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somewhat unfinished refactored sg bone calculations

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This commit is contained in:
Mamadou Babaei
2024-08-16 18:02:04 +02:00
parent 332b930e45
commit 23dff3d8a9
1 changed files with 149 additions and 89 deletions
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Source/SenseGloveTracking/Private/SGTracking/SGXRTracker.cpp
+149 -89
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@@ -206,7 +206,7 @@ struct FSGXRTracker::FImpl
static TArray<float> GetFingerLengths( static TArray<float> GetFingerLengths(
bool bRight, bool bRight,
EHandKeypoint Joint1st, EHandKeypoint Joint2nd, EHandKeypoint Joint3rd, EHandKeypoint Joint2nd, EHandKeypoint Joint3rd,
float DistalPhalanxLength); float DistalPhalanxLength);
static TArray<TArray<float>> GetFingerLengths(bool bRight); static TArray<TArray<float>> GetFingerLengths(bool bRight);
@@ -320,44 +320,44 @@ struct FSGXRTracker::FImpl
return Transform; return Transform;
} }
static FTransform GetOpenXRMeshMetacarpalBoneRefTransform(bool bRight, const FName& BoneName); static FTransform GetOpenXRMeshBoneRefTransform(bool bRight, const FName& BoneName);
FORCEINLINE static FTransform GetOpenXRMeshMetacarpalBoneRefTransform(const bool bRight, const int32 JointIndex) FORCEINLINE static FTransform GetOpenXRMeshBoneRefTransform(const bool bRight, const int32 JointIndex)
{ {
const FName& BoneName{GetMeshBoneName(bRight, JointIndex)}; const FName& BoneName{GetMeshBoneName(bRight, JointIndex)};
const FTransform Transform{GetOpenXRMeshMetacarpalBoneRefTransform(bRight, BoneName)}; const FTransform Transform{GetOpenXRMeshBoneRefTransform(bRight, BoneName)};
return Transform; return Transform;
} }
FORCEINLINE static FTransform GetOpenXRMeshMetacarpalBoneRefTransform( FORCEINLINE static FTransform GetOpenXRMeshBoneRefTransform(
const bool bRight, const EHandKeypoint Keypoint) const bool bRight, const EHandKeypoint Keypoint)
{ {
const FName& BoneName{GetMeshBoneName(bRight, Keypoint)}; const FName& BoneName{GetMeshBoneName(bRight, Keypoint)};
const FTransform Transform{GetOpenXRMeshMetacarpalBoneRefTransform(bRight, BoneName)}; const FTransform Transform{GetOpenXRMeshBoneRefTransform(bRight, BoneName)};
return Transform; return Transform;
} }
FORCEINLINE static FTransform GetOpenXRMeshMetacarpalBoneRefTransform( FORCEINLINE static FTransform GetOpenXRMeshBoneRefTransform(
const EControllerHand Hand, const FName& BoneName) const EControllerHand Hand, const FName& BoneName)
{ {
const bool bRight = Hand == EControllerHand::Right; const bool bRight = Hand == EControllerHand::Right;
const FTransform Transform{GetOpenXRMeshMetacarpalBoneRefTransform(bRight, BoneName)}; const FTransform Transform{GetOpenXRMeshBoneRefTransform(bRight, BoneName)};
return Transform; return Transform;
} }
FORCEINLINE static FTransform GetOpenXRMeshMetacarpalBoneRefTransform( FORCEINLINE static FTransform GetOpenXRMeshBoneRefTransform(
const EControllerHand Hand, const int32 JointIndex) const EControllerHand Hand, const int32 JointIndex)
{ {
const bool bRight = Hand == EControllerHand::Right; const bool bRight = Hand == EControllerHand::Right;
