// Update is called once per frame
void Update()
{
if (!isCalibrated)
{
if (UDPScript.IsDataReady(UPPER_LEG_L_ID))
{
orig = Quaternion.Euler(-UDPScript.GetPitch(UPPER_LEG_L_ID), UDPScript.GetYaw(UPPER_LEG_L_ID), -UDPScript.GetRoll(UPPER_LEG_L_ID));
isCalibrated = true;
}
return;
}
if (Time.fixedTime >= timeToGo)
{
Quaternion q = Quaternion.Euler(-UDPScript.GetPitch(UPPER_LEG_L_ID), UDPScript.GetYaw(UPPER_LEG_L_ID), -UDPScript.GetRoll(UPPER_LEG_L_ID));
transform.rotation = Quaternion.Inverse(orig) * q * offset;
timeToGo = Time.fixedTime + 0.1f;
}
}
// Update is called once per frame
void Update()
{
if (!isCalibrated)
{
if (UDPScript.IsDataReady(UPPER_ARM_R_ID))
{
orig = Quaternion.Euler(UDPScript.GetRoll(UPPER_ARM_R_ID), UDPScript.GetYaw(UPPER_ARM_R_ID), UDPScript.GetPitch(UPPER_ARM_R_ID));
isCalibrated = true;
}
return;
}
if (Time.fixedTime >= timeToGo)
{
//transform.rotation = Quaternion.Euler(offset.x - UDPScript.GetRoll(UPPER_ARM_R_ID), offset.y + UDPScript.GetYaw(UPPER_ARM_R_ID),
// offset.z + UDPScript.GetPitch(UPPER_ARM_R_ID));
//Quaternion q = Quaternion.Euler(offset.x - UDPScript.GetRoll(UPPER_ARM_R_ID), offset.y + UDPScript.GetYaw(UPPER_ARM_R_ID),
// offset.z + UDPScript.GetPitch(UPPER_ARM_R_ID));
//transform.localRotation = Quaternion.Inverse(transform.parent.rotation) * q;
Quaternion q = Quaternion.Euler(-UDPScript.GetRoll(UPPER_ARM_R_ID), UDPScript.GetYaw(UPPER_ARM_R_ID), UDPScript.GetPitch(UPPER_ARM_R_ID));
transform.rotation = Quaternion.Inverse(orig) * q * offset;
timeToGo = Time.fixedTime + 0.1f;
}
}