Proper steering calculation

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

@@ -233,11 +233,9 @@
         <e p="Editor" t="Include">
           <e p="FrontWheelTrackerEditor.cs" t="Include" />
         </e>
-        <e p="FrontWheelTracker.cs" t="Include" />
         <e p="InputActions" t="Include">
           <e p="InputMaster.cs" t="Include" />
         </e>
-        <e p="OverrideLeaningController.cs" t="Include" />
         <e p="Plotting" t="Include">
           <e p="DebugPlot.cs" t="Include" />
           <e p="PlotFileWriter.cs" t="Include" />
@@ -245,33 +243,39 @@
         <e p="PolygonCity" t="Include">
           <e p="Change_Log.txt" t="Include" />
         </e>
-        <e p="RbMovement.cs" t="Include" />
-        <e p="RollingSphere.cs" t="Include" />
         <e p="Scripts" t="Include">
           <e p="Animation" t="Include">
             <e p="BikeAnimation.cs" t="Include" />
             <e p="Rotatable.cs" t="Include" />
           </e>
-          <e p="BicyleController" t="Include">
-            <e p="BicycleController - Copy.cs" t="Include" />
-            <e p="BicycleController.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="Controller" t="Include">
+            <e p="Bicycle" t="Include">
+              <e p="BicycleControllerBaseBehaviour.cs" t="Include" />
+              <e p="DummyBicycleController.cs" t="Include" />
+              <e p="IBicycleController.cs" t="Include" />
+              <e p="RbBicycleController.cs" t="Include" />
+              <e p="WcBicycleController.cs" t="Include" />
+              <e p="WheelConfig.cs" t="Include" />
+            </e>
             <e p="GamepadBikeController.cs" t="Include" />
             <e p="KeyboardBikeController.cs" t="Include" />
             <e p="SensorBikeController.cs" t="Include" />
             <e p="ViveBikeController.cs" t="Include" />
-            <e p="WheelConfig.cs" t="Include" />
           </e>
           <e p="Display" t="Include">
             <e p="BikeDataDisplay.cs" t="Include" />
             <e p="DebugDisplay.cs" t="Include" />
-          </e>
-          <e p="ResetPlayerPosition" t="Include">
-            <e p="BikeReset.cs" t="Include" />
-            <e p="MovePlayerPosition.cs" t="Include" />
-            <e p="PersistatePlayerPosition.cs" t="Include" />
+            <e p="RbDebugDisplay.cs" t="Include" />
+            <e p="ViveTrackerDebugDisplay.cs" t="Include" />
+            <e p="WcDebugDisplay.cs" t="Include" />
           </e>
           <e p="Sensors" t="Include">
-            <e p="ANT+" t="Include">
+            <e p="Ant" t="Include">
               <e p="HrReceiver.cs" t="Include" />
               <e p="PowerMeterReceiver.cs" t="Include" />
               <e p="SpeedSensorReceiver.cs" t="Include" />
@@ -284,13 +288,9 @@
               <e p="UdpConnection.cs" t="Include" />
             </e>
           </e>
-          <e p="SimpleCameraController.cs" t="Include" />
-          <e p="WCTest" t="Include">
-            <e p="SimpleBikeController.cs" t="Include" />
-            <e p="SphereBikeController.cs" t="Include" />
-            <e p="Stabilizer.cs" t="Include" />
+          <e p="Tracking" t="Include">
+            <e p="FrontWheelTracker.cs" t="Include" />
           </e>
-          <e p="WheelDrive.cs" t="Include" />
         </e>
         <e p="SteamVR" t="Include">
           <e p="Editor" t="Include">
@@ -638,7 +638,6 @@
             <e p="Readme.cs" t="Include" />
           </e>
         </e>
-        <e p="ViveDebugData.cs" t="Include" />
         <e p="Wheels" t="Include">
           <e p="Scripts" t="Include">
             <e p="FreeCamera.cs" t="Include" />

