/// <summary>
/// Interpolates between two HandPoses, if they have the same handeness and bones.
/// </summary>
/// <param name="from">Base HandPose to interpolate from.</param>
/// <param name="to">Target HandPose to interpolate to.</param>
/// <param name="t">Interpolation factor, 0 for the base, 1 for the target.</param>
/// <returns>A new HandPose positioned/rotated between the base and target, null if the hands cannot be interpolated.</returns>
public static HandPose?Lerp(HandPose from, HandPose to, float t)
{
if (from.handeness != to.handeness)
{
Debug.LogError("Hand poses must have same handenness for lerping");
return(null);
}
if (from.Bones.Count != to.Bones.Count)
{
Debug.LogError("Hand poses must have same Bones for lerping");
return(null);
}
HandPose result = new HandPose();
result.relativeGrip = PoseUtils.Lerp(from.relativeGrip, to.relativeGrip, t);
result.handeness = from.handeness;
result.Bones.Clear();
for (int i = 0; i < from.Bones.Count; i++)
{
BoneRotation?bone = BoneRotation.Lerp(from.Bones[i], to.Bones[i], t);
if (bone.HasValue)
{
result.Bones.Add(bone.Value);
}
else
{
Debug.LogError("Hand poses must have same Bones for lerping");
return(null);
}
}
return(result);
}
/// <summary>
/// Moves the hand at a given pose towards the given Grip pose using interpolation.
/// The target pose is specified in local units from a reference transform.
/// </summary>
/// <param name="pose">The relative target position for the grip point of the hand</param>
/// <param name="weight">Interpolation factor, 0 for not changing the hand, 1 for fully alligning the grip point with the given pose.</param>
/// <param name="relativeTo">The reference transform in which the pose is provided. If null, the Hand Anchor coordinates are used</param>
public void LerpGripOffset(Pose pose, float weight, Transform relativeTo = null)
{
Pose gripOffset = this.gripPoint.RelativeOffset(this.transform);
Pose basic = TrackedGripPose;
Pose target = (relativeTo ?? this.handAnchor).GlobalPose(pose);
Pose result = PoseUtils.Lerp(basic, target, weight);
result = PoseUtils.Multiply(result, gripOffset);
this.transform.SetPose(result);
}
/// <summary>
/// Moves the hand at a given pose towards the given Grip pose using interpolation.
/// The target pose is specified in local units from a reference transform.
/// </summary>
/// <param name="pose">The relative target position for the grip point of the hand</param>
/// <param name="weight">Interpolation factor, 0 for not changing the hand, 1 for fully alligning the grip point with the given pose.</param>
/// <param name="relativeTo">The reference transform in which the pose is provided.</param>
public void LerpGripOffset(Pose pose, float weight, Transform relativeTo)
{
Pose fromGrip = this.gripPoint.GetPose();
Pose toGrip = (relativeTo ?? this.transform).GlobalPose(pose);
Pose targetGrip = PoseUtils.Lerp(fromGrip, toGrip, weight);
Pose inverseGrip = this.gripPoint.RelativeOffset(this.transform);
Pose targetPose = PoseUtils.Multiply(targetGrip, inverseGrip);
this.transform.SetPose(targetPose);
}