const FTransform Transform{GetOpenXRMeshMetacarpalBoneRefTransform(bRight, JointIndex)}; const FTransform Transform{GetOpenXRMeshBoneRefTransform(bRight, JointIndex)};
return Transform; return Transform;
} }
FORCEINLINE static FTransform GetOpenXRMeshMetacarpalBoneRefTransform( FORCEINLINE static FTransform GetOpenXRMeshBoneRefTransform(
const EControllerHand Hand, const EHandKeypoint Keypoint) const EControllerHand Hand, const EHandKeypoint Keypoint)
{ {
const bool bRight = Hand == EControllerHand::Right; const bool bRight = Hand == EControllerHand::Right;
const FTransform Transform{GetOpenXRMeshMetacarpalBoneRefTransform(bRight, Keypoint)}; const FTransform Transform{GetOpenXRMeshBoneRefTransform(bRight, Keypoint)};
return Transform; return Transform;
} }
@@ -634,18 +634,16 @@ ESGPositionalTrackingHardware FSGXRTracker::FImpl::GetPositionalTrackingHardware
TArray<float> FSGXRTracker::FImpl::GetFingerLengths( TArray<float> FSGXRTracker::FImpl::GetFingerLengths(
const bool bRight, const bool bRight,
const EHandKeypoint Joint1st, const EHandKeypoint Joint2nd, const EHandKeypoint Joint3rd, const EHandKeypoint Joint2nd, const EHandKeypoint Joint3rd,
const float DistalPhalanxLength) const float DistalPhalanxLength)
{ {
const FTransform& Joint1stTransform{GetOpenXRMeshMetacarpalBoneRefTransform(bRight, Joint1st)}; const FTransform& Joint2ndTransform{GetOpenXRMeshBoneRefTransform(bRight, Joint2nd)};
const FVector& Joint1stLocation{Joint1stTransform.GetLocation()};
const FTransform& Joint2ndTransform{GetOpenXRMeshMetacarpalBoneRefTransform(bRight, Joint2nd)};
const FVector& Joint2ndLocation{Joint2ndTransform.GetLocation()}; const FVector& Joint2ndLocation{Joint2ndTransform.GetLocation()};
const FTransform& Joint3rdTransform{GetOpenXRMeshMetacarpalBoneRefTransform(bRight, Joint3rd)}; const FTransform& Joint3rdTransform{GetOpenXRMeshBoneRefTransform(bRight, Joint3rd)};
const FVector& Joint3rdLocation{Joint3rdTransform.GetLocation()}; const FVector& Joint3rdLocation{Joint3rdTransform.GetLocation()};
const float PhalanxLength1st = static_cast<float>(FVector::Dist(Joint1stLocation, Joint2ndLocation)); const float PhalanxLength1st = static_cast<float>(Joint2ndLocation.Size());
const float PhalanxLength2nd = static_cast<float>(FVector::Dist(Joint2ndLocation, Joint3rdLocation)); const float PhalanxLength2nd = static_cast<float>(Joint3rdLocation.Size());
const TArray<float> Lengths{PhalanxLength1st, PhalanxLength2nd, DistalPhalanxLength}; const TArray<float> Lengths{PhalanxLength1st, PhalanxLength2nd, DistalPhalanxLength};
return Lengths; return Lengths;
@@ -657,31 +655,26 @@ TArray<TArray<float>> FSGXRTracker::FImpl::GetFingerLengths(const bool bRight)
const TArray<TArray<float>> Lengths{ const TArray<TArray<float>> Lengths{
GetFingerLengths(bRight, GetFingerLengths(bRight,
EHandKeypoint::ThumbMetacarpal,
EHandKeypoint::ThumbProximal, EHandKeypoint::ThumbProximal,
EHandKeypoint::ThumbDistal, EHandKeypoint::ThumbDistal,
Settings.ThumbDistalPhalanxLength Settings.ThumbDistalPhalanxLength
), ),
GetFingerLengths(bRight, GetFingerLengths(bRight,
EHandKeypoint::IndexProximal,
EHandKeypoint::IndexIntermediate, EHandKeypoint::IndexIntermediate,
EHandKeypoint::IndexDistal, EHandKeypoint::IndexDistal,
