koobas.hobune.stream
Computing a transform between two poses and applying it to another pose.
I'm hoping someone can help me check my math.
I have an item pose that was transformed, and I want to find a transformation that transforms the hand the same way the item was transformed. itemPose is the old item pose and influencePose is the new item pose. gripPose is the pose to which I want to apply the delta transformation.
// move hand in accordance with item movement
var gripPose = poseHand.gripPose;
var gripPositionOffset = influencePose.position - itemPose.position;
var gripRotationOffset = itemPose.rotation * influencePose.rotation.Inverse();
var gripOffset = Matrix4x4.TRS(gripPositionOffset, gripRotationOffset, Vector3.one);
var gripPose2 = new Pose(gripOffset.MultiplyPoint3x4(gripPose.position), gripRotationOffset * gripPose.rotation);
poseHand.SetGripPose(gripPose2, currentFTKHandPose, false);
I would look at @Bunny83's answer to a similar question, here: http://answers.unity.com/answers/1609237/view.html
