even more optimal fxrmotioncontroller data calculations that considers mesh when outputting senseglove data

Source/SenseGloveSettings/Private/SGSettings/SGVirtualHandTrackingSettings.cpp

@@ -46,8 +46,7 @@ FSGVirtualHandTrackingSettings::FSGVirtualHandTrackingSettings()
         2.4f,
         2.4f,
         2.4f,
-        FRotator{0.0f, -90.0f, 0.0f},
+        FRotator{0.0f, -90.0f, 0.0f})
-        FRotator{0.0f, 180.0f, 90.0f})
 {
 }
 
@@ -59,8 +58,7 @@ FSGVirtualHandTrackingSettings::FSGVirtualHandTrackingSettings(
     const float InMiddleDistalPhalanxLength,
     const float InRingDistalPhalanxLength,
     const float InLittleDistalPhalanxLength,
-    const FRotator& InHandMeshToOpenXRRootBoneRotationCorrection,
+    const FRotator& InRootBoneRotationCorrection)
-    const FRotator& InHandMeshToSenseGloveRootBoneRotationCorrection)
     : LeftHandReferenceMesh(InLeftHandReferenceMesh),
       RightHandReferenceMesh(InRightHandReferenceMesh),
       ThumbDistalPhalanxLength(InThumbDistalPhalanxLength),
@@ -68,8 +66,7 @@ FSGVirtualHandTrackingSettings::FSGVirtualHandTrackingSettings(
       MiddleDistalPhalanxLength(InMiddleDistalPhalanxLength),
       RingDistalPhalanxLength(InRingDistalPhalanxLength),
       LittleDistalPhalanxLength(InLittleDistalPhalanxLength),
-      HandMeshToOpenXRRootBoneRotationCorrection(InHandMeshToOpenXRRootBoneRotationCorrection),
+      RootBoneRotationCorrection(InRootBoneRotationCorrection),
-      HandMeshToSenseGloveRootBoneRotationCorrection(InHandMeshToSenseGloveRootBoneRotationCorrection),
       LeftHandDefaultReferenceBoneTransforms{
           TPair<FName, FTransform>{
               FName{TEXT("hand_l")},

Source/SenseGloveSettings/Public/SGSettings/SGVirtualHandTrackingSettings.h

@@ -73,10 +73,7 @@ public:
     float LittleDistalPhalanxLength;
 
     UPROPERTY(Config, EditDefaultsOnly, Category="Virtual Hand")
-    FRotator HandMeshToOpenXRRootBoneRotationCorrection;
+    FRotator RootBoneRotationCorrection;
-
-    UPROPERTY(Config, EditDefaultsOnly, Category="Virtual Hand")
-    FRotator HandMeshToSenseGloveRootBoneRotationCorrection;
 
     UPROPERTY(Config, VisibleDefaultsOnly, Category="Virtual Hand")
     TMap<FName, FTransform> LeftHandDefaultReferenceBoneTransforms;
@@ -101,7 +98,5 @@ public:
         float InMiddleDistalPhalanxLength,
         float InRingDistalPhalanxLength,
         float InLittleDistalPhalanxLength,
-        const FRotator& InHandMeshToOpenXRRootBoneRotationCorrection,
+        const FRotator& InRootBoneRotationCorrection);
-        const FRotator& InHandMeshToSenseGloveRootBoneRotationCorrection);
-
 };

Source/SenseGloveTracking/Private/SGTracking/SGXRTracker.cpp

@@ -210,6 +210,7 @@ struct FSGXRTracker::FImpl
         float DistalPhalanxLength);
 
     static TArray<TArray<float>> GetFingerLengths(bool bRight);
+    static TArray<FTransform> GetFingerStartTransforms(bool bRight);
     static TArray<FVector> GetFingerStartPositions(bool bRight);
     static TArray<FQuat> GetFingerStartRotations(bool bRight);
     static USGBasicHandModel* GetHandModel(bool bRight);
@@ -280,126 +281,128 @@ struct FSGXRTracker::FImpl
         return Name;
     }
 
-    static const FTransform& GetRawMeshBoneRefTransform(bool bRight, const FName& BoneName);
+    static const FTransform& GetMeshRawBoneRefTransform(bool bRight, const FName& BoneName);
 
-    FORCEINLINE static const FTransform& GetRawMeshBoneRefTransform(const bool bRight, const int32 JointIndex)
+    FORCEINLINE static const FTransform& GetMeshRawBoneRefTransform(const bool bRight, const int32 JointIndex)
     {
         const FName& BoneName{GetMeshBoneName(bRight, JointIndex)};
-        const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
+        const FTransform& Transform{GetMeshRawBoneRefTransform(bRight, BoneName)};
         return Transform;
     }
 
