public AngleBasedHandModel()
{
rotation = new sQuaternion();
position = new sVector3(0, 0, 0);
thumb = new AngleBasedThumbModel();
for (int i = 0; i < fingers.Length; i++)
{
fingers[i] = new AngleBasedFingerModel();
}
}
public float euclidianDistance(AngleBasedThumbModel other)
{
float result = 0;
for (int i = 0; i < jointAngles.Length - 3; i++)
{
result += Mathf.Pow(jointAngles [i] - other.jointAngles [i], 2.0f);
}
result += Mathf.Pow(Quaternion.Angle(other.tmc, tmc), 2.0f);
return(Mathf.Sqrt(result));
}
public static AngleBasedThumbModel Lerp(AngleBasedThumbModel first, AngleBasedThumbModel second, float t)
{
AngleBasedThumbModel result = new AngleBasedThumbModel();
t = Mathf.Clamp(t, 0, 1);
result.tmc = Quaternion.Lerp(first.tmc, second.tmc, t);
for (int i = 0; i < result.jointAngles.Length; i++)
{
result.jointAngles [i] = Mathf.Lerp(first.jointAngles [i], second.jointAngles [i], t);
}
return(result);
}
public static string getCSVHeader(string endl, string handname)
{
string result = "";
result += AngleBasedThumbModel.getCSVHeader(endl, handname + "Thumb") + endl;
for (int i = 0; i < System.Enum.GetNames(typeof(FingerName)).Length; i++)
{
result += AngleBasedFingerModel.getCSVHeader(endl, handname + System.Enum.GetNames(typeof(FingerName))[i]) + endl;
}
result += sQuaternion.getCSVHeader(endl, handname + "Rot") + endl;
result += sVector3.getCSVHeader(endl, handname + "Pos");
return(result);
}
public static AngleBasedHandModel Lerp(AngleBasedHandModel first, AngleBasedHandModel second, float t)
{
AngleBasedHandModel result = new AngleBasedHandModel();
t = Mathf.Clamp(t, 0, 1);
result.rotation = Quaternion.Lerp(first.rotation, second.rotation, t);
result.position = Vector3.Lerp(first.position, second.position, t);
for (int i = 0; i < result.fingers.Length; i++)
{
result.fingers [i] = AngleBasedFingerModel.Lerp(first.fingers [i], second.fingers [i], t);
}
result.thumb = AngleBasedThumbModel.Lerp(first.thumb, second.thumb, t);
return(result);
}