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

@@ -10,6 +10,7 @@
       <Path>Library/PackageCache/com.unity.ide.rider@1.1.4</Path>
       <Path>Library/PackageCache/com.unity.ide.vscode@1.2.3</Path>
       <Path>Library/PackageCache/com.unity.inputsystem@1.0.1</Path>
+      <Path>Library/PackageCache/com.unity.postprocessing@3.0.1</Path>
       <Path>Library/PackageCache/com.unity.recorder@2.2.0-preview.4</Path>
       <Path>Library/PackageCache/com.unity.render-pipelines.core@7.3.1</Path>
       <Path>Library/PackageCache/com.unity.render-pipelines.universal@7.3.1</Path>
@@ -31,7 +32,6 @@
       <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

@@ -19,13 +19,24 @@
     <select />
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="ae9d46da-fd77-45ea-9287-d8d155f44bcf" name="Default Changelist" comment="Primitive steering with Vive Tracker">
-      <change afterPath="$PROJECT_DIR$/Assets/ViveDebugData.cs" afterDir="false" />
+    <list default="true" id="ae9d46da-fd77-45ea-9287-d8d155f44bcf" name="Default Changelist" comment="Test Vive Tracker on back">
       <change beforePath="$PROJECT_DIR$/.idea/.idea.VRCyling/.idea/contentModel.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.VRCyling/.idea/contentModel.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/.idea.VRCyling/.idea/indexLayout.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.VRCyling/.idea/indexLayout.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/.idea.VRCyling/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.VRCyling/.idea/workspace.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Assembly-CSharp-Editor.csproj" beforeDir="false" afterPath="$PROJECT_DIR$/Assembly-CSharp-Editor.csproj" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/Assembly-CSharp.csproj" beforeDir="false" afterPath="$PROJECT_DIR$/Assembly-CSharp.csproj" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/Assets/FrontWheelTracker.cs" beforeDir="false" afterPath="$PROJECT_DIR$/Assets/FrontWheelTracker.cs" afterDir="false" />
+      <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/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/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="$PROJECT_DIR$/SteamVR.csproj" beforeDir="false" afterPath="$PROJECT_DIR$/SteamVR.csproj" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/SteamVR_Editor.csproj" beforeDir="false" afterPath="$PROJECT_DIR$/SteamVR_Editor.csproj" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/SteamVR_Input_Editor.csproj" beforeDir="false" afterPath="$PROJECT_DIR$/SteamVR_Input_Editor.csproj" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/SteamVR_Windows_EditorHelper.csproj" beforeDir="false" afterPath="$PROJECT_DIR$/SteamVR_Windows_EditorHelper.csproj" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/obj/Debug/Assembly-CSharp.csprojAssemblyReference.cache" beforeDir="false" afterPath="$PROJECT_DIR$/obj/Debug/Assembly-CSharp.csprojAssemblyReference.cache" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/obj/Debug/SteamVR_Windows_EditorHelper.csprojAssemblyReference.cache" beforeDir="false" afterPath="$PROJECT_DIR$/obj/Debug/SteamVR_Windows_EditorHelper.csprojAssemblyReference.cache" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -36,13 +47,10 @@
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
   <component name="HighlightingSettingsPerFile">
-    <setting file="file://$PROJECT_DIR$/Assets/FrontWheelTracker.cs" root0="FORCE_HIGHLIGHTING" />
     <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://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/526469D5-A48C-43EE-BD9A-F19F8745AFA1/68/360ad80c/PlayerPrefs.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/A8E33794-C006-4F2A-A201-ADE069162226/7e/d8f633a7/EditorGUILayout.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="file://$PROJECT_DIR$/Assets/Scripts/ResetPlayerPosition/BikeReset.cs" root0="FORCE_HIGHLIGHTING" />
-    <setting file="file://$PROJECT_DIR$/Assets/ViveDebugData.cs" root0="FORCE_HIGHLIGHTING" />
   </component>
   <component name="IdeDocumentHistory">
     <option name="CHANGED_PATHS">
@@ -54,14 +62,17 @@
         <option value="$PROJECT_DIR$/Assets/BikeAnimation.cs" />
         <option value="$PROJECT_DIR$/Assets/Scripts/BicyleController/BicycleController.cs" />
         <option value="$PROJECT_DIR$/Assets/Scripts/Animation/Rotatable.cs" />
