public static Rotation GetTargetRotation(Rotation receivedRotation, Rotation parentOrientation)
{
return(parentOrientation * receivedRotation);
}
public static Rotation GetTargetRotation(Bone bone, Rotation parentRotation)
{
return(GetTargetRotation(GetLocalRotation(bone), parentRotation));
}
public virtual Rotation ToWorldOrientation(Rotation localRotation)
{
return(orientation * localRotation);
}
public static void GetPositionRotation(OptitrackStreamingClient streamingClient, int trackerId, out Vector position, out Rotation rotation)
{
OptitrackRigidBodyState rbState = streamingClient.GetLatestRigidBodyState(trackerId);
position = Passer.Target.ToVector(rbState.Pose.Position);
rotation = Passer.Target.ToRotation(rbState.Pose.Orientation);
}
protected void UpdateSensor()
{
_sensorRotation = device.ToWorldOrientation(_localSensorRotation);
_sensorPosition = device.ToWorldPosition(_localSensorPosition);
}