public HandOffset GetHandOffset(ExternHandState other, float scale, int[] bonesParent, string[] boneMapping)
{
HandOffset handOffset = new HandOffset();
handOffset.rootPositionOffset = (this.rootPosition - other.rootPosition) * scale;
handOffset.rootRotationOffset = (rootRotation * Quaternion.Inverse(other.rootRotation)).eulerAngles;
//handOffset.rootRotationOffset = (Quaternion.LookRotation(forward, up) * Quaternion.Inverse(Quaternion.LookRotation(other.forward,other.up))).eulerAngles;
Dictionary <string, Vector3> childrenRotationOffset = new Dictionary <string, Vector3>();
Quaternion[] offsets = new Quaternion[localBoneDirections.Length];
for (int i = 0; i < localBoneDirections.Length; i++)
{
offsets[i] = Quaternion.FromToRotation(other.localBoneDirections[i], this.localBoneDirections[i]);
}
for (int i = 0; i < localBoneDirections.Length; i++)
{
Quaternion relativeOffset;
if (bonesParent[i] == -1)
{
relativeOffset = offsets[i];
}
else
{
relativeOffset = offsets[i] * Quaternion.Inverse(offsets[bonesParent[i]]);
}
//childrenRotationOffset.Add(boneMapping[i], relativeOffset.eulerAngles);
childrenRotationOffset.Add(boneMapping[i], (relativeOffset * other.rootRotation).eulerAngles);
}
handOffset.childrenRotationOffset = childrenRotationOffset;
return(handOffset);
}
/***
* if handState is null, return false
*/
public bool SetHandState(HandOffset handOffset)
{
if (handOffset == null)
{
return(false);
}
this.Reset();
rootNode.localPosition += handOffset.rootPositionOffset;
rootNode.Rotate(handOffset.rootRotationOffset);
foreach (KeyValuePair <string, Vector3> childRotationOffse in handOffset.childrenRotationOffset)
{
if (!handBones.ContainsKey(childRotationOffse.Key))
{
Console.WriteLine("Wrong bone name: " + childRotationOffse.Key + "in input hand state!");
continue;
}
handBones[childRotationOffse.Key].Rotate(childRotationOffse.Value);
}
return(true);
}