Version 2.2 - Minor fixes for release to asset store

Author: keithbradner

Assets/SteamVR/Input/SteamVR_Behaviour_Pose.cs

@@ -67,7 +67,9 @@ public class SteamVR_Behaviour_Pose : MonoBehaviour
         protected int deviceIndex = -1;
 
         protected SteamVR_HistoryBuffer historyBuffer = new SteamVR_HistoryBuffer(30);
-        
+
+        private bool debugVelocity = true;
+
 
         protected virtual void Start()
         {
@@ -134,6 +136,20 @@ protected virtual void UpdateTransform()
                 transform.localPosition = poseAction[inputSource].localPosition;
                 transform.localRotation = poseAction[inputSource].localRotation;
             }
+
+            if (debugVelocity && isActive)
+            {
+                /*
+                Vector3 positionAtTime, velocityAtTime, angularVelocityAtTime;
+                Quaternion rotationAtTime;
+
+                poseAction[inputSource].GetPoseAtTimeOffset(1 * -0.011f, out positionAtTime, out rotationAtTime, out velocityAtTime, out angularVelocityAtTime);
+
+                SteamVR_Utils.DrawVelocity(-Time.frameCount, positionAtTime, velocityAtTime, Color.green);
+
+                SteamVR_Utils.DrawVelocity(Time.frameCount, transform.position, poseAction[inputSource].velocity, Color.red);
+                    */
+            }
         }
 
         private void SteamVR_Behaviour_Pose_OnChange(SteamVR_Action_Pose fromAction, SteamVR_Input_Sources fromSource)
@@ -223,6 +239,34 @@ public void GetEstimatedPeakVelocities(out Vector3 velocity, out Vector3 angular
             historyBuffer.GetAverageVelocities(out velocity, out angularVelocity, 2, top);
         }
 
+        /// <summary>Rewrite the history buffer using SteamVR's actual recorded poses and get velocities based on those.</summary>
+        public void GetRealPeakVelocities(out Vector3 velocity, out Vector3 angularVelocity)
+        {
+            System.Diagnostics.Stopwatch stopwatch = new System.Diagnostics.Stopwatch();
+            stopwatch.Start();
+
+            historyBuffer.Clear();
+
+            for (int framesBack = 1; framesBack < 15; framesBack++)
+            {
+                Vector3 positionAtTime, velocityAtTime, angularVelocityAtTime;
+                Quaternion rotationAtTime;
+
+                poseAction[inputSource].GetPoseAtTimeOffset(framesBack * -0.011f, out positionAtTime, out rotationAtTime, out velocityAtTime, out angularVelocityAtTime);
+
+                historyBuffer.Update(positionAtTime, rotationAtTime, velocityAtTime, angularVelocityAtTime);
+            }
+
+            int top = historyBuffer.GetTopVelocity(10, 1);
+
+            var step = historyBuffer.GetAtIndex(top);
+            velocity = step.velocity;
+            angularVelocity = step.angularVelocity;
+
+            stopwatch.Stop();
+            Debug.Log("ms: " + stopwatch.Elapsed.TotalMilliseconds);
+        }
+
         protected int lastFrameUpdated;
         protected void UpdateHistoryBuffer()
         {

Assets/SteamVR/Input/SteamVR_Behaviour_Skeleton.cs

@@ -47,17 +47,6 @@ public class SteamVR_Behaviour_Skeleton : MonoBehaviour
         [Tooltip("Modify this to blend between animations setup on the hand")]
         public float skeletonBlend = 1f;
 
-        /// <summary>
-        /// How much of a blend to apply to the transform positions and rotations between the normal position/rotation and the transform's
-        /// Set to 0 for the transform orientation to be set to the skeleton position/rotation
-        /// Set to 1 for the transform orientation to be set by the attached transform's position/rotation
-        /// </summary>
-        [Range(0, 1)]
-        [Tooltip("Modify this to blend between skeleton root orientation and attached transform root orientation")]
-        public float attachedTransformBlend = 0f;
-
-        public Transform attachedToTransform;
-
         /// <summary>This Unity event will fire whenever the position or rotation of the bones are updated.</summary>
         public SteamVR_Behaviour_SkeletonEvent onBoneTransformsUpdated;
 
@@ -178,6 +167,17 @@ public class SteamVR_Behaviour_Skeleton : MonoBehaviour
         /// <summary>The range of motion that is set temporarily (call ResetTemporaryRangeOfMotion to reset to rangeOfMotion)</summary>
         protected EVRSkeletalMotionRange? temporaryRangeOfMotion = null;
 
