ADD : 1€ 필터 프리셋 UI + raw IK 포인트 + 패킷 녹화 + IK FK 블렌딩

OptiTrack 필터:
- FilterStrength enum (Off/Low/Medium/High/Custom) + 인스펙터 버튼 UI
- two-pass 업데이트: raw 데이터로 IK 포인트 월드 위치 캡처 후 필터 적용
- TryGetRawWorldPosition() API로 필터 전 위치 제공 (접지력 보존)
- 패킷 녹화 기능 (enableRecording 토글, 전체 본 CSV 기록)

TwoBoneIKSolver:
- FK/IK Slerp 블렌딩: positionWeight 0→1 전환 시 튀지 않음
- ComputeKneePosFromSource rejection 벡터에 프레임 회전 적용 (팔 방향 보정)
- ComputeKneePosFromBendGoal rejection 기반으로 재작성 (팔꿈치 힌트 방향 정확도 개선)

CustomRetargetingScript:
- 발/손 IK 타겟에 raw 위치 사용 (필터 스무딩 접지력 저하 방지)
- 팔 소스 참조 제거 (bendGoal 방식이 팔에 더 적합)

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

Assets/External/OptiTrack Unity Plugin/OptiTrack/Scripts/OptitrackSkeletonAnimator_Mingle.cs

@@ -1,5 +1,7 @@
 using System;
 using System.Collections.Generic;
+using System.IO;
+using System.Text;
 using UnityEngine;
 using System.Collections;
 
@@ -81,6 +83,83 @@ public class OptitrackSkeletonAnimator_Mingle : MonoBehaviour
         SetFilterStrength((FilterStrength)next);
     }
 
+    // ── 패킷 녹화 ──────────────────────────────────────────────────────────
+    [Header("패킷 녹화 (지터 분석용)")]
+    [Tooltip("활성화하면 raw 스냅샷 데이터를 CSV로 기록합니다")]
+    public bool enableRecording = false;
+
+    private StreamWriter m_csvWriter;
+    private float m_recordStartTime;
+    private bool m_isRecording;
+    private List<(string name, int id)> m_recordBoneList = new List<(string, int)>();
+
+    public void StartRecording()
+    {
+        if (m_isRecording) return;
+        if (m_skeletonDef == null) { Debug.LogWarning("[OptiTrack] 스켈레톤 미연결 — 녹화 불가"); return; }
+
+        // 전체 본 목록 구축
+        m_recordBoneList.Clear();
+        foreach (var bone in m_skeletonDef.Bones)
+        {
+            string optiName = bone.Name.Contains("_") ? bone.Name[(bone.Name.IndexOf('_') + 1)..] : bone.Name;
+            m_recordBoneList.Add((optiName, bone.Id));
+        }
+
+        string timestamp = DateTime.Now.ToString("yyyyMMdd_HHmmss");
+        string path = Path.Combine(Application.persistentDataPath, $"optitrack_raw_{timestamp}.csv");
+
+        m_csvWriter = new StreamWriter(path, false, Encoding.UTF8);
+
+        // 헤더: Time, NatNetDt, 본별 px,py,pz,rx,ry,rz,rw
+        var header = new StringBuilder("Time,NatNetDt");
+        foreach (var (name, _) in m_recordBoneList)
+        {
+            header.Append($",{name}_px,{name}_py,{name}_pz");
+            header.Append($",{name}_rx,{name}_ry,{name}_rz,{name}_rw");
+        }
+        m_csvWriter.WriteLine(header);
+
+        m_recordStartTime = Time.realtimeSinceStartup;
+        m_isRecording = true;
+        Debug.Log($"[OptiTrack] 녹화 시작 ({m_recordBoneList.Count}개 본): {path}");
+    }
+
+    public void StopRecording()
+    {
+        if (!m_isRecording) return;
+        m_isRecording = false;
+
+        m_csvWriter?.Flush();
+        m_csvWriter?.Close();
+        m_csvWriter = null;
+        Debug.Log("[OptiTrack] 녹화 중지 — 파일 저장 완료");
+    }
+
+    private void RecordFrame()
+    {
+        if (!m_isRecording || m_csvWriter == null) return;
+
+        float elapsed = Time.realtimeSinceStartup - m_recordStartTime;
+        var line = new StringBuilder();
+        line.Append($"{elapsed:F6},{m_natNetDt:F6}");
+
+        foreach (var (_, boneId) in m_recordBoneList)
+        {
+            Vector3 pos = m_snapshotPositions.TryGetValue(boneId, out Vector3 p) ? p : Vector3.zero;
+            Quaternion rot = m_snapshotOrientations.TryGetValue(boneId, out Quaternion q) ? q : Quaternion.identity;
+            line.Append($",{pos.x:F6},{pos.y:F6},{pos.z:F6}");
+            line.Append($",{rot.x:F6},{rot.y:F6},{rot.z:F6},{rot.w:F6}");
+        }
+
+        m_csvWriter.WriteLine(line);
+    }
+
+    void OnDestroy()
+    {
+        StopRecording();
+    }
+
     private OptitrackSkeletonDefinition m_skeletonDef;
     private string previousSkeletonName;
 