Settings.IndexDistalPhalanxLength Settings.IndexDistalPhalanxLength
), ),
GetFingerLengths(bRight, GetFingerLengths(bRight,
EHandKeypoint::MiddleProximal,
EHandKeypoint::MiddleIntermediate, EHandKeypoint::MiddleIntermediate,
EHandKeypoint::MiddleDistal, EHandKeypoint::MiddleDistal,
Settings.MiddleDistalPhalanxLength Settings.MiddleDistalPhalanxLength
), ),
GetFingerLengths(bRight, GetFingerLengths(bRight,
EHandKeypoint::RingProximal,
EHandKeypoint::RingIntermediate, EHandKeypoint::RingIntermediate,
EHandKeypoint::RingDistal, EHandKeypoint::RingDistal,
Settings.RingDistalPhalanxLength Settings.RingDistalPhalanxLength
), ),
GetFingerLengths(bRight, GetFingerLengths(bRight,
EHandKeypoint::LittleProximal,
EHandKeypoint::LittleIntermediate, EHandKeypoint::LittleIntermediate,
EHandKeypoint::LittleDistal, EHandKeypoint::LittleDistal,
Settings.LittleDistalPhalanxLength Settings.LittleDistalPhalanxLength
@@ -695,47 +688,64 @@ TArray<FVector> FSGXRTracker::FImpl::GetFingerStartPositions(const bool bRight)
{ {
const FVector WristPosition{GetRawMeshBoneRefTransform(bRight, EHandKeypoint::Wrist).GetLocation()}; const FVector WristPosition{GetRawMeshBoneRefTransform(bRight, EHandKeypoint::Wrist).GetLocation()};
const FVector ThumbStartPosition{ const FQuat RootRotationCorrection{
GetOpenXRMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::ThumbMetacarpal).GetLocation() GetVirtualHandTrackingSettings().HandMeshToOpenXRRootBoneRotationCorrection.Quaternion()
+ WristPosition };
FTransform RootBoneRefTransform{GetRawMeshBoneRefTransform(bRight, EHandKeypoint::Wrist)};
RootBoneRefTransform.SetRotation(RootRotationCorrection * RootBoneRefTransform.GetRotation());
FVector ThumbStartPosition{
GetRawMeshBoneRefTransform(bRight, EHandKeypoint::ThumbMetacarpal).GetLocation()
}; };
const FVector IndexMetacarpalPosition{ FTransform IndexMetacarpalTransform{
GetOpenXRMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::IndexMetacarpal).GetLocation() GetRawMeshBoneRefTransform(bRight, EHandKeypoint::IndexMetacarpal)
+ WristPosition
}; };
const FVector IndexStartPosition{ FTransform IndexStartTransform{
GetOpenXRMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::IndexProximal).GetLocation() GetRawMeshBoneRefTransform(bRight, EHandKeypoint::IndexProximal)
+ IndexMetacarpalPosition
}; };
const FVector MiddleMetacarpalPosition{ FVector IndexStartPositionUncorrected = IndexMetacarpalTransform.GetLocation() + (IndexMetacarpalTransform.
GetOpenXRMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::MiddleMetacarpal).GetLocation() GetRotation() * IndexStartTransform.GetLocation());
+ WristPosition FVector IndexStartPosition = RootBoneRefTransform.GetRotation() * IndexStartPositionUncorrected;
FTransform MiddleMetacarpalTransform{
GetRawMeshBoneRefTransform(bRight, EHandKeypoint::MiddleMetacarpal)
}; };
const FVector MiddleStartPosition{ FTransform MiddleStartTransform{
GetOpenXRMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::MiddleProximal).GetLocation() GetRawMeshBoneRefTransform(bRight, EHandKeypoint::MiddleProximal)
+ MiddleMetacarpalPosition
}; };
const FVector RingMetacarpalPosition{ FVector MiddleStartPositionUncorrected = MiddleMetacarpalTransform.GetLocation() + (MiddleMetacarpalTransform.
GetOpenXRMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::RingMetacarpal).GetLocation() GetRotation() * MiddleStartTransform.GetLocation());
+ WristPosition FVector MiddleStartPosition = RootBoneRefTransform.GetRotation() * MiddleStartPositionUncorrected;
FTransform RingMetacarpalTransform{
GetRawMeshBoneRefTransform(bRight, EHandKeypoint::RingMetacarpal)
}; };
const FVector RingStartPosition{ FTransform RingStartTransform{
GetOpenXRMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::RingProximal).GetLocation() GetRawMeshBoneRefTransform(bRight, EHandKeypoint::RingProximal)
+ RingMetacarpalPosition
}; };
const FVector LittleMetacarpalPosition{ FVector RingStartPositionUncorrected = RingMetacarpalTransform.GetLocation() + (RingMetacarpalTransform.
GetOpenXRMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::LittleMetacarpal).GetLocation() GetRotation() * RingStartTransform.GetLocation());
+ WristPosition FVector RingStartPosition = RootBoneRefTransform.GetRotation() * RingStartPositionUncorrected;
FTransform LittleMetacarpalTransform{
GetRawMeshBoneRefTransform(bRight, EHandKeypoint::LittleMetacarpal)
}; };
const FVector LittleStartPosition{ FTransform LittleStartTransform{
GetOpenXRMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::LittleProximal).GetLocation() GetRawMeshBoneRefTransform(bRight, EHandKeypoint::LittleProximal)
+ LittleMetacarpalPosition
}; };
FVector LittleStartPositionUncorrected = LittleMetacarpalTransform.GetLocation() + (LittleMetacarpalTransform.
GetRotation() * LittleStartTransform.GetLocation());
FVector LittleStartPosition = RootBoneRefTransform.GetRotation() * LittleStartPositionUncorrected;
const TArray<FVector> StartPositions{ const TArray<FVector> StartPositions{
ThumbStartPosition, ThumbStartPosition,
IndexStartPosition, IndexStartPosition,
@@ -749,44 +759,83 @@ TArray<FVector> FSGXRTracker::FImpl::GetFingerStartPositions(const bool bRight)
TArray<FQuat> FSGXRTracker::FImpl::GetFingerStartRotations(const bool bRight) TArray<FQuat> FSGXRTracker::FImpl::GetFingerStartRotations(const bool bRight)
{ {
// const FQuat ThumbStartRotation{
// GetSGMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::ThumbMetacarpal).GetRotation()
// };
//
// const FQuat IndexMetacarpalRotation{
// GetSGMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::IndexMetacarpal).GetRotation()
// };
// const FQuat IndexStartRotation{
// GetRawMeshBoneRefTransform(bRight, EHandKeypoint::IndexProximal).GetRotation() * IndexMetacarpalRotation
// };
//
// const FQuat MiddleMetacarpalRotation{
// GetSGMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::MiddleMetacarpal).GetRotation()
// };
// const FQuat MiddleStartRotation{
// GetRawMeshBoneRefTransform(bRight, EHandKeypoint::MiddleProximal).GetRotation() * MiddleMetacarpalRotation
// };
//
// const FQuat RingMetacarpalRotation{
// GetSGMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::RingMetacarpal).GetRotation()
// };
// const FQuat RingStartRotation{
// GetRawMeshBoneRefTransform(bRight, EHandKeypoint::RingProximal).GetRotation() * RingMetacarpalRotation
// };
//
// const FQuat LittleMetacarpalRotation{
// GetSGMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::LittleMetacarpal).GetRotation()