-    FORCEINLINE static const FTransform& GetRawMeshBoneRefTransform(const bool bRight, const EHandKeypoint Keypoint)
+    FORCEINLINE static const FTransform& GetMeshRawBoneRefTransform(const bool bRight, const EHandKeypoint Keypoint)
     {
         const FName& BoneName{GetMeshBoneName(bRight, Keypoint)};
-        const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
+        const FTransform& Transform{GetMeshRawBoneRefTransform(bRight, BoneName)};
         return Transform;
     }
 
-    FORCEINLINE static const FTransform& GetRawMeshBoneRefTransform(const EControllerHand Hand, const FName& BoneName)
+    FORCEINLINE static const FTransform& GetMeshRawBoneRefTransform(const EControllerHand Hand, const FName& BoneName)
     {
         const bool bRight = Hand == EControllerHand::Right;
-        const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
+        const FTransform& Transform{GetMeshRawBoneRefTransform(bRight, BoneName)};
         return Transform;
     }
 
-    FORCEINLINE static const FTransform& GetRawMeshBoneRefTransform(const EControllerHand Hand, const int32 JointIndex)
+    FORCEINLINE static const FTransform& GetMeshRawBoneRefTransform(const EControllerHand Hand, const int32 JointIndex)
     {
         const bool bRight = Hand == EControllerHand::Right;
         const FName& BoneName{GetMeshBoneName(bRight, JointIndex)};
-        const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
+        const FTransform& Transform{GetMeshRawBoneRefTransform(bRight, BoneName)};
         return Transform;
     }
 
-    FORCEINLINE static const FTransform& GetRawMeshBoneRefTransform(
+    FORCEINLINE static const FTransform& GetMeshRawBoneRefTransform(
         const EControllerHand Hand, const EHandKeypoint Keypoint)
     {
         const bool bRight = Hand == EControllerHand::Right;
         const FName& BoneName{GetMeshBoneName(bRight, Keypoint)};
-        const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
+        const FTransform& Transform{GetMeshRawBoneRefTransform(bRight, BoneName)};
         return Transform;
     }
 
-    static FTransform GetOpenXRMeshBoneRefTransform(bool bRight, const FName& BoneName);
+    static FTransform GetMeshWristChildBoneRefTransform(bool bRight, const FName& BoneName);
 
-    FORCEINLINE static FTransform GetOpenXRMeshBoneRefTransform(const bool bRight, const int32 JointIndex)
+    FORCEINLINE static FTransform GetMeshWristChildBoneRefTransform(
-    {
-        const FName& BoneName{GetMeshBoneName(bRight, JointIndex)};
-        const FTransform Transform{GetOpenXRMeshBoneRefTransform(bRight, BoneName)};
-        return Transform;
-    }
-
-    FORCEINLINE static FTransform GetOpenXRMeshBoneRefTransform(
-        const bool bRight, const EHandKeypoint Keypoint)
-    {
-        const FName& BoneName{GetMeshBoneName(bRight, Keypoint)};
-        const FTransform Transform{GetOpenXRMeshBoneRefTransform(bRight, BoneName)};
-        return Transform;
-    }
-
-    FORCEINLINE static FTransform GetOpenXRMeshBoneRefTransform(
-        const EControllerHand Hand, const FName& BoneName)
-    {
-        const bool bRight = Hand == EControllerHand::Right;
-        const FTransform Transform{GetOpenXRMeshBoneRefTransform(bRight, BoneName)};
-        return Transform;
-    }
-
-    FORCEINLINE static FTransform GetOpenXRMeshBoneRefTransform(
-        const EControllerHand Hand, const int32 JointIndex)
-    {
-        const bool bRight = Hand == EControllerHand::Right;
-        const FTransform Transform{GetOpenXRMeshBoneRefTransform(bRight, JointIndex)};
-        return Transform;
-    }
-
-    FORCEINLINE static FTransform GetOpenXRMeshBoneRefTransform(
-        const EControllerHand Hand, const EHandKeypoint Keypoint)
-    {
-        const bool bRight = Hand == EControllerHand::Right;
-        const FTransform Transform{GetOpenXRMeshBoneRefTransform(bRight, Keypoint)};
-        return Transform;
-    }
-
-    static FTransform GetSGMeshMetacarpalBoneRefTransform(bool bRight, const FName& BoneName);
-
-    FORCEINLINE static FTransform GetSGMeshMetacarpalBoneRefTransform(
         const bool bRight, const int32 JointIndex)
     {
         const FName& BoneName{GetMeshBoneName(bRight, JointIndex)};
-        const FTransform Transform{GetSGMeshMetacarpalBoneRefTransform(bRight, BoneName)};
+        const FTransform Transform{GetMeshWristChildBoneRefTransform(bRight, BoneName)};
         return Transform;
     }
 