+        /// <summary>
+        /// Get the accuracy level of the skeletal tracking data. 
+        /// <para/>* Estimated: Body part location can’t be directly determined by the device. Any skeletal pose provided by the device is estimated based on the active buttons, triggers, joysticks, or other input sensors. Examples include the Vive Controller and gamepads.
+        /// <para/>* Partial: Body part location can be measured directly but with fewer degrees of freedom than the actual body part.Certain body part positions may be unmeasured by the device and estimated from other input data.Examples include Knuckles or gloves that only measure finger curl
+        /// <para/>* Full: Body part location can be measured directly throughout the entire range of motion of the body part.Examples include hi-end mocap systems, or gloves that measure the rotation of each finger segment.
+        /// </summary>
+        public EVRSkeletalTrackingLevel skeletalTrackingLevel
+        {
+            get { return skeletonAction.skeletalTrackingLevel; }
+        }
+
         /// <summary>Returns true if we are in the process of blending the skeletonBlend field (between animation and bone data)</summary>
         public bool isBlending
         {
@@ -352,7 +352,7 @@ public void SetRangeOfMotion(EVRSkeletalMotionRange newRangeOfMotion, float blen
         /// Blend from the current skeletonBlend amount to full bone data. (skeletonBlend = 1)
         /// </summary>
         /// <param name="overTime">How long you want the blend to take (in seconds)</param>
-        public void BlendToSkeleton(float overTime = 0.1f, bool detachTransform = false)
+        public void BlendToSkeleton(float overTime = 0.1f)
         {
             BlendTo(1, overTime);
         }
@@ -364,20 +364,9 @@ public void BlendToSkeleton(float overTime = 0.1f, bool detachTransform = false)
         /// <param name="overTime">How long you want the blend to take (in seconds)</param>
         public void BlendToPoser(SteamVR_Skeleton_Poser poser, float overTime = 0.1f)
         {
-            if (poser == null) return;
-            blendPoser = poser;
-            BlendTo(0, overTime);
-        }
+            if (poser == null)
+                return;
 
-        /// <summary>
-        /// Blend from the current skeletonBlend amount to pose animation. (skeletonBlend = 0)
-        /// Note: This will ignore the root position and rotation of the pose.
-        /// </summary>
-        /// <param name="overTime">How long you want the blend to take (in seconds)</param>
-        /// <param name="attachToTransform">If you have a positiona and rotation offset for your pose you can attach it to a particular transform</param>
-        public void BlendToPoser(SteamVR_Skeleton_Poser poser, Transform attachToTransform, float overTime = 0.1f)
-        {
-            if (poser == null) return;
             blendPoser = poser;
             BlendTo(0, overTime);
         }

Assets/SteamVR/InteractionSystem/Core/Scripts/Hand.cs

@@ -275,6 +275,11 @@ public void HideSkeleton(bool permanent = false)
                 hoverhighlightRenderModel.SetHandVisibility(false, permanent);
         }
 
+        public bool HasSkeleton()
+        {
+            return mainRenderModel != null && mainRenderModel.GetSkeleton() != null;
+        }
+
         public void Show()
         {
             SetVisibility(true);
@@ -454,7 +459,7 @@ public void AttachObject(GameObject objectToAttach, GrabTypes grabbedWithType, A
 
             if (attachedObject.HasAttachFlag(AttachmentFlags.SnapOnAttach))
             {
-                if (attachedObject.interactable != null && attachedObject.interactable.skeletonPoser != null)
+                if (attachedObject.interactable != null && attachedObject.interactable.skeletonPoser != null && HasSkeleton())
                 {
                     SteamVR_Skeleton_PoseSnapshot pose = attachedObject.interactable.skeletonPoser.GetBlendedPose(skeleton);
 
@@ -491,7 +496,7 @@ public void AttachObject(GameObject objectToAttach, GrabTypes grabbedWithType, A
             }
             else
             {
-                if (attachedObject.interactable != null && attachedObject.interactable.skeletonPoser != null)
+                if (attachedObject.interactable != null && attachedObject.interactable.skeletonPoser != null && HasSkeleton())
                 {
                     attachedObject.initialPositionalOffset = attachedObject.handAttachmentPointTransform.InverseTransformPoint(objectToAttach.transform.position);
                     attachedObject.initialRotationalOffset = Quaternion.Inverse(attachedObject.handAttachmentPointTransform.rotation) * objectToAttach.transform.rotation;
@@ -637,7 +642,7 @@ public void DetachObject(GameObject objectToDetach, bool restoreOriginalParent =
                     }
                 }
 
-                if (attachedObjects[index].interactable != null && attachedObjects[index].interactable.handFollowTransform)
+                if (attachedObjects[index].interactable != null && attachedObjects[index].interactable.handFollowTransform && HasSkeleton())
                 {
                     skeleton.transform.localPosition = Vector3.zero;
                     skeleton.transform.localRotation = Quaternion.identity;
@@ -743,6 +748,13 @@ public void GetEstimatedPeakVelocities(out Vector3 velocity, out Vector3 angular
             angularVelocity = Player.instance.trackingOriginTransform.TransformDirection(angularVelocity);
         }
 
