Raise creation point of underlying anchors (#244)

* Move anchor creation to camera position from legacy position 1 meter down.
Fix compatibility bug with ASA 2.11 Read (Search unaffected).
Bump version to v1.5.7.

* Add option to zero out pitch and roll from correction computed by FrozenWorldEngine.

Author: fast-slow-still

Assets/WorldLocking.ASA/Scripts/PublisherASA.cs

@@ -1231,8 +1231,8 @@ private async Task<LocalPeg> InternalCreateLocalPeg(string id, Pose lockedPose)
                 + $" pa={WorldLockingManager.GetInstance().AnchorManager.AnchorFromSpongy.Inverse().Multiply(frozenPose).position.ToString("F3")}"
                 );
 
-#if WLT_ASA_SESSION_ORIGIN_WORKAROUND
-            // mafinc - workaround for bug in ASA NativeAnchor.
+#if WLT_ASA_V2_10_2_OR_OLDER && WLT_ASA_SESSION_ORIGIN_WORKAROUND
+            // mafinc - workaround for bug in ASA NativeAnchor. Not needed (and breaks things) for ASA v2.11 and later.
             peg.anchorHanger.transform.SetLocalPose(Pose.identity);
 #endif // WLT_ASA_SESSION_ORIGIN_WORKAROUND
 

Assets/WorldLocking.ASA/Scripts/SpacePinBinder.cs

@@ -327,6 +327,7 @@ public async Task<bool> Search()
                     SpacePinASA spacePin = spacePins[idx];
 
                     Pose lockedPose = wltMgr.LockedFromFrozen.Multiply(pegAndProps.localPeg.GlobalPose);
+                    SimpleConsole.AddLine(ConsoleLow, $"Srch: {lockedPose.ToString("F3")}");
                     spacePin.SetLockedPose(lockedPose);
                     spacePin.SetLocalPeg(pegAndProps.localPeg);
                 }

Assets/WorldLocking.Core/Editor/WorldLockingContextEditor.cs

@@ -78,6 +78,8 @@ public override void OnInspectorGUI()
                     {
                         AddProperty(mgrPath, "applyAdjustment");
 
+                        AddProperty(mgrPath, "NoPitchAndRoll");
+
                         AddProperty(mgrPath, "AdjustmentFrame");
 
                         AddProperty(mgrPath, "CameraParent");

Assets/WorldLocking.Core/Scripts/AnchorManager.cs

@@ -234,9 +234,8 @@ public virtual bool Update()
             // 
             Pose spongyHead = headTracker.GetHeadPose();
 
-            // place new anchors 1m below head
+            // place new anchors at head
             Pose newSpongyAnchorPose = spongyHead;
-            newSpongyAnchorPose.position.y -= 1;
             newSpongyAnchorPose.rotation = Quaternion.identity;
 
             var activeAnchors = new List<AnchorPose>();

Assets/WorldLocking.Core/Scripts/LinkageSettings.cs

@@ -41,6 +41,12 @@ public bool UseExisting
         [Tooltip("Apply world locking adjustment to the AdjustmentFrame.")]
         private bool applyAdjustment;
 
+        /// <summary>
+        /// Zero out pitch and roll from the FrozenWorldEngine correction.
+        /// </summary>
+        [Tooltip("Zero out pitch and roll from the FrozenWorldEngine correction.")]
+        public bool NoPitchAndRoll;
+
         /// <summary>
         /// Apply world locking adjustment to the AdjustmentFrame.
         /// </summary>
@@ -72,6 +78,7 @@ public bool UseExisting
         public void InitToDefaults()
         {
             UseExisting = false;
+            NoPitchAndRoll = false;
             ApplyAdjustment = true;
             AdjustmentFrame = null;
             CameraParent = null;

Assets/WorldLocking.Core/Scripts/WorldLockingManager.cs

@@ -35,7 +35,7 @@ public class WorldLockingManager
         /// allowing quick visual verification of the version of World Locking Tools for Unity currently installed.
         /// It has no effect in code, but serves only as a label.
         /// </summary>
-        public static string Version => "1.5.5";
+        public static string Version => "1.5.7";
 