-    FORCEINLINE static FTransform GetSGMeshMetacarpalBoneRefTransform(
+    FORCEINLINE static FTransform GetMeshWristChildBoneRefTransform(
         const bool bRight, const EHandKeypoint Keypoint)
     {
         const FName& BoneName{GetMeshBoneName(bRight, Keypoint)};
-        const FTransform Transform{GetSGMeshMetacarpalBoneRefTransform(bRight, BoneName)};
+        const FTransform Transform{GetMeshWristChildBoneRefTransform(bRight, BoneName)};
         return Transform;
     }
 
-    FORCEINLINE static FTransform GetSGMeshMetacarpalBoneRefTransform(
+    FORCEINLINE static FTransform GetMeshWristChildBoneRefTransform(
         const EControllerHand Hand, const FName& BoneName)
     {
         const bool bRight = Hand == EControllerHand::Right;
-        const FTransform Transform{GetSGMeshMetacarpalBoneRefTransform(bRight, BoneName)};
+        const FTransform Transform{GetMeshWristChildBoneRefTransform(bRight, BoneName)};
         return Transform;
     }
 
-    FORCEINLINE static FTransform GetSGMeshMetacarpalBoneRefTransform(
+    FORCEINLINE static FTransform GetMeshWristChildBoneRefTransform(
         const EControllerHand Hand, const int32 JointIndex)
     {
         const bool bRight = Hand == EControllerHand::Right;
-        const FTransform Transform{GetSGMeshMetacarpalBoneRefTransform(bRight, JointIndex)};
+        const FTransform Transform{GetMeshWristChildBoneRefTransform(bRight, JointIndex)};
         return Transform;
     }
 
-    FORCEINLINE static FTransform GetSGMeshMetacarpalBoneRefTransform(
+    FORCEINLINE static FTransform GetMeshWristChildBoneRefTransform(
         const EControllerHand Hand, const EHandKeypoint Keypoint)
     {
         const bool bRight = Hand == EControllerHand::Right;
-        const FTransform Transform{GetSGMeshMetacarpalBoneRefTransform(bRight, Keypoint)};
+        const FTransform Transform{GetMeshWristChildBoneRefTransform(bRight, Keypoint)};
+        return Transform;
+    }
+
+    static FTransform GetMeshFingerStartBoneRefTransform(
+        bool bRight, EHandKeypoint Parent, const FName& BoneName);
+
+    FORCEINLINE static FTransform GetMeshFingerStartBoneRefTransform(
+        const bool bRight, const EHandKeypoint Parent, const int32 JointIndex)
+    {
+        const FName& BoneName{GetMeshBoneName(bRight, JointIndex)};
+        const FTransform Transform{GetMeshFingerStartBoneRefTransform(bRight, Parent, BoneName)};
+        return Transform;
+    }
+
+    FORCEINLINE static FTransform GetMeshFingerStartBoneRefTransform(
+        const bool bRight, const EHandKeypoint Parent, const EHandKeypoint Keypoint)
+    {
+        const FName& BoneName{GetMeshBoneName(bRight, Keypoint)};
+        const FTransform Transform{GetMeshFingerStartBoneRefTransform(bRight, Parent, BoneName)};
+        return Transform;
+    }
+
+    FORCEINLINE static FTransform GetMeshFingerStartBoneRefTransform(
+        const EControllerHand Hand, const EHandKeypoint Parent, const FName& BoneName)
+    {
+        const bool bRight = Hand == EControllerHand::Right;
+        const FTransform Transform{GetMeshFingerStartBoneRefTransform(bRight, Parent, BoneName)};
+        return Transform;
+    }
+
+    FORCEINLINE static FTransform GetMeshFingerStartBoneRefTransform(
+        const EControllerHand Hand, const EHandKeypoint Parent, const int32 JointIndex)
+    {
+        const bool bRight = Hand == EControllerHand::Right;
+        const FTransform Transform{GetMeshFingerStartBoneRefTransform(bRight, Parent, JointIndex)};
+        return Transform;
+    }
+
+    FORCEINLINE static FTransform GetMeshFingerStartBoneRefTransform(
+        const EControllerHand Hand, const EHandKeypoint Parent, const EHandKeypoint Keypoint)
+    {
+        const bool bRight = Hand == EControllerHand::Right;
+        const FTransform Transform{GetMeshFingerStartBoneRefTransform(bRight, Parent, Keypoint)};
         return Transform;
     }
 