+        public void GetRealPeakVelocities(out Vector3 velocity, out Vector3 angularVelocity)
+        {
+            trackedObject.GetRealPeakVelocities(out velocity, out angularVelocity);
+            velocity = Player.instance.trackingOriginTransform.TransformVector(velocity);
+            angularVelocity = Player.instance.trackingOriginTransform.TransformDirection(angularVelocity);
+        }
+
 
         //-------------------------------------------------
         private void CleanUpAttachedObjectStack()
@@ -1101,7 +1113,7 @@ protected virtual void HandFollowUpdate()
                 {
                     SteamVR_Skeleton_PoseSnapshot pose = null;
 
-                    if (currentAttachedObjectInfo.Value.interactable.skeletonPoser != null)
+                    if (currentAttachedObjectInfo.Value.interactable.skeletonPoser != null && HasSkeleton())
                     {
                         pose = currentAttachedObjectInfo.Value.interactable.skeletonPoser.GetBlendedPose(skeleton);
                     }
@@ -1224,7 +1236,7 @@ protected void UpdateAttachedVelocity(AttachedObject attachedObjectInfo)
 
         protected Vector3 TargetItemPosition(AttachedObject attachedObject)
         {
-            if (attachedObject.interactable != null && attachedObject.interactable.skeletonPoser != null)
+            if (attachedObject.interactable != null && attachedObject.interactable.skeletonPoser != null && HasSkeleton())
             {
                 Vector3 tp = attachedObject.handAttachmentPointTransform.InverseTransformPoint(transform.TransformPoint(attachedObject.interactable.skeletonPoser.GetBlendedPose(skeleton).position));
                 //tp.x *= -1;
@@ -1238,7 +1250,7 @@ protected Vector3 TargetItemPosition(AttachedObject attachedObject)
 
         protected Quaternion TargetItemRotation(AttachedObject attachedObject)
         {
-            if (attachedObject.interactable != null && attachedObject.interactable.skeletonPoser != null)
+            if (attachedObject.interactable != null && attachedObject.interactable.skeletonPoser != null && HasSkeleton())
             {
                 Quaternion tr = Quaternion.Inverse(attachedObject.handAttachmentPointTransform.rotation) * (transform.rotation * attachedObject.interactable.skeletonPoser.GetBlendedPose(skeleton).rotation);
                 return currentAttachedObjectInfo.Value.handAttachmentPointTransform.rotation * tr;

Assets/SteamVR/InteractionSystem/Core/Scripts/Interactable.cs

@@ -283,7 +283,7 @@ protected virtual void OnAttachedToHand(Hand hand)
 
             if (skeletonPoser != null && hand.skeleton != null)
             {
-                hand.skeleton.BlendToPoser(skeletonPoser, this.transform, blendToPoseTime);
+                hand.skeleton.BlendToPoser(skeletonPoser, blendToPoseTime);
             }
 
             attachedToHand = hand;
@@ -310,7 +310,7 @@ protected virtual void OnDetachedFromHand(Hand hand)
             if (skeletonPoser != null)
             {
                 if (hand.skeleton != null)
-                    hand.skeleton.BlendToSkeleton(releasePoseBlendTime, true);
+                    hand.skeleton.BlendToSkeleton(releasePoseBlendTime);
             }
 
             attachedToHand = null;

Assets/SteamVR/InteractionSystem/Core/Scripts/RenderModel.cs

@@ -61,6 +61,12 @@ protected void InitializeHand()
                     SetHandVisibility(false);
 
                 handAnimator = handInstance.GetComponentInChildren<Animator>();
+
+                if (handSkeleton.skeletonAction.activeBinding == false)
+                {
+                    Debug.LogWarning("Skeleton action: " + handSkeleton.skeletonAction.GetPath() + " is not bound. Your controller may not support SteamVR Skeleton Input.");
+                    DestroyHand();
+                }
             }
         }
 
@@ -352,7 +358,10 @@ public EVRSkeletalMotionRange GetSkeletonRangeOfMotion
         {
             get
             {
-                return handSkeleton.rangeOfMotion;
+                if (handSkeleton != null)
+                    return handSkeleton.rangeOfMotion;
+                else
+                    return EVRSkeletalMotionRange.WithController;
             }
         }
 

Assets/SteamVR/InteractionSystem/Core/Scripts/Throwable.cs

@@ -187,7 +187,7 @@ public virtual void GetReleaseVelocities(Hand hand, out Vector3 velocity, out Ve
                     angularVelocity = velocityEstimator.GetAngularVelocityEstimate();
                     break;
                 case ReleaseStyle.AdvancedEstimation:
-                    hand.GetEstimatedPeakVelocities(out velocity, out angularVelocity);
+                    hand.GetRealPeakVelocities(out velocity, out angularVelocity);
                     break;
                 case ReleaseStyle.GetFromHand:
                     velocity = hand.GetTrackedObjectVelocity(releaseVelocityTimeOffset);