@@ -89,6 +168,9 @@ public class OptitrackSkeletonAnimator_Mingle : MonoBehaviour
 
     private const float k_SkeletonCheckInterval = 0.1f;
 
+    private Coroutine m_checkCoroutine;
+    private bool m_initialized = false;
+
     // 본 ID → 매핑 인덱스 (빠른 룩업)
     private Dictionary<Int32, int> m_boneIdToMappingIndex = new Dictionary<Int32, int>();
     // 본 이름 → Transform 캐시 (전체 하이어라키)
@@ -219,11 +301,6 @@ public class OptitrackSkeletonAnimator_Mingle : MonoBehaviour
         BuildTransformCache();
         InitializeStreamingClient();
 
-        if (StreamingClient != null)
-        {
-            StreamingClient.RegisterSkeleton(this, this.SkeletonAssetName);
-        }
-
         // SO에서 본 매핑 + T-포즈 로드
         if (RestPoseAsset != null && RestPoseAsset.boneMappings.Count > 0)
         {
@@ -260,7 +337,46 @@ public class OptitrackSkeletonAnimator_Mingle : MonoBehaviour
         }
 
         previousSkeletonName = SkeletonAssetName;
-        StartCoroutine(CheckSkeletonConnectionPeriodically());
+        m_initialized = true;
+
+        // 등록 및 코루틴은 OnEnable()에서 처리
+        RegisterAndStartChecking();
+    }
+
+    void OnEnable()
+    {
+        // Start()가 아직 실행되지 않았으면 무시 (Start()에서 RegisterAndStartChecking 호출됨)
+        if (!m_initialized) return;
+
+        // 클라이언트 참조가 끊어졌으면 재탐색
+        if (StreamingClient == null)
+            InitializeStreamingClient();
+
+        RegisterAndStartChecking();
+    }
+
+    void OnDisable()
+    {
+        isSkeletonFound = false;
+
+        if (m_checkCoroutine != null)
+        {
+            StopCoroutine(m_checkCoroutine);
+            m_checkCoroutine = null;
+        }
+    }
+
+    private void RegisterAndStartChecking()
+    {
+        if (StreamingClient != null)
+        {
+            StreamingClient.RegisterSkeleton(this, this.SkeletonAssetName);
+            previousSkeletonName = SkeletonAssetName;
+        }
+
+        // 코루틴이 이미 돌고 있지 않으면 시작
+        if (m_checkCoroutine == null)
+            m_checkCoroutine = StartCoroutine(CheckSkeletonConnectionPeriodically());
     }
 
     private bool m_lastMirrorMode = false;
@@ -297,6 +413,10 @@ public class OptitrackSkeletonAnimator_Mingle : MonoBehaviour
 
         if (m_skeletonDef == null) return;
 
+        // enableRecording 토글 감지
+        if (enableRecording && !m_isRecording) StartRecording();
+        else if (!enableRecording && m_isRecording) StopRecording();
+
         // 락 보호 하에 스냅샷 복사 + NatNet 하드웨어 타임스탬프 수신
         OptitrackHiResTimer.Timestamp frameTs;
         if (!StreamingClient.FillBoneSnapshot(m_skeletonDef.Id, m_snapshotPositions, m_snapshotOrientations, out frameTs))
@@ -312,6 +432,9 @@ public class OptitrackSkeletonAnimator_Mingle : MonoBehaviour
         m_lastFrameTimestamp    = frameTs;
         m_hasLastFrameTimestamp = true;
 
+        // 패킷 녹화 (필터 적용 전 raw 데이터)
+        RecordFrame();
+
         // ── Pass 1: Raw 데이터 적용 → IK 포인트 월드 위치 캡처 ──────────────────
         // 필터가 활성화되어 있을 때만 two-pass, 비활성이면 single-pass
         if (enableBoneFilter)

Assets/Scripts/KindRetargeting/CustomRetargetingScript.cs

@@ -1200,13 +1200,8 @@ namespace KindRetargeting
                 ikSolver.rightLeg.sourceLower = GetSourceBoneTransform(HumanBodyBones.RightLowerLeg);
                 ikSolver.rightLeg.sourceEnd = GetSourceBoneTransform(HumanBodyBones.RightFoot);
 