         /// <summary>
         /// The configuration settings may only be set as a block.
@@ -151,6 +151,13 @@ public DiagnosticsSettings DiagnosticsSettings
         /// </remarks>
         public bool ApplyAdjustment => shared.linkageSettings.ApplyAdjustment;
 
+        /// <summary>
+        /// Zero out pitch and roll from FrozenWorldEngine's computed correction.
+        /// </summary>
+        /// <remarks>
+        /// This does not affect pitch and roll from the AlignmentManager (SpacePins).
+        /// </remarks>
+        public bool NoPitchAndRoll => shared.linkageSettings.NoPitchAndRoll;
 
         /// <summary>
         /// Direct interface to the plugin. It is not generally necessary or desired to 
@@ -683,6 +690,10 @@ private void Update()
             if (Enabled)
             {
                 Pose playspaceFromLocked = Plugin.GetAlignment();
+                if (NoPitchAndRoll)
+                {
+                    playspaceFromLocked.rotation = Quaternion.Euler(0f, playspaceFromLocked.rotation.eulerAngles.y, 0f); // Zero out X and Z rotation from frozen world engine
+                }
                 LockedFromPlayspace = playspaceFromLocked.Inverse();
 
                 SpongyFromCamera = Plugin.GetSpongyHead();

Assets/WorldLocking.Tools/Scripts/AnchorGraphVisual.cs

@@ -39,6 +39,23 @@ public class AnchorGraphVisual : MonoBehaviour
         [SerializeField]
         private Material connectingLine = null;
 
+        /// <summary>
+        /// Vertical distance to offset from actual anchors, to avoid visuals at eye level.
+        /// </summary>
+        /// <remarks>
+        /// Set this to zero to display visuals at actual anchor locations.
+        /// </remarks>
+        public float VerticalDisplacement { get { return verticalDisplacement; } set { verticalDisplacement = value; } }
+
+        /// <summary>
+        /// Vertical distance to offset from actual anchors, to avoid visuals at eye level.
+        /// </summary>
+        /// <remarks>
+        /// Set this to zero to display visuals at actual anchor locations.
+        /// </remarks>
+        [Tooltip("Vertical distance to offset from actual anchors, to avoid visuals at eye level.")]
+        [SerializeField]
+        private float verticalDisplacement = -1.0f;
         #endregion Public properties
 
         #region Internal properties
@@ -166,7 +183,7 @@ private void UpdateSpongy()
             var spongyCurrent = anchorManager.SpongyAnchors;
             spongyCurrent.Sort((x, y) => x.anchorId.CompareTo(y.anchorId));
 
-            SpongyVisualCreator spongyCreator = new SpongyVisualCreator(Prefab_SpongyAnchorViz, spongyWorldViz);
+            SpongyVisualCreator spongyCreator = new SpongyVisualCreator(Prefab_SpongyAnchorViz, spongyWorldViz, verticalDisplacement);
             ResourceMirror.Sync(
                 spongyCurrent,
                 spongyResources,
@@ -220,6 +237,8 @@ private void UpdateFrozen()
 
             /// The "frozen" coordinates here are ignoring the rest of the transform up the camera tree.
             Pose globalFromLocked = manager.ApplyAdjustment ? manager.FrozenFromLocked : manager.SpongyFromLocked;
+            /// Apply the vertical displacement through the globalFromLocked transform.
+            globalFromLocked.position = new Vector3(globalFromLocked.position.x, globalFromLocked.position.y + verticalDisplacement, globalFromLocked.position.z);
 
             var frozenCreator = new FrozenAnchorVisualCreator(Prefab_FrozenAnchorViz, frozenFragmentVizs, globalFromLocked);
             ResourceMirror.Sync(
@@ -443,17 +462,19 @@ private class SpongyVisualCreator
         {
             private readonly SpongyAnchorVisual Prefab_SpongyAnchorVisual;
             private readonly FrameVisual spongyWorldVisual;
+            private readonly float verticalDisplacement;
 
             /// <summary>
             /// Constructor takes the prefab to construct the visual out of, and a FrameVisual
             /// to creat the visual attached to.
             /// </summary>
             /// <param name="prefab">Prefab to create the visual out of.</param>
             /// <param name="spongyWorldVisual">Parent of created visuals.</param>
-            public SpongyVisualCreator(SpongyAnchorVisual prefab, FrameVisual spongyWorldVisual)
+            public SpongyVisualCreator(SpongyAnchorVisual prefab, FrameVisual spongyWorldVisual, float verticalDisplacement)
             {
                 Prefab_SpongyAnchorVisual = prefab;
                 this.spongyWorldVisual = spongyWorldVisual;
+                this.verticalDisplacement = verticalDisplacement;
             }
 