// };
// const FQuat LittleStartRotation{
// GetRawMeshBoneRefTransform(bRight, EHandKeypoint::LittleProximal).GetRotation() * LittleMetacarpalRotation
// };
const FQuat ThumbStartRotation{ const FQuat ThumbStartRotation{
GetSGMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::ThumbMetacarpal).GetRotation() GetRawMeshBoneRefTransform(bRight, EHandKeypoint::ThumbMetacarpal).GetRotation()
}; };
const FQuat IndexMetacarpalRotation{ const FQuat RootRotationCorrection{
GetSGMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::IndexMetacarpal).GetRotation() GetVirtualHandTrackingSettings().HandMeshToSenseGloveRootBoneRotationCorrection.Quaternion()
}; };
const FQuat IndexStartRotation{ FTransform RootBoneRefTransform{GetRawMeshBoneRefTransform(bRight, EHandKeypoint::Wrist)};
GetRawMeshBoneRefTransform(bRight, EHandKeypoint::IndexProximal).GetRotation() * IndexMetacarpalRotation RootBoneRefTransform.SetRotation(RootRotationCorrection * RootBoneRefTransform.GetRotation());
const FTransform IndexMetacarpalTransform{
GetRawMeshBoneRefTransform(bRight, EHandKeypoint::IndexMetacarpal)
};
const FTransform IndexProximalTransform{
GetRawMeshBoneRefTransform(bRight, EHandKeypoint::IndexProximal)
}; };
const FQuat MiddleMetacarpalRotation{ const FQuat IndexStartRotation{IndexProximalTransform.GetRotation() * RootBoneRefTransform.GetRotation()};
GetSGMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::MiddleMetacarpal).GetRotation()
};
const FQuat MiddleStartRotation{ const FQuat MiddleStartRotation{
GetRawMeshBoneRefTransform(bRight, EHandKeypoint::MiddleProximal).GetRotation() * MiddleMetacarpalRotation GetRawMeshBoneRefTransform(bRight, EHandKeypoint::MiddleProximal).GetRotation()
}; };
const FQuat RingMetacarpalRotation{
GetSGMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::RingMetacarpal).GetRotation()
};
const FQuat RingStartRotation{ const FQuat RingStartRotation{
GetRawMeshBoneRefTransform(bRight, EHandKeypoint::RingProximal).GetRotation() * RingMetacarpalRotation GetRawMeshBoneRefTransform(bRight, EHandKeypoint::RingProximal).GetRotation()
}; };
const FQuat LittleMetacarpalRotation{
GetSGMeshMetacarpalBoneRefTransform(bRight, EHandKeypoint::LittleMetacarpal).GetRotation()
};
const FQuat LittleStartRotation{ const FQuat LittleStartRotation{
GetRawMeshBoneRefTransform(bRight, EHandKeypoint::LittleProximal).GetRotation() * LittleMetacarpalRotation GetRawMeshBoneRefTransform(bRight, EHandKeypoint::LittleProximal).GetRotation()
}; };
const TArray<FQuat> StartRotations{ const TArray<FQuat> StartRotations{
ThumbStartRotation, // ThumbStartRotation,
IndexStartRotation, // IndexStartRotation,
MiddleStartRotation, // MiddleStartRotation,
RingStartRotation, // RingStartRotation,
LittleStartRotation, // LittleStartRotation,
FQuat::Identity,
FQuat::Identity,
FQuat::Identity,
FQuat::Identity,
FQuat::Identity,
}; };
return StartRotations; return StartRotations;
@@ -870,7 +919,8 @@ const FTransform& FSGXRTracker::FImpl::GetRawMeshBoneRefTransform(const bool bRi
return Transform; return Transform;
} }
FTransform FSGXRTracker::FImpl::GetOpenXRMeshMetacarpalBoneRefTransform(const bool bRight, const FName& BoneName) FTransform FSGXRTracker::FImpl::GetOpenXRMeshBoneRefTransform(