-                ikSolver.leftArm.sourceUpper = GetSourceBoneTransform(HumanBodyBones.LeftUpperArm);
-                ikSolver.leftArm.sourceLower = GetSourceBoneTransform(HumanBodyBones.LeftLowerArm);
-                ikSolver.leftArm.sourceEnd = GetSourceBoneTransform(HumanBodyBones.LeftHand);
-
-                ikSolver.rightArm.sourceUpper = GetSourceBoneTransform(HumanBodyBones.RightUpperArm);
-                ikSolver.rightArm.sourceLower = GetSourceBoneTransform(HumanBodyBones.RightLowerArm);
-                ikSolver.rightArm.sourceEnd = GetSourceBoneTransform(HumanBodyBones.RightHand);
+                // 팔은 소스 참조 없이 bendGoal 기반 cosine law 사용
+                // (180° 특이점/역관절 이슈가 없고, bendGoal 힌트 방향이 더 정확)
             }
         }
 

Assets/Scripts/KindRetargeting/TwoBoneIKSolver.cs

@@ -98,44 +98,53 @@ namespace KindRetargeting
 
         private void SolveLimb(LimbIK limb)
         {
-            if (!limb.enabled || limb.target == null || limb.positionWeight < 0.001f) return;
+            if (!limb.enabled || limb.target == null) return;
             if (limb.upper == null || limb.lower == null || limb.end == null) return;
 
+            float weight = limb.positionWeight;
+            if (weight < 0.0001f) return; // 완전히 0일 때만 스킵
+
+            // FK 회전 저장 (IK 결과와 블렌딩용)
+            Quaternion fkUpperRot = limb.upper.rotation;
+            Quaternion fkLowerRot = limb.lower.rotation;
+            Quaternion fkEndRot = limb.end.rotation;
+
             float upperLen = Vector3.Distance(limb.upper.position, limb.lower.position);
             float lowerLen = Vector3.Distance(limb.lower.position, limb.end.position);
 
-            Vector3 targetPos = Vector3.Lerp(limb.end.position, limb.target.position, limb.positionWeight);
+            Vector3 targetPos = limb.target.position;
 
             // --- 무릎 위치 결정 ---
             Vector3 kneePos;
 
             if (limb.sourceUpper != null && limb.sourceLower != null && limb.sourceEnd != null)
             {
-                // 소스 무릎 위치 기반: 소스의 무릎 위치를 타겟 비율로 스케일
                 kneePos = ComputeKneePosFromSource(limb, upperLen, lowerLen, targetPos);
             }
             else
             {
-                // 소스 참조 없음: 기존 bendGoal 기반 fallback (팔 등)
                 kneePos = ComputeKneePosFromBendGoal(limb, upperLen, lowerLen, targetPos);
             }
 
-            // --- 본 회전 적용 ---
+            // --- IK 회전 계산 ---
             Vector3 currentUpperDir = (limb.lower.position - limb.upper.position).normalized;
             Vector3 desiredUpperDir = (kneePos - limb.upper.position).normalized;
-            limb.upper.rotation = Quaternion.FromToRotation(currentUpperDir, desiredUpperDir) * limb.upper.rotation;
+            Quaternion ikUpperRot = Quaternion.FromToRotation(currentUpperDir, desiredUpperDir) * limb.upper.rotation;
 
+            // upper 적용 후 lower 계산 (자식 위치가 바뀌므로 임시 적용)
+            limb.upper.rotation = ikUpperRot;
             Vector3 currentLowerDir = (limb.end.position - limb.lower.position).normalized;
             Vector3 desiredLowerDir = (targetPos - limb.lower.position).normalized;
-            limb.lower.rotation = Quaternion.FromToRotation(currentLowerDir, desiredLowerDir) * limb.lower.rotation;
+            Quaternion ikLowerRot = Quaternion.FromToRotation(currentLowerDir, desiredLowerDir) * limb.lower.rotation;
 
-            if (limb.rotationWeight > 0.001f)
+            // --- FK/IK 블렌딩: weight로 부드럽게 전환 ---
+            limb.upper.rotation = Quaternion.Slerp(fkUpperRot, ikUpperRot, weight);
+            limb.lower.rotation = Quaternion.Slerp(fkLowerRot, ikLowerRot, weight);
+
+            if (limb.rotationWeight > 0.0001f)
             {
-                limb.end.rotation = Quaternion.Slerp(
-                    limb.end.rotation,
-                    limb.target.rotation,
-                    limb.rotationWeight
-                );
+                Quaternion ikEndRot = limb.target.rotation;
+                limb.end.rotation = Quaternion.Slerp(fkEndRot, ikEndRot, limb.rotationWeight);
             }
         }
 
@@ -179,10 +188,15 @@ namespace KindRetargeting
                 return limb.lower.position;
             Vector3 targetHipToFootDir = targetHipToFoot / targetHipToFootMag;
 
