/// <summary> Calculate a 3D position of the wrist, based on an existing tracking hardware and its location. </summary>
/// <param name="trackedObject"></param>
/// <param name="hardware"></param>
/// <param name="wristPos"></param>
/// <param name="wristRot"></param>
/// <returns></returns>
public virtual bool GetWristLocation(Transform trackedObject, SGCore.PosTrackingHardware hardware, out Vector3 wristPos, out Quaternion wristRot)
{
#if UNFINISHED_FEATURES
if (CVDataAvailable())
{
wristPos = SG.Util.SG_Conversions.ToUnityPosition(this.lastCVData.wristWorldPosition);
wristRot = SG.Util.SG_Conversions.ToUnityQuaternion(this.lastCVData.wristWorldRotation);
return(true);
}
#endif
if (this.lastGlove != null)
{
SGCore.Kinematics.Vect3D trackedPos = SG.Util.SG_Conversions.ToPosition(trackedObject.position, true);
SGCore.Kinematics.Quat trackedRot = SG.Util.SG_Conversions.ToQuaternion(trackedObject.rotation);
SGCore.Kinematics.Vect3D wPos; SGCore.Kinematics.Quat wRot;
lastGlove.GetWristLocation(trackedPos, trackedRot, hardware, out wPos, out wRot);
wristPos = SG.Util.SG_Conversions.ToUnityPosition(wPos);
wristRot = SG.Util.SG_Conversions.ToUnityQuaternion(wRot);
return(true);
}
wristPos = trackedObject.position;
wristRot = trackedObject.rotation;
return(false);
}
//--------------------------------------------------------------------------------------------------------
// Tracking
/// <summary> Calculates the 3D position of the glove hardware origin. Mostly used in representing a 3D model of the hardware. If you wish to know where the hand is; use GetWristLocation instead. </summary>
/// <param name="trackedObject"></param>
/// <param name="hardware"></param>
/// <param name="wristPos"></param>
/// <param name="wristRot"></param>
/// <returns></returns>
public virtual bool GetGloveLocation(Transform trackedObject, SGCore.PosTrackingHardware hardware, out Vector3 glovePos, out Quaternion gloveRot)
{
if (this.lastGlove != null)
{
SGCore.Kinematics.Vect3D trackedPos = SG.Util.SG_Conversions.ToPosition(trackedObject.position, true);
SGCore.Kinematics.Quat trackedRot = SG.Util.SG_Conversions.ToQuaternion(trackedObject.rotation);
SGCore.Kinematics.Vect3D wPos; SGCore.Kinematics.Quat wRot;
lastGlove.GetGloveLocation(trackedPos, trackedRot, hardware, out wPos, out wRot);
glovePos = SG.Util.SG_Conversions.ToUnityPosition(wPos);
gloveRot = SG.Util.SG_Conversions.ToUnityQuaternion(wRot);
return(true);
}
glovePos = trackedObject.position;
gloveRot = trackedObject.rotation;
return(false);
}
//-------------------------------------------------------------------------------------------------------------------------
// Quaternion Rotations
/// <summary> Convert a Quaternion rotation taken from SGCore into a Unity Quaternion rotation. </summary>
/// <param name="quat"></param>
/// <returns></returns>
public static Quaternion ToUnityQuaternion(SGCore.Kinematics.Quat quat)
{
return(new Quaternion(-quat.x, -quat.z, -quat.y, quat.w));
}