-        <option value="$PROJECT_DIR$/Assets/Scripts/Animation/BikeAnimation.cs" />
         <option value="$PROJECT_DIR$/Assets/Scripts/ResetPlayerPosition/ResetPositionViaValveSDk.cs" />
         <option value="$PROJECT_DIR$/Assets/Scripts/ResetPlayerPosition/MovePlayerPosition.cs" />
         <option value="$PROJECT_DIR$/Assets/Scripts/ResetPlayerPosition/PersistatePlayerPosition.cs" />
-        <option value="$PROJECT_DIR$/Assets/Editor/FrontWheelTrackerEditor.cs" />
         <option value="$PROJECT_DIR$/Assets/Scripts/BicyleController/SensorBikeController.cs" />
         <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/Editor/FrontWheelTrackerEditor.cs" />
+        <option value="$PROJECT_DIR$/Assets/Scripts/Controller/Bicycle/RbBicycleController.cs" />
+        <option value="$PROJECT_DIR$/Assets/Scripts/Tracking/FrontWheelTracker.cs" />
+        <option value="$PROJECT_DIR$/Assets/Scripts/Controller/SensorBikeController.cs" />
       </list>
     </option>
   </component>
@@ -85,19 +96,19 @@
     <property name="vue.rearranger.settings.migration" value="true" />
   </component>
   <component name="RunManager" selected="Attach to Unity Editor.Attach to Unity Editor &amp; Play">
-    <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="14344">
+    <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="6668">
       <option name="allowRunningInParallel" value="false" />
       <option name="listenPortForConnections" value="false" />
-      <option name="pid" value="14344" />
+      <option name="pid" value="6668" />
       <option name="selectedOptions">
         <set />
       </option>
       <method v="2" />
     </configuration>
-    <configuration name="Attach to Unity Editor" type="UNITY_DEBUG_RUN_CONFIGURATION" factoryName="Unity Debug" show_console_on_std_err="false" show_console_on_std_out="false" port="50000" address="localhost" ignored-value-for-modified-check="14344">
+    <configuration name="Attach to Unity Editor" type="UNITY_DEBUG_RUN_CONFIGURATION" factoryName="Unity Debug" show_console_on_std_err="false" show_console_on_std_out="false" port="50000" address="localhost">
       <option name="allowRunningInParallel" value="false" />
       <option name="listenPortForConnections" value="false" />
-      <option name="pid" value="14344" />
+      <option name="pid" />
       <option name="selectedOptions">
         <set />
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@@ -114,7 +125,8 @@
       <updated>1606388694739</updated>
       <workItem from="1606388712651" duration="10566000" />
       <workItem from="1607346787506" duration="4055000" />
-      <workItem from="1607418056368" duration="3760000" />
+      <workItem from="1607418056368" duration="4074000" />
+      <workItem from="1607588039382" duration="4373000" />
     </task>
     <task id="LOCAL-00001" summary="VR Stuff, Bicycle Animations">
       <created>1606399745852</created>
@@ -144,7 +156,21 @@
       <option name="project" value="LOCAL" />
       <updated>1607420956941</updated>
     </task>
-    <option name="localTasksCounter" value="5" />
+    <task id="LOCAL-00005" summary="Test Vive Tracker on back">
+      <created>1607425561838</created>
+      <option name="number" value="00005" />
+      <option name="presentableId" value="LOCAL-00005" />
+      <option name="project" value="LOCAL" />
+      <updated>1607425561838</updated>
+    </task>
+    <task id="LOCAL-00006" summary="Test Vive Tracker on back">
+      <created>1607425594752</created>
+      <option name="number" value="00006" />
+      <option name="presentableId" value="LOCAL-00006" />
+      <option name="project" value="LOCAL" />
+      <updated>1607425594752</updated>
+    </task>
+    <option name="localTasksCounter" value="7" />
     <servers />
   </component>
   <component name="TypeScriptGeneratedFilesManager">
@@ -171,73 +197,74 @@
     <MESSAGE value="persistate player position and vr bike data display" />
     <MESSAGE value="Primitive steering with Vive Tracker" />
     <MESSAGE value="Vive Tracker Adjustments" />
-    <option name="LAST_COMMIT_MESSAGE" value="Vive Tracker Adjustments" />
+    <MESSAGE value="Test Vive Tracker on back" />
+    <option name="LAST_COMMIT_MESSAGE" value="Test Vive Tracker on back" />
   </component>
   <component name="WindowStateProjectService">
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Assembly-CSharp-Editor.csproj

