VRChatでQuest単体でフルトラするやつ

quest_fbt.py

# quest_fbt.py
# Copyright (c) 2022 takana-v
#
# This software is released under the MIT License.
# http://opensource.org/licenses/mit-license.php

import math
from pythonosc import udp_client
import openvr

client = udp_client.SimpleUDPClient("192.168.XXX.XXX", 9000)

openvr.init(openvr.VRApplication_Overlay)

def get_device_index(serial):
    i = 0
    while True:
        serial_num = openvr.IVRSystem().getStringTrackedDeviceProperty(i, openvr.Prop_SerialNumber_String)
        if serial_num == serial:
            return i
        if serial_num == "":
            raise RuntimeError("指定されたデバイスが見つかりませんでした。")
        i += 1

def run_tracker_server(tracker_indexes, reg_tracker):
    poses = []
    poses, _ = openvr.VRCompositor().getLastPoses(poses, None)
    pose = poses[reg_tracker]
    y_delta = -1 * [list(l) for l in list(pose.mDeviceToAbsoluteTracking)][1][3] + 0.04
    while True:
        poses, _ = openvr.VRCompositor().getLastPoses(poses, None)
        for i,j in enumerate(tracker_indexes):
            pose = poses[j]
            col = [list(l) for l in list(pose.mDeviceToAbsoluteTracking)]
            pos_x = col[0][3]
            pos_y = col[1][3]
            pos_z = col[2][3]
            rot_y = math.asin(col[0][2])
            if rot_y != 0:
                rot_x = math.atan(-col[1][2]/col[2][2])
                rot_z = math.atan(-col[0][1]/col[0][0])
            else:
                rot_x = math.atan(col[2][1]/col[1][1])
                rot_z = 0
            client.send_message(
                f"/tracking/trackers/{i+1}/position",
                [
                    -pos_x,
                    pos_y + y_delta,
                    pos_z,
                ]
            )
            client.send_message(
                f"/tracking/trackers/{i+1}/rotation",
                [
                    rot_x,
                    rot_y,
                    rot_z,
                ]
            )

if __name__ == "__main__":
    device_serials = ["LHR-XXXXXXXX", "LHR-YYYYYYYY", "LHR-ZZZZZZZZ"]
    tracker_indexes = [get_device_index(s) for s in device_serials]
    run_tracker_server(tracker_indexes, get_device_index("LHR-XXXXXXXX"))