public static void UpdateHand(SG_HandAnimator animater, bool calibrating, SG_HandPose pose)
{
if (animater != null && calibrating)
{
animater.UpdateHand(pose);
}
}
public static void UpdateOpenClose(bool isRight, SG_HandAnimator animater, bool calibrating, SGCore.Kinematics.HandInterpolator poseInterp, float normalizedTime01)
{
if (animater != null && calibrating && poseInterp != null)
{
SGCore.Kinematics.Vect3D[][] handAngles = SGCore.Kinematics.Values.FillZero(5, 3);
for (int f = 0; f < 5; f++)
{
if (f == 0)
{
handAngles[f][0].x = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_CMC_Twist, normalizedTime01);
handAngles[f][0].z = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_CMC_Abd, normalizedTime01);
handAngles[f][0].y = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_CMC_Flex, normalizedTime01);
handAngles[f][1].y = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_MCP_Flex, normalizedTime01);
handAngles[f][2].y = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_IP_Flex, normalizedTime01);
}
else
{
SGCore.Finger finger = (SGCore.Finger)f;
handAngles[f][0].z = poseInterp.CalculateAngle(finger, SGCore.Kinematics.FingerMovement.F_MCP_Abd, normalizedTime01);
handAngles[f][0].y = poseInterp.CalculateAngle(finger, SGCore.Kinematics.FingerMovement.F_MCP_Flex, normalizedTime01);
handAngles[f][1].y = poseInterp.CalculateAngle(finger, SGCore.Kinematics.FingerMovement.F_PIP_Flex, normalizedTime01);
handAngles[f][2].y = poseInterp.CalculateAngle(finger, SGCore.Kinematics.FingerMovement.F_DIP_Flex, normalizedTime01);
}
}
animater.UpdateHand(new SG_HandPose(SGCore.HandPose.FromHandAngles(handAngles, isRight)));
}
}