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- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/4.7.1-api/Facades/System.Xml.XmlSerializer.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/4.7.1-api/Facades/System.Xml.XmlSerializer.dll</HintPath>
  </Reference>
  <Reference Include="System.Xml.XPath">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/4.7.1-api/Facades/System.Xml.XPath.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/4.7.1-api/Facades/System.Xml.XPath.dll</HintPath>
  </Reference>
  <Reference Include="System.Xml.XPath.XDocument">
- <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>
+ <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>
  </Reference>
  <Reference Include="UnityScript">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/unityscript/UnityScript.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/unityscript/UnityScript.dll</HintPath>
  </Reference>
  <Reference Include="UnityScript.Lang">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/unityscript/UnityScript.Lang.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/unityscript/UnityScript.Lang.dll</HintPath>
  </Reference>
  <Reference Include="Boo.Lang">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/unityscript/Boo.Lang.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/MonoBleedingEdge/lib/mono/unityscript/Boo.Lang.dll</HintPath>
  </Reference>
   </ItemGroup>
   <ItemGroup>
     <ProjectReference Include="SteamVR_Actions.csproj">
-      <Project>{67161614-2DB4-7745-C3F6-F9DD455AD582}</Project>
+      <Project>{C8866180-64C6-F02E-A914-446507B36928}</Project>
       <Name>SteamVR_Actions</Name>
     </ProjectReference>
     <ProjectReference Include="SteamVR_Input_Editor.csproj">
-      <Project>{1140961C-B987-84EB-8395-EA3F31446727}</Project>
+      <Project>{54152D6B-1E30-6A08-B2F2-6A642758DE58}</Project>
       <Name>SteamVR_Input_Editor</Name>
     </ProjectReference>
     <ProjectReference Include="SteamVR_Editor.csproj">
-      <Project>{D8C7B615-CB75-29C4-6CE4-D38FB9BA7D1D}</Project>
+      <Project>{3E8A5CA9-A461-ACB7-88CF-437458189DB9}</Project>
       <Name>SteamVR_Editor</Name>
     </ProjectReference>
     <ProjectReference Include="SteamVR.csproj">
-      <Project>{38F48EE2-F28D-DDBC-80B3-619ED7F38A17}</Project>
+      <Project>{AA2F3384-93C6-6339-7224-30BEFA100592}</Project>
       <Name>SteamVR</Name>
     </ProjectReference>
     <ProjectReference Include="SteamVR_Windows_EditorHelper.csproj">
-      <Project>{CDC4B8D5-119D-91FE-D16D-283F6632AFF5}</Project>
+      <Project>{93AF3A7F-4D0E-9DB2-6791-66B2405AEB3C}</Project>
       <Name>SteamVR_Windows_EditorHelper</Name>
     </ProjectReference>
   </ItemGroup>

Assets/Editor/FrontWheelTrackerEditor.cs

@@ -1,9 +1,11 @@
 using System;
+using System.Globalization;
 using Tracking;
 using UnityEditor;
 using UnityEngine;
 
 [CustomEditor(typeof(FrontWheelTracker))]
+// ReSharper disable once CheckNamespace
 public class FrontWheelTrackerEditor : Editor
 {
     public override void OnInspectorGUI()
@@ -18,6 +20,7 @@ public class FrontWheelTrackerEditor : Editor
         EditorGUILayout.Space();
         EditorGUILayout.LabelField("Relative Position", fwt.Position.ToString());
         EditorGUILayout.LabelField("Relative Rotation", fwt.Rotation.ToString());
+        EditorGUILayout.LabelField("Calculated Steer Rotation", fwt.CalculatedSteerRotation().ToString(CultureInfo.CurrentCulture));
 
         EditorGUILayout.LabelField("Attach Vive Tracker to Wheel and press Button to calibrate");
         if (GUILayout.Button("Calibrate"))

