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Switching to Quaternions and converting those instead of Euler angles seems to work.

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Emiliana 2020-02-09 00:29:40 +01:00
parent 0e38bb035f
commit f8b26af1af
1 changed files with 5 additions and 2 deletions
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7
Unity/OpenSeeIKTarget.cs
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@ -31,9 +31,12 @@ 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 = Quaternion.Euler(-openSeeData[idx].rotation.x, openSeeData[idx].rotation.y, -openSeeData[0].rotation.z);
dR = convertedQuaternion;//Quaternion.Euler(-openSeeData[idx].rotation.x, openSeeData[idx].rotation.y, -openSeeData[0].rotation.z);
dR = Quaternion.Inverse(dR);
dT = openSeeData[idx].translation;
}
@ -41,6 +44,6 @@ public class OpenSeeIKTarget : MonoBehaviour
Vector3 v = openSeeData[idx].translation - dT;
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) * dR, 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);
}
}