@@ -637,9 +640,9 @@ TArray<float> FSGXRTracker::FImpl::GetFingerLengths(
     const EHandKeypoint Joint2nd, const EHandKeypoint Joint3rd,
     const float DistalPhalanxLength)
 {
-    const FTransform& Joint2ndTransform{GetOpenXRMeshBoneRefTransform(bRight, Joint2nd)};
+    const FTransform& Joint2ndTransform{GetMeshRawBoneRefTransform(bRight, Joint2nd)};
     const FVector& Joint2ndLocation{Joint2ndTransform.GetLocation()};
-    const FTransform& Joint3rdTransform{GetOpenXRMeshBoneRefTransform(bRight, Joint3rd)};
+    const FTransform& Joint3rdTransform{GetMeshRawBoneRefTransform(bRight, Joint3rd)};
     const FVector& Joint3rdLocation{Joint3rdTransform.GetLocation()};
 
     const float PhalanxLength1st = static_cast<float>(Joint2ndLocation.Size());
@@ -684,74 +687,51 @@ TArray<TArray<float>> FSGXRTracker::FImpl::GetFingerLengths(const bool bRight)
     return Lengths;
 }
 
+TArray<FTransform> FSGXRTracker::FImpl::GetFingerStartTransforms(const bool bRight)
+{
+    FTransform ThumbStartTransform{
+        GetMeshWristChildBoneRefTransform(bRight, EHandKeypoint::ThumbMetacarpal).GetLocation()
+    };
+
+    FTransform IndexStartTransform{
+        GetMeshFingerStartBoneRefTransform(bRight, EHandKeypoint::IndexMetacarpal, EHandKeypoint::IndexProximal)
+    };
+
+    FTransform MiddleStartTransform{
+        GetMeshFingerStartBoneRefTransform(bRight, EHandKeypoint::MiddleMetacarpal, EHandKeypoint::MiddleProximal)
+    };
+
+    FTransform RingStartTransform{
+        GetMeshFingerStartBoneRefTransform(bRight, EHandKeypoint::RingMetacarpal, EHandKeypoint::RingProximal)
+    };
+
+    FTransform LittleStartTransform{
+        GetMeshFingerStartBoneRefTransform(bRight, EHandKeypoint::LittleMetacarpal, EHandKeypoint::LittleProximal)
+    };
+
+    TArray<FTransform> Transforms{
+        MoveTemp(ThumbStartTransform),
+        MoveTemp(IndexStartTransform),
+        MoveTemp(MiddleStartTransform),
+        MoveTemp(RingStartTransform),
+        MoveTemp(LittleStartTransform),
+    };
+
+    return Transforms;
+}
+
 TArray<FVector> FSGXRTracker::FImpl::GetFingerStartPositions(const bool bRight)
 {
-    const FVector WristPosition{GetRawMeshBoneRefTransform(bRight, EHandKeypoint::Wrist).GetLocation()};
+    const TArray<FTransform> StartTransforms{GetFingerStartTransforms(bRight)};
-
-    const FQuat RootRotationCorrection{
-        GetVirtualHandTrackingSettings().HandMeshToOpenXRRootBoneRotationCorrection.Quaternion()
-    };
-    FTransform RootBoneRefTransform{GetRawMeshBoneRefTransform(bRight, EHandKeypoint::Wrist)};
-    RootBoneRefTransform.SetRotation(RootRotationCorrection * RootBoneRefTransform.GetRotation());
-
-
-    FVector ThumbStartPosition{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::ThumbMetacarpal).GetLocation()
-    };
-
-    FTransform IndexMetacarpalTransform{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::IndexMetacarpal)
-    };
-    FTransform IndexStartTransform{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::IndexProximal)
-    };
-
-    FVector IndexStartPositionUncorrected = IndexMetacarpalTransform.GetLocation() + (IndexMetacarpalTransform.
-        GetRotation() * IndexStartTransform.GetLocation());
-    FVector IndexStartPosition = RootBoneRefTransform.GetRotation() * IndexStartPositionUncorrected;
-
-    FTransform MiddleMetacarpalTransform{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::MiddleMetacarpal)
-    };
-    FTransform MiddleStartTransform{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::MiddleProximal)
-    };
-
-    FVector MiddleStartPositionUncorrected = MiddleMetacarpalTransform.GetLocation() + (MiddleMetacarpalTransform.
-        GetRotation() * MiddleStartTransform.GetLocation());
-    FVector MiddleStartPosition = RootBoneRefTransform.GetRotation() * MiddleStartPositionUncorrected;
-
-
-    FTransform RingMetacarpalTransform{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::RingMetacarpal)
-    };
-    FTransform RingStartTransform{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::RingProximal)
-    };
-
-    FVector RingStartPositionUncorrected = RingMetacarpalTransform.GetLocation() + (RingMetacarpalTransform.
-        GetRotation() * RingStartTransform.GetLocation());
-    FVector RingStartPosition = RootBoneRefTransform.GetRotation() * RingStartPositionUncorrected;
-
-
-    FTransform LittleMetacarpalTransform{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::LittleMetacarpal)
-    };
-    FTransform LittleStartTransform{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::LittleProximal)
-    };
-
-    FVector LittleStartPositionUncorrected = LittleMetacarpalTransform.GetLocation() + (LittleMetacarpalTransform.
-        GetRotation() * LittleStartTransform.GetLocation());
-    FVector LittleStartPosition = RootBoneRefTransform.GetRotation() * LittleStartPositionUncorrected;
 
