
+
+                zeroPos = new Vector3(x, y, z);
+            }
+
+            if (PlayerPrefs.HasKey(KeyRotX) && PlayerPrefs.HasKey(KeyRotY) && PlayerPrefs.HasKey(KeyRotZ))
+            {
+                var x = PlayerPrefs.GetFloat(KeyRotX);
+                var y = PlayerPrefs.GetFloat(KeyRotY);
+                var z = PlayerPrefs.GetFloat(KeyRotZ);
+
+                zeroRot = new Vector3(x, y, z);
+            }
+        }
+
+        //sets current position as zero -> straighten handlebar and call this function
+        public void Calibrate()
+        {
+            zeroRot = trackerTransform.localRotation.eulerAngles;
+            zeroPos = trackerTransform.localPosition;
+            PlayerPrefs.SetFloat(KeyRotX, zeroRot.x);
+            PlayerPrefs.SetFloat(KeyRotY, zeroRot.y);
+            PlayerPrefs.SetFloat(KeyRotZ, zeroRot.z);
+            PlayerPrefs.SetFloat(KeyPosX, zeroPos.x);
+            PlayerPrefs.SetFloat(KeyPosY, zeroPos.y);
+            PlayerPrefs.SetFloat(KeyPosZ, zeroPos.z);
+            PlayerPrefs.Save();
+        }
+    }
+}

Assets/Scripts/Tracking/CalibratableTracker.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 618ef885dd214ab4a8178476a7e47db9
+timeCreated: 1608199731

Assets/Scripts/Tracking/FrontWheelTracker.cs

@@ -3,91 +3,21 @@ using UnityEngine;
 
 namespace Tracking
 {
-    public class FrontWheelTracker : MonoBehaviour
+    public class FrontWheelTracker : CalibratableTracker
     {
-        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 Transform bicycleTransform;
+        protected override string KeyPrefix => "fw";
         public float trackerDistanceToWheelCenterPoint;
+        public KineticLegTracker legTracker;
 
-        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 float CalculatedSteerRotation
+        public float SteerRotation
         {
             get
             {
-                var posOnBikePlane = Vector3.ProjectOnPlane(Position, bicycleTransform.up);
+                //legTracker position is added to compensate movements of the whole installation
+                var posOnBikePlane = Vector3.ProjectOnPlane(RelativePosition + legTracker.RelativePosition, bicycleTransform.up);
                 var theta = Mathf.Acos(Mathf.Clamp(posOnBikePlane.x / trackerDistanceToWheelCenterPoint, -1f, 1f));
                 return 90f - theta * Mathf.Rad2Deg;
             }
         }
-
-        public Vector3 Position => trackerTransform.localPosition - zeroPos;
-        public Vector3 ZeroRot => zeroRot;
-
-        public Vector3 ZeroPos => zeroPos;
-
-        public void Init()
-        {
-            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);
-            }
-        }
-
-        //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/Tracking/KineticLegTracker.cs

@@ -0,0 +1,9 @@
+using UnityEngine;
+
+namespace Tracking
+{
+    public class KineticLegTracker : CalibratableTracker
+    {
+        protected override string KeyPrefix => "kl";
+    }
+}

Assets/Scripts/Tracking/KineticLegTracker.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 82d80e772c1e3404983776457869e2c9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Settings/SampleSceneProfile.asset

@@ -72,12 +72,12 @@ MonoBehaviour:
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ProjectSettings/DynamicsManager.asset

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ProjectSettings/QualitySettings.asset

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SteamVR.csproj

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SteamVR_Input_Editor.csproj

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SteamVR_Windows_EditorHelper.csproj

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