const bool bRight, const FName& BoneName)
{ {
const FQuat RootRotationCorrection{ const FQuat RootRotationCorrection{
GetVirtualHandTrackingSettings().HandMeshToOpenXRRootBoneRotationCorrection.Quaternion() GetVirtualHandTrackingSettings().HandMeshToOpenXRRootBoneRotationCorrection.Quaternion()
@@ -1802,9 +1852,11 @@ bool FSGXRTracker::FImpl::UpdateSGPalmJointData(
return false; return false;
} }
const FTransform JointTransform{GetOpenXRMeshMetacarpalBoneRefTransform(DeviceHand, EHandKeypoint::Palm)}; const FTransform JointTransform{GetOpenXRMeshBoneRefTransform(DeviceHand, EHandKeypoint::Palm)};
FVector JointLocation{JointTransform.GetLocation()}; // FVector JointLocation{JointTransform.GetLocation()};
FQuat JointRotation{JointTransform.GetRotation()}; // FQuat JointRotation{JointTransform.GetRotation()};
FVector JointLocation{4.967f, 0.090f, -0.132f};
FQuat JointRotation{0.000000000f, 0.000000000f, 0.000000000f, 0.999999829f};
if (!UpdateSGJointData(OutHandState, EHandKeypoint::Palm, if (!UpdateSGJointData(OutHandState, EHandKeypoint::Palm,
MoveTemp(JointLocation), MoveTemp(JointRotation), WristLocation, WristRotation, MoveTemp(JointLocation), MoveTemp(JointRotation), WristLocation, WristRotation,
@@ -1893,10 +1945,12 @@ bool FSGXRTracker::FImpl::UpdateSGIndexJointData(
static constexpr int32 IndexTipJointIndex = 3; static constexpr int32 IndexTipJointIndex = 3;
const FTransform& IndexMetacarpalTransform{ const FTransform& IndexMetacarpalTransform{
GetOpenXRMeshMetacarpalBoneRefTransform(DeviceHand, EHandKeypoint::IndexMetacarpal) GetOpenXRMeshBoneRefTransform(DeviceHand, EHandKeypoint::IndexMetacarpal)
}; };
FVector IndexMetacarpalLocation{IndexMetacarpalTransform.GetLocation()}; // FVector IndexMetacarpalLocation{IndexMetacarpalTransform.GetLocation()};
FQuat IndexMetacarpalRotation{IndexMetacarpalTransform.GetRotation()}; // FQuat IndexMetacarpalRotation{IndexMetacarpalTransform.GetRotation()};
FVector IndexMetacarpalLocation{3.759f, 2.089f, -0.932f};
FQuat IndexMetacarpalRotation{0.000000000f, 0.000000000f, 0.000000000f, 0.999999829f};
const FVector& IndexProximalLocation{JointLocations[IndexFingerIndex][IndexProximalJointIndex]}; const FVector& IndexProximalLocation{JointLocations[IndexFingerIndex][IndexProximalJointIndex]};
const FVector& IndexIntermediateLocation{JointLocations[IndexFingerIndex][IndexIntermediateJointIndex]}; const FVector& IndexIntermediateLocation{JointLocations[IndexFingerIndex][IndexIntermediateJointIndex]};
@@ -1972,10 +2026,12 @@ bool FSGXRTracker::FImpl::UpdateSGMiddleJointData(
static constexpr int32 MiddleTipJointMiddle = 3; static constexpr int32 MiddleTipJointMiddle = 3;
const FTransform& MiddleMetacarpalTransform{ const FTransform& MiddleMetacarpalTransform{
GetOpenXRMeshMetacarpalBoneRefTransform(DeviceHand, EHandKeypoint::MiddleMetacarpal) GetOpenXRMeshBoneRefTransform(DeviceHand, EHandKeypoint::MiddleMetacarpal)
}; };
FVector MiddleMetacarpalLocation{MiddleMetacarpalTransform.GetLocation()}; // FVector MiddleMetacarpalLocation{MiddleMetacarpalTransform.GetLocation()};
