public override Pose Output()
{
Yaw.Calculate();
Pitch.Calculate();
Roll.Calculate();
Distance.Calculate();
Target.Calculate();
float yaw = 0f;
float pitch = 0f;
float roll = 0f;
float dist = 0f;
Vector3 tar = Vector3.zero;
Pose pose = Pose.Default;
if (modifier != null)
{
pose = modifier.Prev.value;
yaw = pose.yaw;
pitch = pose.pitch;
roll = pose.roll;
dist = 0f;
tar = pose.position;
}
if (!Yaw.value.isNull)
{
yaw = Yaw.value.value_f;
}
if (!Pitch.value.isNull)
{
pitch = Pitch.value.value_f;
}
if (!Roll.value.isNull)
{
roll = Roll.value.value_f;
}
if (!Distance.value.isNull)
{
dist = Distance.value.value_f;
}
if (!Target.value.isNull)
{
tar = Target.value.value_v;
}
pose.eulerAngles = new Vector3(-pitch, yaw, roll);
Vector3 forward = pose.rotation * Vector3.forward;
pose.position = tar - dist * forward;
return(pose);
}