Assets/Scenes/MainScene.unity

@@ -38,7 +38,7 @@ RenderSettings:
   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.2846213, g: 0.37121028, b: 0.49880686, a: 1}
+  m_IndirectSpecularColor: {r: 0.28462106, g: 0.37120986, b: 0.4988058, a: 1}
   m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
 LightmapSettings:
@@ -16998,6 +16998,11 @@ PrefabInstance:
       propertyPath: m_Layer
       value: 10
       objectReference: {fileID: 0}
+    - target: {fileID: 451871745638313693, guid: 7327ba33dc61a6447b6a81bcb9d0c62c,
+        type: 3}
+      propertyPath: m_IsActive
+      value: 0
+      objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: 7327ba33dc61a6447b6a81bcb9d0c62c, type: 3}
 --- !u!1001 &125041979
@@ -214357,6 +214362,12 @@ GameObject:
     type: 3}
   m_PrefabInstance: {fileID: 1929752190}
   m_PrefabAsset: {fileID: 0}
+--- !u!4 &1689915699 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 4988978073311274402, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
+    type: 3}
+  m_PrefabInstance: {fileID: 1929752190}
+  m_PrefabAsset: {fileID: 0}
 --- !u!135 &1689915700
 SphereCollider:
   m_ObjectHideFlags: 0
@@ -245937,6 +245948,21 @@ PrefabInstance:
       propertyPath: maxSpeed
       value: 11.111
       objectReference: {fileID: 0}
+    - target: {fileID: 4988978071383829747, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
+        type: 3}
+      propertyPath: index
+      value: 3
+      objectReference: {fileID: 0}
+    - target: {fileID: 4988978071383829751, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
+        type: 3}
+      propertyPath: bicycleTransform
+      value: 
+      objectReference: {fileID: 1689915699}
+    - target: {fileID: 4988978071383829751, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
+        type: 3}
+      propertyPath: trackerDistanceToWheelCenterPoint
+      value: 0.283
+      objectReference: {fileID: 0}
     - target: {fileID: 4988978072012181939, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
         type: 3}
       propertyPath: m_VolumeLayerMask.m_Bits
@@ -246007,6 +246033,36 @@ PrefabInstance:
       propertyPath: m_LocalEulerAnglesHint.z
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 4988978072042319893, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
+        type: 3}
+      propertyPath: m_Enabled
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4988978072042319893, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
+        type: 3}
+      propertyPath: steer
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4988978072042319893, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
+        type: 3}
+      propertyPath: lean
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4988978072042319893, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
+        type: 3}
+      propertyPath: frontWheelTrackerConfig.multiplicator
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4988978072042319894, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
+        type: 3}
+      propertyPath: m_Enabled
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4988978072042319979, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
+        type: 3}
+      propertyPath: m_Enabled
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 4988978072311855431, guid: 3b07d6594636ab04d9c1fac04c1cde7e,
         type: 3}
       propertyPath: m_VolumeLayerMask.m_Bits

Assets/Scripts/Animation/BikeAnimation.cs

@@ -6,6 +6,7 @@ using UnityEngine;
 
 namespace Animation
 {
+    [RequireComponent(typeof(IBicycleController))]
     public class BikeAnimation : MonoBehaviour
     {
         #region Variables
@@ -23,7 +24,7 @@ namespace Animation
         [Header("Parameters")] public float wheelCircumference = 2.096f;
         public float defaultCadence = 80;
 
-        private WcBicycleController wcBicycleController;
+        private IBicycleController bicycleController;
 
         private readonly Dictionary<Rotatable, Vector3> initialPositions = new Dictionary<Rotatable, Vector3>();
         private readonly Dictionary<Rotatable, Quaternion> initialRotations = new Dictionary<Rotatable, Quaternion>();
@@ -34,7 +35,7 @@ namespace Animation
         // Start is called before the first frame update
         void Start()
         {
-            wcBicycleController = GetComponentInParent<WcBicycleController>();
+            bicycleController = GetComponentInParent<IBicycleController>();
             initialPositions[crankSet] = crankSet.gameObject.transform.localPosition;
             initialPositions[fork] = fork.gameObject.transform.localPosition;
             initialRotations[crankSet] = crankSet.gameObject.transform.localRotation;
@@ -47,13 +48,13 @@ namespace Animation
             var cadenceAngle = cadence / 60 * 360 * Time.deltaTime; //rps * 360 deg for one round
 
