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Improve local eye tracking: rotation space, axis calibration, offline bone actuation #663

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Merged
dooly123 merged 3 commits into from
Mar 20, 2026
Merged

Improve local eye tracking: rotation space, axis calibration, offline bone actuation #663

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38d94bf
fix: eye tracking - rotation space + axis calibration
kidkwazine Mar 20, 2026
782989b
refactor: Consolidate eye initialRotation into EyeCalibration struct
kidkwazine Mar 20, 2026
9c2d6d8
fix: eye tracking bone actuation works without network connection
kidkwazine Mar 20, 2026
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23 changes: 10 additions & 13 deletions Basis/Packages/com.basis.framework/Drivers/Local/BasisLocalEyeDriver.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -42,17 +42,15 @@ public class BasisLocalEyeDriver

public static Transform leftEyeTransform, rightEyeTransform;
private static Transform _headRef; // used for calibration reference
private static EyeCalibration _calLeft;
private static EyeCalibration _calRight;
public static EyeCalibration calLeft;
public static EyeCalibration calRight;

private static NativeArray<EyeState> _state;


public static bool Override = false;
public static bool IsEnabled = false;

public static Quaternion leftEyeInitialRotation;
public static quaternion rightEyeInitialRotation;
public static void Initalize()
{
Dispose();
Expand All @@ -70,8 +68,6 @@ public static void Initalize()

_state = new NativeArray<EyeState>(1, Allocator.Persistent);
_state[0] = EyeState.Create((uint)UnityEngine.Random.Range(1, int.MaxValue));
leftEyeInitialRotation = leftEyeTransform.rotation;
rightEyeInitialRotation = rightEyeTransform.rotation;
CalibrateEyes();
IsEnabled = true;

Expand Down Expand Up @@ -107,10 +103,10 @@ public void Simulate(float dt)
perEyeVarRad = perEyeVarianceDeg,
occasionalCenterReturn = occasionalCenterReturn,

calLeftBasis = _calLeft.basis,
calLeftInvBasis = _calLeft.invBasis,
calRightBasis = _calRight.basis,
calRightInvBasis = _calRight.invBasis,
calLeftBasis = calLeft.basis,
calLeftInvBasis = calLeft.invBasis,
calRightBasis = calRight.basis,
calRightInvBasis = calRight.invBasis,
rightBase = rightEyeTransform.localRotation,
leftBase = leftEyeTransform.localRotation,

Expand Down Expand Up @@ -138,8 +134,8 @@ public void Apply()
private static void CalibrateEyes()
{
// Per-eye calibration against head reference directions
_calLeft = CalibrateOneEye(leftEyeTransform, _headRef);
_calRight = CalibrateOneEye(rightEyeTransform, _headRef);
calLeft = CalibrateOneEye(leftEyeTransform, _headRef);
calRight = CalibrateOneEye(rightEyeTransform, _headRef);
}

[System.Serializable]
Expand All @@ -149,6 +145,7 @@ public struct EyeCalibration
// canonical: +Z forward, +Y up, +X right
public quaternion basis;
public quaternion invBasis;
public quaternion initialRotation;
}
private static float3[] axes = new float3[]
{
Expand Down Expand Up @@ -211,7 +208,7 @@ private static EyeCalibration CalibrateOneEye(Transform eye, Transform refHead)
quaternion basis = new quaternion(m);
quaternion inv = math.inverse(basis);

return new EyeCalibration { basis = basis, invBasis = inv };
return new EyeCalibration { basis = basis, invBasis = inv, initialRotation = eye.localRotation };
}

[BurstCompile]
Expand Down
41 changes: 28 additions & 13 deletions ...i-vr.basis.comms/Scripts/Systems/Runtime/Components/Actuation/EyeTrackingBoneActuation.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -161,7 +161,7 @@ private void OnDestroy()

private void Update()
{
if (!IsLocal || !_trackingActive || !_eyeTrackingParametersActive)
if (!_eyeFollowDriverApplicable || !_trackingActive || !_eyeTrackingParametersActive)
{
return;
}
Expand Down Expand Up @@ -200,7 +200,7 @@ private void OnAddressUpdated(int address, float value)
return;
}

if (IsLocal)
if (_eyeFollowDriverApplicable)
{
_lastEyeParameterSampleTime = Time.unscaledTime;
if (!_eyeTrackingParametersActive)
Expand All @@ -225,20 +225,20 @@ private void OnTrackingActivityUpdated(int address, float value)
}

_trackingActive = isTrackingActive;
if (IsLocal && !_trackingActive)
if (_eyeFollowDriverApplicable && !_trackingActive)
{
SetLocalEyeParameterState(false);
}

bool shouldApplyEyeTracking = ShouldApplyEyeTracking();
if (IsLocal)
if (_eyeFollowDriverApplicable)
{
SetBuiltInEyeFollowDriverOverriden(shouldApplyEyeTracking);
}

if (_trackingActive)
{
if (IsLocal)
if (_eyeFollowDriverApplicable)
{
if (shouldApplyEyeTracking)
{
Expand All @@ -259,7 +259,7 @@ private void OnTrackingActivityUpdated(int address, float value)
ResetEyeValuesToZero();
_eyeTrackingParametersActive = false;

if (IsLocal)
if (_eyeFollowDriverApplicable)
{
SubmitNeutralEyesToNetwork();
}
Expand Down Expand Up @@ -288,19 +288,34 @@ private void SetEyeRotation(float x, float y, EyeSide side)

if (_eyeFollowDriverApplicable)
{
var xDeg = Mathf.Asin(x) * Mathf.Rad2Deg * multiplyX;
var yDeg = Mathf.Asin(-y) * Mathf.Rad2Deg * multiplyY;
Quaternion Euler = Quaternion.Euler(yDeg, xDeg, 0);

// Uses EyeCalibration from BasisLocalEyeDriver to handle arbitrary eye bone orientations for local player.
// Retaining Hai's original FIXME: This could/should be replaced by a WIP normalized muscle system

float xRad = Mathf.Asin(x) * multiplyX;
float yRad = Mathf.Asin(-y) * multiplyY;
quaternion yaw = quaternion.AxisAngle(new float3(0, 1, 0), xRad);
quaternion pitch = quaternion.AxisAngle(new float3(1, 0, 0), yRad);
quaternion canonical = math.mul(yaw, pitch);

switch (side)
{
// FIXME: This wrongly assumes that eye bone transforms are oriented the same.
// This needs to be fixed later by using the work-in-progress normalized muscle system instead.
case EyeSide.Left:
BasisLocalEyeDriver.leftEyeTransform.localRotation = math.mul(BasisLocalEyeDriver.leftEyeInitialRotation, Euler);
{
var cal = BasisLocalEyeDriver.calLeft;
quaternion rigOffset = math.mul(math.mul(cal.basis, canonical), cal.invBasis);
BasisLocalEyeDriver.leftEyeTransform.localRotation =
math.mul(cal.initialRotation, rigOffset);
break;
}
case EyeSide.Right:
BasisLocalEyeDriver.rightEyeTransform.localRotation = math.mul(BasisLocalEyeDriver.rightEyeInitialRotation, Euler);
{
var cal = BasisLocalEyeDriver.calRight;
quaternion rigOffset = math.mul(math.mul(cal.basis, canonical), cal.invBasis);
BasisLocalEyeDriver.rightEyeTransform.localRotation =
math.mul(cal.initialRotation, rigOffset);
break;
}
default:
throw new ArgumentOutOfRangeException(nameof(side), side, null);
}
Expand Down