             /// <summary>
@@ -466,7 +487,8 @@ public bool CreateSpongyVisual(AnchorManager.SpongyAnchorWithId source, out IdPa
             {
                 var spongyAnchorVisual = Prefab_SpongyAnchorVisual.Instantiate(
                     spongyWorldVisual,
-                    source.spongyAnchor);
+                    source.spongyAnchor,
+                    verticalDisplacement);
 
                 resource = new IdPair<AnchorId, SpongyAnchorVisual>()
                 {

Assets/WorldLocking.Tools/Scripts/SpongyAnchorVisual.cs

@@ -43,13 +43,18 @@ public class SpongyAnchorVisual : MonoBehaviour
 
         private Color color;
 
+        /// <summary>
+        /// Set in AnchorGraphVisual.
+        /// </summary>
+        private float verticalDisplacement = 0;
+
         /// <summary>
         /// Create a visualizer for a spongy anchor.
         /// </summary>
         /// <param name="parent">Coordinate space to create the visualizer in</param>
         /// <param name="spongyAnchor">The spongyAnchor component assigned to some other object that this object is supposed to sync with</param>
         /// <returns></returns>
-        public SpongyAnchorVisual Instantiate(FrameVisual parent, SpongyAnchor spongyAnchor)
+        public SpongyAnchorVisual Instantiate(FrameVisual parent, SpongyAnchor spongyAnchor, float verticalDisplacement)
         {
             var res = Instantiate(this, parent.transform);
             res.name = spongyAnchor.name;
@@ -59,6 +64,7 @@ public SpongyAnchorVisual Instantiate(FrameVisual parent, SpongyAnchor spongyAnc
             }
             res.spongyAnchor = spongyAnchor;
             res.color = Color.gray;
+            res.verticalDisplacement = verticalDisplacement;
             return res;
         }
 
@@ -74,7 +80,9 @@ private void Update()
             // The SpongyFrame is adjusted by FrozeWorld every frame. This means that giving a transform M relative to the SpongyFrame,
             // as done here, will put the object _relative to the camera_ in the same place as setting M as the world transform
             // if SpongyFrame wasn't there, i.e. Unity World Space.
-            transform.SetLocalPose(spongyAnchor.SpongyPose);
+            Pose localPose = spongyAnchor.SpongyPose;
+            localPose.position = new Vector3(localPose.position.x, localPose.position.y + verticalDisplacement, localPose.position.z);
+            transform.SetLocalPose(localPose);
 
             if (!spongyAnchor.IsLocated)
                 color = Color.gray;

UPM/asa_files/CHANGELOG.md

@@ -2,6 +2,8 @@
 
 [See release notes](https://github.com/microsoft/MixedReality-WorldLockingTools-Unity/releases)
 
+## 1.5.7 - Increased anchor stabilization.
+
 ## 1.5.6 - Update to ASA v2.11.0.
 
 ## 1.5.4 - Fix timing issue with ASA anchors sometimes not created in time.

UPM/asa_files/package.json

@@ -1,7 +1,7 @@
 {
   "name": "com.microsoft.mixedreality.wlt.asa",
   "displayName": "WLT-ASA",
-  "version": "1.5.6",
+  "version": "1.5.7",
   "unity": "2020.3",
   "msftFeatureCategory": "World Locking Tools",
   "description": "World Locking Tools for Unity (WLT) + Azure Spatial Anchors (ASA)\n\nThis optional add-on to WLT leverages ASA to persist coordinate spaces across sessions and share them across devices.\nCross platform support includes HoloLens, Android, and iOS.",
@@ -35,7 +35,7 @@
   },
   "dependencies": {
     "com.microsoft.azure.spatial-anchors-sdk.core": "2.11.0",
-    "com.microsoft.mixedreality.worldlockingtools": "1.5.6"
+    "com.microsoft.mixedreality.worldlockingtools": "1.5.7"
   },
   "files": [
     "WorldLocking.ASA",