             RotateWheels();
-            RotateAroundDefinedAxis(fork, wcBicycleController.CurrentSteerAngle);
+            RotateAroundDefinedAxis(fork, bicycleController.CurrentSteerAngle);
             RotateAroundDefinedAxis(crankSet, cadenceAngle, false);
         }
 
         private void RotateWheels()
         {
-            var speed = wcBicycleController.rigidBody.velocity.magnitude;
+            var speed = bicycleController.CurrentSpeed;
             var rps = speed / wheelCircumference;
             var angle = rps * Time.deltaTime;
         
@@ -86,7 +87,7 @@ namespace Animation
         void RotateObject(GameObject obj, float multiplier)
         {
             obj.transform.Rotate(
-                Time.deltaTime * wcBicycleController.rigidBody.velocity.magnitude * (360f / 12f) * multiplier, 0,
+                Time.deltaTime * bicycleController.CurrentSpeed * (360f / 12f) * multiplier, 0,
                 0);
             //obj.transform.Rotate(Time.deltaTime * rotSpeed * (360f / oneRotationSpeed) * multiplier, 0, 0);
         }

Assets/Scripts/Controller/Bicycle/RbBicycleController.cs

@@ -54,7 +54,7 @@ namespace Controller.Bicycle
 
         private void Update()
         {
-            throw new NotImplementedException();
+            //throw new NotImplementedException();
         }
 
         private void FixedUpdate()
@@ -74,6 +74,12 @@ namespace Controller.Bicycle
 
         private void ApplySteerAngleAndRotation()
         {
+            //don't lean and rotate when veeeeeery sloooow/standing
+            if (CurrentSpeed < 0.3f) //ca 1 km/h
+            {
+                CurrentSteerAngle = 0;
+                CurrentLeaningAngle = 0;
+            }
             if (controllerMode == BicycleControllerMode.Independent)
             {
                 var r = rbTransform.localRotation.eulerAngles;

Assets/Scripts/Controller/SensorBikeController.cs

@@ -22,7 +22,7 @@ namespace Controller
         public FrontWheelTracker frontWheelTracker;
         public float multiplicator;
 
-        public Vector3 AdjustedRotation => frontWheelTracker.Rotation * multiplicator;
+        public float AdjustedRotation => frontWheelTracker.CalculatedSteerRotation() * multiplicator;
     }
 
     [RequireComponent(typeof(IBicycleController))]
@@ -76,7 +76,7 @@ namespace Controller
         private void SetSteer()
         {
             bicycleController.CurrentSteerAngle =
-                frontWheelTrackerConfig.AdjustedRotation.y; //TODO: something a bit smarter
+                frontWheelTrackerConfig.AdjustedRotation;
         }
 
         private void OnDestroy()

Assets/Scripts/Tracking/FrontWheelTracker.cs

@@ -5,17 +5,20 @@ 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 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;
+        public float trackerDistanceToWheelCenterPoint;
+        
         public Vector3 Rotation
         {
             get
@@ -63,11 +66,6 @@ namespace Tracking
             }
         }
 
-        // Update is called once per frame
-        void Update()
-        {
-        }
-
         //sets current position as zero -> straighten handlebar and call this function
         public void Calibrate()
         {
@@ -81,5 +79,12 @@ namespace Tracking
             PlayerPrefs.SetFloat(KEY_POS_Z, zeroPos.z);
             PlayerPrefs.Save();
         }
+
+        public float CalculatedSteerRotation()
+        {
+            var posOnBikePlane = Vector3.ProjectOnPlane(Position, bicycleTransform.up);
+            var theta = Mathf.Acos(Mathf.Clamp(posOnBikePlane.x / trackerDistanceToWheelCenterPoint, -1f, 1f));
+            return 90f - theta * Mathf.Rad2Deg;
+        }
     }
 }

Assets/Settings/SampleSceneProfile.asset

@@ -12,7 +12,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 0b2db86121404754db890f4c8dfe81b2, type: 3}
   m_Name: Bloom
   m_EditorClassIdentifier: 
-  active: 1
+  active: 0
   m_AdvancedMode: 0
   threshold:
     m_OverrideState: 1
@@ -72,12 +72,12 @@ MonoBehaviour:
     m_Value: {x: 0.5, y: 0.5}
   intensity:
     m_OverrideState: 1
-    m_Value: 0.338
+    m_Value: 0.499
     min: 0
     max: 1
   smoothness:
     m_OverrideState: 1
-    m_Value: 0.487
+    m_Value: 0.721
     min: 0.01
     max: 1
   rounded:

