// Grab with second hand moving to object
private static void GrabRigidbodyBarHandle2(HandTarget handTarget, Rigidbody objRigidbody, Handle handle)
{
//Debug.Log("Grab Second Hand");
Transform objTransform = handle.transform;
MoveHandBoneToHandle(handTarget, handle);
GrabRigidbodyJoint(handTarget, objRigidbody);
handTarget.grabbedHandle = handle;
handTarget.handPhysics.mode = AdvancedHandPhysics.PhysicsMode.ForceLess;
handTarget.handMovements.toOtherHandle = handTarget.grabbedHandle.GetWorldPosition() - handTarget.otherHand.grabbedHandle.GetWorldPosition();
Quaternion hand2handle = Quaternion.LookRotation(handTarget.handMovements.toOtherHandle);
handTarget.otherHand.handMovements.hand2handle = Quaternion.Inverse(hand2handle) * handTarget.otherHand.hand.target.transform.rotation;
handTarget.grabbedRigidbody = true;
}
public static void MoveObjectToHand(HandTarget handTarget, Transform objTransform, Handle handle)
{
//Quaternion localHandleRotation = handle.transform.rotation * Quaternion.Inverse(objTransform.rotation)
Quaternion handleRotation = handle.transform.rotation * Quaternion.Inverse(objTransform.rotation) * Quaternion.Euler(handle.rotation);
objTransform.rotation = handTarget.palmRotation * Quaternion.Inverse(handleRotation); // Quaternion.Euler(handle.rotation));
Vector3 handleWPos = handle.transform.TransformPoint(handle.position);
objTransform.Translate(handTarget.palmPosition - handleWPos, Space.World);
}
private static void GrabRigidbodyHandle(HandTarget handTarget, Rigidbody objRigidbody, Handle handle)
{
Transform objTransform = objRigidbody.transform;
if (AlreadyGrabbedWithOtherHand(handTarget, objRigidbody))
{
GrabRigidbodyBarHandle2(handTarget, objRigidbody, handle);
return;
}
Joint joint = objRigidbody.GetComponent <Joint>();
if (joint != null || objRigidbody.constraints != RigidbodyConstraints.None)
{
MoveHandBoneToHandle(handTarget, handle);
// To add: if handle.rotation = true
Vector3 handleWorldPosition = handle.transform.TransformPoint(handle.position);
Vector3 handleLocalPosition = handTarget.hand.bone.transform.InverseTransformPoint(handleWorldPosition);
Quaternion handleWorldRotation = handle.transform.rotation * Quaternion.Euler(handle.rotation);
Vector3 handleRotationAxis = handleWorldRotation * Vector3.up;
Vector3 handleLocalRotationAxis = handTarget.hand.bone.transform.InverseTransformDirection(handleRotationAxis);
GrabRigidbodyJoint(handTarget, objRigidbody, handleLocalPosition, handleLocalRotationAxis);
}
else
{
MoveObjectToHand(handTarget, objTransform, handle);
GrabRigidbodyParenting(handTarget, objRigidbody);
}
handTarget.grabbedHandle = handle;
if (handle.pose != null)
{
handTarget.poseMixer.SetPoseValue(handle.pose, 1);
}
handTarget.grabbedRigidbody = true;
}
