private void UpdateLatestVelocitiesAndPoseValues(Pose referencePose, float delta)
{
(_linearVelocity, _angularVelocity) = GetLatestLinearAndAngularVelocities(
referencePose, delta);
_linearVelocity = _linearVelocityFilter.Step(_linearVelocity);
var newReleaseVelocInfo = new ReleaseVelocityInformation(_linearVelocity, _angularVelocity,
referencePose.position);
WhenNewSampleAvailable(newReleaseVelocInfo);
_previousReferencePosition = referencePose.position;
_previousReferenceRotation = referencePose.rotation;
}
private void ApplyFilters(HandDataAsset handDataAsset)
{
if (_wristFilterEnabled)
{
Pose rootPose = handDataAsset.Root;
_wristFilter.SetProperties(_wristFilterProperties);
rootPose.rotation = _wristFilter.Step(rootPose.rotation, Time.fixedDeltaTime);
handDataAsset.Root = rootPose;
}
if (_fingerFiltersEnabled)
{
foreach (var joint in _fingerJointFilters)
{
joint.Filter.SetProperties(_fingerFilterProperties);
handDataAsset.Joints[(int)joint.JointId] =
joint.Filter.Step(handDataAsset.Joints[(int)joint.JointId], Time.fixedDeltaTime);
}
}
}
private Pose ApplyFilter(Pose pose)
{
_wristFilter.SetProperties(_wristFilterProperties);
pose.position = _wristFilter.Step(pose.position, Time.fixedDeltaTime);
return(pose);
}