/// <summary> Fills the ref-argument VectorHand with interpolated data
/// between the 4 other VectorHands, by t (unclamped), and return true.
/// If either a, b, c or d is null, the ref-argument VectorHand is also set to
/// null, and the method returns false.
/// An exception is thrown if the interpolation arguments a and b don't
/// have the same chirality.
/// </summary>
public bool FillSplined(VectorHand a, VectorHand b, VectorHand c, VectorHand d, float t)
{
if (a == null || b == null || c == null || d == null)
{
return(false);
}
if (b.isLeft != c.isLeft)
{
throw new System.Exception("VectorHands must be interpolated with the " +
"same chirality.");
}
isLeft = a.isLeft;
palmPos = CatmullRom.ToCHS(
a.palmPos, b.palmPos, c.palmPos, d.palmPos, false).PositionAt(t);
palmRot = Quaternion.SlerpUnclamped(b.palmRot, c.palmRot, t);
//Quaternion splines are not as robust
//CatmullRom.ToQuaternionCHS(
// a.palmRot, b.palmRot, c.palmRot, d.palmRot, false).RotationAt(t);
for (int i = 0; i < jointPositions.Length; i++)
{
jointPositions[i] = CatmullRom.ToCHS(
a.jointPositions[i],
b.jointPositions[i],
c.jointPositions[i],
d.jointPositions[i], false).PositionAt(t);
}
return(true);
}
public bool FillSplined(Pose a, Pose b, Pose c, Pose d, float t)
{
position = CatmullRom.ToCHS(a.position, b.position, c.position, d.position,
centripetal: false).PositionAt(t);
rotation = Quaternion.SlerpUnclamped(b.rotation, c.rotation, t);
return(true);
}
