Simple Trackers IK

TrackerPuppet.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class TrackerPuppet : MonoBehaviour {
	[Header("Trackers")]
    public GameObject controllerLeft;
    public GameObject controllerRight;
    public GameObject trackerLeft;
    public GameObject trackerRight;
    public GameObject playerHead;

    private float myHeight = 0.81f;

    [Header("Bones")]
    public Transform main;
    public Transform root;
    public Transform leftUpperArm;
    public Transform leftForeArm;
    public Transform rightUpperArm;
    public Transform rightForeArm;
    public Transform head;
    public Transform neck;
    public Transform chest;
    public Transform hips;

    private Quaternion startingChestRotation;
    private Quaternion startingHipsRotation;

	// Use this for initialization
	void Start () {
		trackerLeft.GetComponentInParent<SteamVR_TrackedObject>().SetDeviceIndex(
			SteamVR_Controller.GetDeviceIndex(SteamVR_Controller.DeviceRelation.FarthestLeft, Valve.VR.ETrackedDeviceClass.GenericTracker) );
		trackerRight.GetComponentInParent<SteamVR_TrackedObject>().SetDeviceIndex(
			SteamVR_Controller.GetDeviceIndex(SteamVR_Controller.DeviceRelation.FarthestRight, Valve.VR.ETrackedDeviceClass.GenericTracker) );

		controllerLeft.GetComponentInParent<SteamVR_TrackedObject>().SetDeviceIndex(
			SteamVR_Controller.GetDeviceIndex(SteamVR_Controller.DeviceRelation.Leftmost, Valve.VR.ETrackedDeviceClass.Controller) );
		controllerRight.GetComponentInParent<SteamVR_TrackedObject>().SetDeviceIndex(
			SteamVR_Controller.GetDeviceIndex(SteamVR_Controller.DeviceRelation.Rightmost, Valve.VR.ETrackedDeviceClass.Controller) );

		startingChestRotation = chest.localRotation;
		startingHipsRotation = hips.rotation;
	}
	
	// Update is called once per frame
	void Update () {
		leftUpperArm.rotation = trackerLeft.transform.rotation ;
		leftForeArm.rotation = controllerLeft.transform.rotation;
		rightUpperArm.rotation = trackerRight.transform.rotation ;
		rightForeArm.rotation = controllerRight.transform.rotation;
		head.rotation = playerHead.transform.rotation;

		Vector3 shoulderOffset = trackerRight.transform.parent.localPosition - trackerLeft.transform.parent.localPosition;
		Vector3 shoulderLine2d = shoulderOffset;
		Vector3 facing = Vector3.Cross( shoulderLine2d.normalized, Vector3.up);
				
		Quaternion hipsRot = Quaternion.FromToRotation(Vector3.forward, facing);
		shoulderLine2d.y = 0.0f;

		Vector3 shoulderCenter = (trackerRight.transform.parent.localPosition + trackerLeft.transform.parent.localPosition)/2.0f;
		//Vector3 shoulderCenter = (trackerRight.transform.position + trackerLeft.transform.position)/2.0f;
		float leftRightTiltAng = Vector3.Angle(shoulderOffset, shoulderLine2d);

		if(shoulderOffset.y > 0.0f)
				leftRightTiltAng *= -1.0f;

		Vector3 headPos = playerHead.transform.parent.localPosition;
		Vector3 headOffset = headPos - shoulderCenter;
		float leanRotation = 90.0f * Vector3.Dot(facing, headOffset.normalized);
	
		chest.localRotation = startingChestRotation * Quaternion.Euler(0.0f, -leanRotation, leftRightTiltAng);

		float facingAng = Vector3.Angle(Vector3.forward, facing);
		if(Vector3.Dot(facing, Vector3.right) < 0.0f) {
			facingAng = -facingAng;
		}

		hips.rotation = startingHipsRotation * Quaternion.Euler(facingAng, 0.0f, 0.0f);
		main.localPosition = new Vector3(headPos.x, Mathf.Max( headPos.y - myHeight, 0.0f), headPos.z);
	}
}