-            // 타겟 무릎 위치: 타겟 hip에서 투영 + 수직 성분 적용
+            // 소스 프레임 → 타겟 프레임으로 수직 성분 회전
+            // (소스와 타겟의 사지 방향이 다를 때 팔꿈치/무릎 오프셋 방향 보정)
+            Quaternion frameRotation = Quaternion.FromToRotation(sourceHipToFootDir, targetHipToFootDir);
+            Vector3 rotatedRejection = frameRotation * scaledRejection;
+
+            // 타겟 관절 위치: 타겟 upper에서 투영 + 회전된 수직 성분 적용
             Vector3 kneePos = limb.upper.position
                             + targetHipToFootDir * scaledProjection
-                            + scaledRejection;
+                            + rotatedRejection;
 
             return kneePos;
         }
@@ -199,29 +213,55 @@ namespace KindRetargeting
             if (targetDist < 0.001f) return limb.lower.position;
             Vector3 toTargetDir = toTarget / targetDist;
 
-            Vector3 bendNormal = limb.upper.rotation * limb.localBendNormal;
-
+            // bendGoal의 수직 성분(rejection)으로 팔꿈치/무릎 방향 직접 결정
+            Vector3 bendDir;
             if (limb.bendGoal != null && limb.bendGoalWeight > 0.001f)
             {
-                Vector3 goalNormal = Vector3.Cross(
-                    limb.bendGoal.position - limb.upper.position,
-                    targetPos - limb.upper.position
-                );
-                if (goalNormal.sqrMagnitude > 0.01f)
+                Vector3 toBendGoal = limb.bendGoal.position - limb.upper.position;
+                Vector3 rejection = toBendGoal - Vector3.Dot(toBendGoal, toTargetDir) * toTargetDir;
+                if (rejection.sqrMagnitude > 0.0001f)
                 {
-                    bendNormal = Vector3.Lerp(bendNormal, goalNormal.normalized, limb.bendGoalWeight);
+                    // T-포즈 기반 기본 방향
+                    Vector3 defaultBendDir = GetDefaultBendDir(limb, toTargetDir);
+                    bendDir = Vector3.Lerp(defaultBendDir, rejection.normalized, limb.bendGoalWeight);
+                }
+                else
+                {
+                    bendDir = GetDefaultBendDir(limb, toTargetDir);
                 }
             }
-            bendNormal.Normalize();
+            else
+            {
+                bendDir = GetDefaultBendDir(limb, toTargetDir);
+            }
+            bendDir.Normalize();
 
+            // 코사인 법칙으로 upper 각도 계산
             float clampedDist = Mathf.Clamp(targetDist, Mathf.Abs(upperLen - lowerLen) + 0.001f, chainLength - 0.001f);
-            float cosUpper = (clampedDist * clampedDist + upperLen * upperLen - lowerLen * lowerLen)
+            float cosAngle = (clampedDist * clampedDist + upperLen * upperLen - lowerLen * lowerLen)
                            / (2f * clampedDist * upperLen);
-            cosUpper = Mathf.Clamp(cosUpper, -1f, 1f);
-            float upperAngleDeg = Mathf.Acos(cosUpper) * Mathf.Rad2Deg;
+            cosAngle = Mathf.Clamp(cosAngle, -1f, 1f);
+            float angle = Mathf.Acos(cosAngle);
 
-            Vector3 kneeDir = Quaternion.AngleAxis(-upperAngleDeg, bendNormal) * toTargetDir;
-            return limb.upper.position + kneeDir * upperLen;
+            // 무릎/팔꿈치 위치: toTargetDir + bendDir 방향으로 angle만큼 오프셋
+            // sin(angle) = 수직 성분, cos(angle) = 직선 성분
+            Vector3 kneePos = limb.upper.position
+                            + toTargetDir * (upperLen * Mathf.Cos(angle))
+                            + bendDir * (upperLen * Mathf.Sin(angle));
+
+            return kneePos;
+        }
+
+        /// <summary>
+        /// T-포즈 기반 기본 굽힘 방향 (bendGoal이 없거나 불안정할 때)
+        /// </summary>
+        private Vector3 GetDefaultBendDir(LimbIK limb, Vector3 toTargetDir)
+        {
+            Vector3 bendNormal = limb.upper.rotation * limb.localBendNormal;
+            Vector3 bendDir = Vector3.Cross(bendNormal, toTargetDir);
+            if (bendDir.sqrMagnitude < 0.0001f)
+                bendDir = Vector3.Cross(Vector3.up, toTargetDir);
+            return bendDir.normalized;
         }
 
         public float CalculateAutoFloorHeight(float comfortRatio = 0.98f)