ProjectSettings/QualitySettings.asset

@@ -95,7 +95,7 @@ QualitySettings:
     skinWeights: 2
     textureQuality: 0
     anisotropicTextures: 1
-    antiAliasing: 2
+    antiAliasing: 0
     softParticles: 0
     softVegetation: 1
     realtimeReflectionProbes: 1

SteamVR.csproj

@@ -12,7 +12,7 @@
     <ProductVersion>10.0.20506</ProductVersion>
     <SchemaVersion>2.0</SchemaVersion>
     <RootNamespace></RootNamespace>
-    <ProjectGuid>{38F48EE2-F28D-DDBC-80B3-619ED7F38A17}</ProjectGuid>
+    <ProjectGuid>{AA2F3384-93C6-6339-7224-30BEFA100592}</ProjectGuid>
     <OutputType>Library</OutputType>
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <AssemblyName>SteamVR</AssemblyName>
@@ -51,10 +51,10 @@
   </PropertyGroup>
   <ItemGroup>
     <Reference Include="UnityEngine">
-      <HintPath>C:\Program Files\Unity Editors\2019.4.15f1\Editor\Data\Managed/UnityEngine/UnityEngine.dll</HintPath>
+      <HintPath>C:\Program Files\Unity\Hub\Editor\2019.4.15f1\Editor\Data\Managed/UnityEngine/UnityEngine.dll</HintPath>
     </Reference>
     <Reference Include="UnityEditor">
-      <HintPath>C:\Program Files\Unity Editors\2019.4.15f1\Editor\Data\Managed/UnityEditor.dll</HintPath>
+      <HintPath>C:\Program Files\Unity\Hub\Editor\2019.4.15f1\Editor\Data\Managed/UnityEditor.dll</HintPath>
     </Reference>
   </ItemGroup>
   <ItemGroup>
@@ -256,570 +256,561 @@
      <None Include="Assets\SteamVR\SteamVR.asmdef" />
      <None Include="Assets\SteamVR\Resources\SteamVR_Fade.shader" />
  <Reference Include="UnityEditor.UI">
- <HintPath>C:/Unity Projects/VR Cycling/Library/ScriptAssemblies/UnityEditor.UI.dll</HintPath>
+ <HintPath>C:/Users/student/Desktop/VRCyling/Library/ScriptAssemblies/UnityEditor.UI.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.UI">
- <HintPath>C:/Unity Projects/VR Cycling/Library/ScriptAssemblies/UnityEngine.UI.dll</HintPath>
+ <HintPath>C:/Users/student/Desktop/VRCyling/Library/ScriptAssemblies/UnityEngine.UI.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AIModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AIModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AIModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.ARModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ARModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ARModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AccessibilityModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AccessibilityModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AccessibilityModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AndroidJNIModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AndroidJNIModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AndroidJNIModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AnimationModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AnimationModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AnimationModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AssetBundleModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AssetBundleModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AssetBundleModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AudioModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AudioModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AudioModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.ClothModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ClothModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ClothModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.ClusterInputModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ClusterInputModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ClusterInputModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.ClusterRendererModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ClusterRendererModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ClusterRendererModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.CoreModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.CoreModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.CoreModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.CrashReportingModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.CrashReportingModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.CrashReportingModule.dll</HintPath>
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  <Reference Include="UnityEngine.DSPGraphModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.DSPGraphModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.DSPGraphModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.DirectorModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.DirectorModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.DirectorModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.GameCenterModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.GameCenterModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.GameCenterModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.GridModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.GridModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.GridModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.HotReloadModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.HotReloadModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.HotReloadModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.IMGUIModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.IMGUIModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.IMGUIModule.dll</HintPath>
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  <Reference Include="UnityEngine.ImageConversionModule">
- <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ImageConversionModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ImageConversionModule.dll</HintPath>
  </Reference>
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-      <Project>{CDC4B8D5-119D-91FE-D16D-283F6632AFF5}</Project>
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SteamVR_Editor.csproj

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SteamVR_Input_Editor.csproj

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SteamVR_Windows_EditorHelper.csproj

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