FQuat MiddleMetacarpalRotation{MiddleMetacarpalTransform.GetRotation()}; // FQuat MiddleMetacarpalRotation{MiddleMetacarpalTransform.GetRotation()};
FVector MiddleMetacarpalLocation{3.534f, 0.405f, -0.767f};
FQuat MiddleMetacarpalRotation{0.000000000f, 0.000000000f, 0.000000000f, 0.999999829f};
const FVector& MiddleProximalLocation{JointLocations[MiddleFingerMiddle][MiddleProximalJointMiddle]}; const FVector& MiddleProximalLocation{JointLocations[MiddleFingerMiddle][MiddleProximalJointMiddle]};
const FVector& MiddleIntermediateLocation{JointLocations[MiddleFingerMiddle][MiddleIntermediateJointMiddle]}; const FVector& MiddleIntermediateLocation{JointLocations[MiddleFingerMiddle][MiddleIntermediateJointMiddle]};
@@ -2051,10 +2107,12 @@ bool FSGXRTracker::FImpl::UpdateSGRingJointData(
static constexpr int32 RingTipJointRing = 3; static constexpr int32 RingTipJointRing = 3;
const FTransform& RingMetacarpalTransform{ const FTransform& RingMetacarpalTransform{
GetOpenXRMeshMetacarpalBoneRefTransform(DeviceHand, EHandKeypoint::RingMetacarpal) GetOpenXRMeshBoneRefTransform(DeviceHand, EHandKeypoint::RingMetacarpal)
}; };
FVector RingMetacarpalLocation{RingMetacarpalTransform.GetLocation()}; // FVector RingMetacarpalLocation{RingMetacarpalTransform.GetLocation()};
FQuat RingMetacarpalRotation{RingMetacarpalTransform.GetRotation()}; // FQuat RingMetacarpalRotation{RingMetacarpalTransform.GetRotation()};
FVector RingMetacarpalLocation{3.612f, -1.557f, -0.625f};
FQuat RingMetacarpalRotation{0.000000000f, 0.000000000f, 0.000000000f, 0.999999829f};
const FVector& RingProximalLocation{JointLocations[RingFingerRing][RingProximalJointRing]}; const FVector& RingProximalLocation{JointLocations[RingFingerRing][RingProximalJointRing]};
const FVector& RingIntermediateLocation{JointLocations[RingFingerRing][RingIntermediateJointRing]}; const FVector& RingIntermediateLocation{JointLocations[RingFingerRing][RingIntermediateJointRing]};
@@ -2130,10 +2188,12 @@ bool FSGXRTracker::FImpl::UpdateSGLittleJointData(
static constexpr int32 LittleTipJointLittle = 3; static constexpr int32 LittleTipJointLittle = 3;
const FTransform& LittleMetacarpalTransform{ const FTransform& LittleMetacarpalTransform{
GetOpenXRMeshMetacarpalBoneRefTransform(DeviceHand, EHandKeypoint::LittleMetacarpal) GetOpenXRMeshBoneRefTransform(DeviceHand, EHandKeypoint::LittleMetacarpal)
}; };
FVector LittleMetacarpalLocation{LittleMetacarpalTransform.GetLocation()}; // FVector LittleMetacarpalLocation{LittleMetacarpalTransform.GetLocation()};
FQuat LittleMetacarpalRotation{LittleMetacarpalTransform.GetRotation()}; // FQuat LittleMetacarpalRotation{LittleMetacarpalTransform.GetRotation()};
FVector LittleMetacarpalLocation{3.539f, -2.389f, -0.978f};
FQuat LittleMetacarpalRotation{0.207036002f, 0.018311810f, -0.140342834f, 0.968041580f};
const FVector& LittleProximalLocation{JointLocations[LittleFingerLittle][LittleProximalJointLittle]}; const FVector& LittleProximalLocation{JointLocations[LittleFingerLittle][LittleProximalJointLittle]};
const FVector& LittleIntermediateLocation{JointLocations[LittleFingerLittle][LittleIntermediateJointLittle]}; const FVector& LittleIntermediateLocation{JointLocations[LittleFingerLittle][LittleIntermediateJointLittle]};