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This fixes a whole bunch of coordinate and rotation issues.

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This commit is contained in:
Emiliana 2020-02-09 01:25:55 +01:00
parent f8b26af1af
commit 0d0a30dedb
2 changed files with 15 additions and 8 deletions
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10
Unity/OpenSeeIKTarget.cs
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@ -8,8 +8,8 @@ public class OpenSeeIKTarget : MonoBehaviour
public float translationScale = 0.3f;
public float smooth = 0.2f;
double updated = 0.0f;
Quaternion dR;
Vector3 dT;
Quaternion dR = Quaternion.Euler(0f, 0f, -90f);
Vector3 dT = new Vector3(0f, 0f, 0f);
void Update()
{
@ -31,19 +31,19 @@ public class OpenSeeIKTarget : MonoBehaviour
return;
}
// new Quaternion(-openSeeData[idx].rawQuaternion.x, -openSeeData[idx].rawQuaternion.y, openSeeData[idx].rawQuaternion.z, openSeeData[idx].rawQuaternion.w); // Good except for the head tilt in the start being flipped
Quaternion convertedQuaternion = new Quaternion(-openSeeData[idx].rawQuaternion.y, -openSeeData[idx].rawQuaternion.x, openSeeData[idx].rawQuaternion.z, openSeeData[idx].rawQuaternion.w);
if (calibrate) {
calibrate = false;
dR = convertedQuaternion;//Quaternion.Euler(-openSeeData[idx].rotation.x, openSeeData[idx].rotation.y, -openSeeData[0].rotation.z);
dR = convertedQuaternion;
dR = Quaternion.Inverse(dR);
dT = openSeeData[idx].translation;
}
Vector3 v = openSeeData[idx].translation - dT;
v.x = -v.x;
v.z = -v.z;
transform.localPosition = Vector3.Lerp(transform.localPosition, v * translationScale, 1f - smooth);
transform.localRotation = Quaternion.Lerp(transform.localRotation, /*Quaternion.Euler(-openSeeData[idx].rotation.x, openSeeData[idx].rotation.y, -openSeeData[idx].rotation.z)*/ convertedQuaternion * dR, 1f - smooth);
transform.localRotation = Quaternion.Lerp(transform.localRotation, convertedQuaternion * dR, 1f - smooth);
}
}