private void SetRootPose(Pose rootPose, bool applyOffset)
{
if (applyOffset)
{
rootPose = PoseUtils.Multiply(rootPose, controllerOffset.AsPose);
}
_trackedPose = rootPose;
this.transform.SetPose(rootPose, Space.World);
}
private Pose OffsetedGripPose()
{
Pose trackingOffset = new Pose(Vector3.zero, Quaternion.Euler(0f, 180f, 0f));
Pose gripOffset = this.transform.RelativeOffset(this.gripPoint);
Pose hand = PoseUtils.Multiply(trackedHandOffset.Offset, trackingOffset);
Pose translateGrip = PoseUtils.Multiply(hand, gripOffset);
return(translateGrip);
}
/// <summary>
/// Moves the hand at a given pose towards the given Grip pose using interpolation.
/// The target pose is specified in local units from a reference transform.
/// </summary>
/// <param name="pose">The relative target position for the grip point of the hand</param>
/// <param name="weight">Interpolation factor, 0 for not changing the hand, 1 for fully alligning the grip point with the given pose.</param>
/// <param name="relativeTo">The reference transform in which the pose is provided. If null, the Hand Anchor coordinates are used</param>
public void LerpGripOffset(Pose pose, float weight, Transform relativeTo = null)
{
Pose gripOffset = this.gripPoint.RelativeOffset(this.transform);
Pose basic = TrackedGripPose;
Pose target = (relativeTo ?? this.handAnchor).GlobalPose(pose);
Pose result = PoseUtils.Lerp(basic, target, weight);
result = PoseUtils.Multiply(result, gripOffset);
this.transform.SetPose(result);
}
/// <summary>
/// Moves the hand at a given pose towards the given Grip pose using interpolation.
/// The target pose is specified in local units from a reference transform.
/// </summary>
/// <param name="pose">The relative target position for the grip point of the hand</param>
/// <param name="weight">Interpolation factor, 0 for not changing the hand, 1 for fully alligning the grip point with the given pose.</param>
/// <param name="relativeTo">The reference transform in which the pose is provided.</param>
public void LerpGripOffset(Pose pose, float weight, Transform relativeTo)
{
Pose fromGrip = this.gripPoint.GetPose();
Pose toGrip = (relativeTo ?? this.transform).GlobalPose(pose);
Pose targetGrip = PoseUtils.Lerp(fromGrip, toGrip, weight);
Pose inverseGrip = this.gripPoint.RelativeOffset(this.transform);
Pose targetPose = PoseUtils.Multiply(targetGrip, inverseGrip);
this.transform.SetPose(targetPose);
}
