protected virtual void RotateWrist(Quaternion processedWristImu)
{
if (Wrist == null)
{
return;
}
Quaternion yawOffset = Quaternion.Euler(0, WristYaw, 0);
Quaternion preRotation = Quaternion.Euler(preRotWrist) * yawOffset;
Quaternion postRotation = Quaternion.Euler(postRotWrist);
Wrist.RotateWrist(preRotation * processedWristImu * postRotation);
}
//private void Update()
//{
// //if (Input.GetKeyDown(KeyCode.Space))
// //{
// // rumbleTest();
// //}
//}
//void rumbleTest()
//{
// float powerPercent = 1; // 0 ~ 1 (ex 0.5 = 50%)
// ushort durationMS = 1000;
// Manus.ManusSetVibration(HandDataManager.ManusSession, DeviceType, powerPercent, durationMS);
// Debug.Log("Rumble!!");
//}
protected virtual Wrist AddWristComponent()
{
if (_wristTransform == null)
{
Debug.LogError("Attempted to add a wrist component to the hand with laterality " + DeviceType + ", but the wrist transform for this hand is missing.");
return(null);
}
Wrist newWrist = _wristTransform.gameObject.AddComponent <Wrist>();
newWrist.DeviceType = DeviceType;
newWrist.Hand = this;
return(newWrist);
}