public static Rotation GetTargetLocalOrientation(bool isLeft)
{
Controller controller = isLeft ? leftController : rightController;
Rotation localOrientation = controller.Rotation;
localOrientation *= isLeft ? Rotation_.Euler(-90, 0, 90) : Rotation_.Euler(-90, 0, -90);
return(localOrientation);
}
public static Rotation GetControllerLocalOrientation(bool isLeft)
{
Controller controller = isLeft ? leftController : rightController;
Rotation localOrientation = controller.Rotation;
localOrientation *= Rotation_.Euler(-30, 0, 0);
return(localOrientation);
}
public static Rotation GetFaceOrientation()
{
Rotation faceOrientation = new Rotation(
faceAlignment.FaceOrientation.X,
faceAlignment.FaceOrientation.Y,
faceAlignment.FaceOrientation.Z,
faceAlignment.FaceOrientation.W);
Vector faceAngles = Rotation.ToAngles(Rotation.AngleAxis(180, Vector.up) * faceOrientation);
Rotation newOrientation = Rotation_.Euler(-faceAngles.x, -faceAngles.y, faceAngles.z);
return(newOrientation);
}
public static Rotation GetFaceOrientationRaw()
{
if (faceAlignment == null)
{
return(Rotation.identity);
}
Rotation faceOrientation = new Rotation(
faceAlignment.FaceOrientation.X,
faceAlignment.FaceOrientation.Y,
faceAlignment.FaceOrientation.Z,
faceAlignment.FaceOrientation.W);
Vector faceAngles = Rotation.ToAngles(faceOrientation);
faceOrientation = Rotation_.Euler(-faceAngles.x, -faceAngles.y, faceAngles.z);
return(faceOrientation);
}
