°board v1 complete

app/Glove.cs

@@ -23,7 +23,7 @@ public class Glove {
   float stretchDeadzone = 0;
   Vec3 pullPoint;
 
-  float twist;
+  public float twist;
   bool twistOut;
   Quat twistOffset;
   Quat oldOri;

app/Mono.cs

@@ -56,12 +56,8 @@ public class Mono {
     Renderer.SetClip(0.02f, 1000f);
   }
 
-  Vec3 pos = new Vec3(0f, 0f, 0f);
-  Quat ori = Quat.Identity;
-  float yy = 0f;
+  Vec3 boardDir = Vec3.Forward;
   public void Step() {
-    Renderer.CameraRoot = Matrix.TR(pos, ori);
-
     rig.Step();
     scene.Step();
 
@@ -81,44 +77,59 @@ public class Mono {
     ////
 
 
+
     // °board
-    // trigger & stick.x will be remapped to tracked motions next
-
-    // str = 100±
+    // handling = 200±
     // speed = 10±
-    // con.grip.frameDown: handleCon = con
+    // board.dir = Vec3.fwd
 
-    // turn = handleCon.stick.x
-    // rig.rot *= Quat(0f, turn * strength * delta, 0f);
+    // con.grip.frameDown: 
+    //   handle = con
 
-    // accel = handleCon.trigger
-    // rig.pos += boardDir * accel * speed * delta
+    // board.pos = FloorCenter
+    // newDir = handle.pos.X0Z - board.pos.X0Z
+    // board.dir = newDir.MagSq > 0.001f ? newDir.normalized : board.dir
+    // board.ori = Quat.LookDir(board.dir)
 
-    // board.pos = rig.floorCenter + rig.pos
-    // board.dir = (handleCon.pos.X0Z - board.pos.X0Z).normalized
-    // board.rot = Quat(board.dir, Vec3.up)
+    // twist = handle.grip * -(Quat.LookDir(board.dir).Inverse * handle.backhandDir).x
+    // rig.ori *= Quat(0, twist * handling * delta, 0)
+
+    // accel = handle.trigger
+    // rig.pos += board.dir * accel * speed * delta
 
 
-    Con handleCon = rig.HandleCon();
-    Vec3 boardDir = (handleCon.pos.X0Z - pos.X0Z).Normalized;
-    Quat boardRot = Quat.LookDir(boardDir);
 
-    pos += boardDir * handleCon.device.trigger * Time.Elapsedf;
-    yy += handleCon.device.stick.x * 90 * Time.Elapsedf;
-    ori = Quat.FromAngles(0f, yy, 0f); // stick.x -> twist z
+    // °board
+    float handling = 200;
+    float speed = 10;
+
+    Vec3 boardPos = rig.FloorCenter;
+    Vec3 newDir = rig.HandleCon.pos.X0Z - boardPos.X0Z;
+    boardDir = newDir.MagnitudeSq > 0.001f ? newDir.Normalized : boardDir;
+    Quat boardOri = Quat.LookDir(boardDir);
+
+    float twist = rig.HandleCon.device.grip * -(Quat.LookDir(boardDir).Inverse * rig.HandleCon.backhandDir).x;
+    rig.ori *= Quat.FromAngles(0f, twist * handling * Time.Elapsedf, 0f);
+    
+    float accel = rig.HandleCon.device.trigger;
+    rig.pos += boardDir * accel * speed * Time.Elapsedf;
+
+    // Lines.Add(rig.HandleCon.pos, rig.HandleCon.pos + rig.HandleCon.backhandDir, Color.White, 0.01f);
+    Mesh.Cube.Draw(Material.Default, Matrix.TRS(boardPos, boardOri, new Vec3(0.18f, 0.06f, 0.6f)));
+
+    // DEPRECATED
+    // PullRequest.Slerp(boardDir.Normalized, handleDelta.Normalized, handleDelta.Magnitude * handling * Time.Elapsedf) : boardDir;
+    // Quat from = Quat.LookAt(rig.Head.position, rig.HandleCon.pos);
+    // Lines.Add(rig.HandleCon.pos, rig.HandleCon.pos + from * Vec3.Up, Color.Black, 0.01f);
 
 
-    Vec3 boardPos = pos.X0Z + Vec3.Up * -1.35f; // rig.Head().position.X0Z
-    Mesh.Cube.Draw(Material.Default, Matrix.TRS(boardPos, boardRot, new Vec3(0.18f, 0.06f, 0.6f)));
+    // does the FloorCenter move with the CameraRoot?
 
