/// <summary>
/// Blend between two hand poses.
/// </summary>
public void InterpolateOffsets(ArticulatedHandPose poseA, ArticulatedHandPose poseB, float value)
{
for (int i = 0; i < jointCount; i++)
{
var p = Vector3.Lerp(poseA.localJointPoses[i].Position, poseB.localJointPoses[i].Position, value);
var r = Quaternion.Slerp(poseA.localJointPoses[i].Rotation, poseB.localJointPoses[i].Rotation, value);
localJointPoses[i] = new MixedRealityPose(p, r);
}
}
public MixedRealityPose GetLocalJointPose(TrackedHandJoint joint, Handedness handedness)
{
MixedRealityPose pose = localJointPoses[(int)joint];
// Pose offset are for right hand, mirror on X axis if left hand is needed
if (handedness == Handedness.Left)
{
pose = new MixedRealityPose(
new Vector3(-pose.Position.x, pose.Position.y, pose.Position.z),
new Quaternion(pose.Rotation.x, -pose.Rotation.y, -pose.Rotation.z, pose.Rotation.w));
}
return(pose);
}
/// <summary>
/// Compute world space poses from camera-space joint data.
/// </summary>
/// <param name="handedness">Handedness of the resulting pose</param>
/// <param name="rotation">Rotational offset of the resulting pose</param>
/// <param name="position">Translational offset of the resulting pose</param>
/// <param name="jointsOut">Output array of joint poses</param>
public void ComputeJointPoses(
Handedness handedness,
Quaternion rotation,
Vector3 position,
MixedRealityPose[] jointsOut)
{
for (int i = 0; i < JointCount; i++)
{
// Initialize from local offsets
MixedRealityPose pose = GetLocalJointPose(Joints[i], handedness);
Vector3 p = pose.Position;
Quaternion r = pose.Rotation;
// Apply external transform
p = position + rotation * p;
r = rotation * r;
jointsOut[i] = new MixedRealityPose(p, r);
}
}
public ArticulatedHandPoseItem(TrackedHandJoint joint, MixedRealityPose pose)
{
this.joint = jointNames[(int)joint];
this.pose = pose;
}
public bool Equals(MixedRealityPose other)
{
return(Position == other.Position &&
Rotation.Equals(other.Rotation));
}
