public Pose Apply(Pose panelPose, Vector3 pivotPoint)
{
var constrainedPose = PivotLook.Solve(panelPose,
pivotPoint,
lookTarget,
horizonNormal);
return(constrainedPose);
}
private void onGraspedMovement(Vector3 oldPos, Quaternion oldRot,
Vector3 newPos, Quaternion newRot,
List <InteractionController> controllers)
{
if (!gameObject.activeInHierarchy || !this.enabled)
{
return;
}
// An important reason this method works is that even though the various rigidbodies
// have constantly-fluctuating poses with respect to one another, there are rigid
// "ideal" poses and relative poses stored on Start() that allow target positions
// to always be rigidly calculatable.
// Introduce any sort of dynamic "relative pose" calculation INSIDE this method,
// and you'll see a ton of erratic behaviour and terrible instability.
var newPose = new Pose(newPos, newRot);
var newPanelPose = newPose.Then(_handleToPanelPose);
var graspingCentroid = controllers.Query()
.Select(c => c.GetGraspPoint())
.Fold((sum, p) => p + sum)
/ controllers.Count;
var targetLookFromPose = PivotLook.Solve(newPanelPose,
graspingCentroid,
lookTarget.position,
Vector3.up,
flip180: flip180);
var targetHandlePose = targetLookFromPose.Then(_handleToPanelPose.inverse);
intObj.rigidbody.MovePosition(targetHandlePose.position);
intObj.rigidbody.MoveRotation(targetHandlePose.rotation);
intObj.rigidbody.position = targetHandlePose.position;
intObj.rigidbody.rotation = targetHandlePose.rotation;
}