     // having a board underneath my feet and a virtual handlebar in my hand
     // did a lot to improve the quality of the experience (+immersion -sickness)
+    // the ability and quality at which this can be propagated is higher than I first imagined
 
-    // don't do more just yet!
-    // these are all important, but lets start small and scrappy + it's 9AM
-    // twist turning
-    // handleCon
-    // tighter boardDir
+    // next?
     // lean turning (head moving in relation to hand, doesn't that happen a little already?)
 
     // -------------------------------------------------

app/PullRequest.cs

@@ -88,6 +88,17 @@ public static class PullRequest {
     return a + (b - a) * t;
   }
 
+  public static Vec3 Slerp(Vec3 a, Vec3 b, float t) {
+    // spherical linear interpolation
+    float dot = Vec3.Dot(a, b);
+    if (dot > 0.9995f) {
+      return Vec3.Lerp(a, b, t);
+    }
+    float theta = (float)Math.Acos(dot);
+    float sinTheta = (float)Math.Sin(theta);
+    return Vec3.Lerp(a * (float)Math.Sin(theta - theta * t) / sinTheta, b * (float)Math.Sin(theta * t) / sinTheta, t);
+  }
+
   static Pose _pose = new Pose();
   public static Pose WorldPose(this Pose pose, float scale = 1) {
     return pose;

app/Rig/Rig.cs

@@ -2,23 +2,36 @@ using System;
 using StereoKit;
 
 public class Rig {
-  public Mic mic;
+  public Mic mic = new Mic();
+  public Vec3 pos = new Vec3(0, 0, 0);
+  public Quat ori = Quat.Identity;
 
   public Rig() {
-    mic = new Mic();
+    if (World.HasBounds) {
+      // pos.XZ = World.BoundsPose.position.XZ;
+      // pos.y = World.BoundsPose.position.y;
+      // ori = World.BoundsPose.orientation;
+    }
   }
 
-  public Con rCon = new Con(), lCon = new Con();
-  public Con Con(bool chirality) { return chirality ? rCon : lCon; }
-  bool handleChirality = false;
-  public Con HandleCon() {
-    return Con(handleChirality);
+  // public Vec3 center;
+  // public void Recenter() {
+  //   center = World.BoundsPose.position.X0Z - Head.position.X0Z;
+  // }
+
+  public Vec3 FloorCenter {
+    get {
+      if (World.HasBounds) { return World.BoundsPose.position; }
+      return new Vec3(0, 0, 0);
+    }
   }
 
-  public Pose Head() {
-    Pose pose = Input.Head;
-    pose.position += pose.orientation * Vec3.Forward * -0.1f;
-    return pose;
+  public Pose Head {
+    get {
+      Pose pose = Input.Head; // between eyes pose
+      pose.position += pose.orientation * Vec3.Forward * -0.1f;
+      return pose;
+    }
   }
 
   public Pose rShoulder, lShoulder;
@@ -27,7 +40,17 @@ public class Rig {
   public Pose rWrist, lWrist;
   public Pose Wrist(bool chirality) { return chirality ? rWrist : lWrist; }
 
+  public Con rCon = new Con(), lCon = new Con();
+  public Con Con(bool chirality) { return chirality ? rCon : lCon; }
+  bool handleChirality = false;
+  public Con HandleCon {
+    get { return Con(handleChirality); }
+  }
+
+
   public void Step() {
+    Renderer.CameraRoot = Matrix.TR(pos, ori);
+
     // Controllers
     rCon.Step(true);
     lCon.Step(false);
@@ -63,6 +86,7 @@ public class Con {
   public Controller device;
   public Vec3 pos;
   public Quat ori;
+  public Vec3 backhandDir;
   public Btn gripBtn;
   public Btn triggerBtn;
 
@@ -70,6 +94,7 @@ public class Con {
     device = Input.Controller(chirality ? Handed.Right : Handed.Left);
     pos = device.pose.position;
     ori = device.aim.orientation;
+    backhandDir = ori * (chirality ? Vec3.Right : -Vec3.Right);
     gripBtn.Step(device.grip > 0.5f);
     triggerBtn.Step(device.trigger > 0.5f);
   }