/// <summary>
/// Interpolates between two HandPoses, if they have the same handeness and bones.
/// </summary>
/// <param name="from">Base HandPose to interpolate from.</param>
/// <param name="to">Target HandPose to interpolate to.</param>
/// <param name="t">Interpolation factor, 0 for the base, 1 for the target.</param>
/// <returns>A new HandPose positioned/rotated between the base and target, null if the hands cannot be interpolated.</returns>
public static HandPose?Lerp(HandPose from, HandPose to, float t)
{
if (from.handeness != to.handeness)
{
Debug.LogError("Hand poses must have same handenness for lerping");
return(null);
}
if (from.Bones.Count != to.Bones.Count)
{
Debug.LogError("Hand poses must have same Bones for lerping");
return(null);
}
HandPose result = new HandPose();
result.relativeGrip = PoseUtils.Lerp(from.relativeGrip, to.relativeGrip, t);
result.handeness = from.handeness;
result.Bones.Clear();
for (int i = 0; i < from.Bones.Count; i++)
{
BonePose?bone = BonePose.Lerp(from.Bones[i], to.Bones[i], t);
if (bone.HasValue)
{
result.Bones.Add(bone.Value);
}
else
{
Debug.LogError("Hand poses must have same Bones for lerping");
return(null);
}
}
return(result);
}
/// <summary>
/// Gets the interpolated value between two rotations of the same bone (same indentifier).
/// </summary>
/// <param name="from">Base rotation to interpolate from.</param>
/// <param name="to">Target rotation to interpolate to.</param>
/// <param name="t">Interpolation factor, 0 for base, 1 for target rotation</param>
/// <returns>A new BonePose between base and target, null if bone is invalid.</returns>
public static BonePose?Lerp(BonePose from, BonePose to, float t)
{
if (from.boneID != to.boneID)
{
Debug.LogError("Bones must have same id for interpolation");
return(null);
}
return(new BonePose()
{
boneID = from.boneID,
rotation = Quaternion.Lerp(from.rotation, to.rotation, t),
position = Vector3.Lerp(from.position, to.position, t)
});
}
private void SetLivePose(SkeletonDataProvider skeletonData)
{
BonePose[] fingers = skeletonData.Fingers;
BonePose hand = skeletonData.Hand;
for (int i = 0; i < fingers.Length; ++i)
{
BoneId boneId = fingers[i].boneID;
if (BonesCache.ContainsKey(boneId))
{
Transform boneTransform = BonesCache[boneId].transform;
Quaternion desiredRot = BonesCache[boneId].RotationOffset * fingers[i].rotation;
boneTransform.localRotation = desiredRot;
}
}
Pose rootPose = new Pose(hand.position, hand.rotation);
SetRootPose(rootPose, false);
}