+    ensureAlwaysMsgf(StartTransforms.Num() == 5, TEXT("Invalid number of finger start transforms!"));
 
     const TArray<FVector> StartPositions{
-        ThumbStartPosition,
+        StartTransforms[0].GetLocation(),
-        IndexStartPosition,
+        StartTransforms[1].GetLocation(),
-        MiddleStartPosition,
+        StartTransforms[2].GetLocation(),
-        RingStartPosition,
+        StartTransforms[3].GetLocation(),
-        LittleStartPosition,
+        StartTransforms[4].GetLocation(),
     };
 
     return StartPositions;
@@ -759,78 +739,16 @@ TArray<FVector> FSGXRTracker::FImpl::GetFingerStartPositions(const bool bRight)
 
 TArray<FQuat> FSGXRTracker::FImpl::GetFingerStartRotations(const bool bRight)
 {
-    // const FQuat ThumbStartRotation{
+    const TArray<FTransform> StartTransforms{GetFingerStartTransforms(bRight)};
-    //     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{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::ThumbMetacarpal).GetRotation()
-    };
-
-    const FQuat RootRotationCorrection{
-        GetVirtualHandTrackingSettings().HandMeshToSenseGloveRootBoneRotationCorrection.Quaternion()
-    };
-    FTransform RootBoneRefTransform{GetRawMeshBoneRefTransform(bRight, EHandKeypoint::Wrist)};
-    RootBoneRefTransform.SetRotation(RootRotationCorrection * RootBoneRefTransform.GetRotation());
-
-    const FTransform IndexMetacarpalTransform{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::IndexMetacarpal)
-    };
-    const FTransform IndexProximalTransform{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::IndexProximal)
-    };
-
-    const FQuat IndexStartRotation{IndexProximalTransform.GetRotation() * RootBoneRefTransform.GetRotation()};
-
-
-
-    const FQuat MiddleStartRotation{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::MiddleProximal).GetRotation()
-    };
-
-    const FQuat RingStartRotation{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::RingProximal).GetRotation()
-    };
-
-    const FQuat LittleStartRotation{
-        GetRawMeshBoneRefTransform(bRight, EHandKeypoint::LittleProximal).GetRotation()
-    };
 
+    ensureAlwaysMsgf(StartTransforms.Num() == 5, TEXT("Invalid number of finger start transforms!"));
 
     const TArray<FQuat> StartRotations{
-        // ThumbStartRotation,
+        // StartTransforms[0].GetRotation(),
-        // IndexStartRotation,
+        // StartTransforms[1].GetRotation(),
-        // MiddleStartRotation,
+        // StartTransforms[2].GetRotation(),
-        // RingStartRotation,
+        // StartTransforms[3].GetRotation(),
-        // LittleStartRotation,
+        // StartTransforms[4].GetRotation(),
         FQuat::Identity,
         FQuat::Identity,
         FQuat::Identity,
@@ -877,7 +795,7 @@ USGHandPose* FSGXRTracker::FImpl::GetHandPose(const bool bRight)
     return HandPose;
 }
 
-const FTransform& FSGXRTracker::FImpl::GetRawMeshBoneRefTransform(const bool bRight, const FName& BoneName)
+const FTransform& FSGXRTracker::FImpl::GetMeshRawBoneRefTransform(const bool bRight, const FName& BoneName)
 {
     const TSoftObjectPtr<USkeletalMesh>& HandMesh{
         bRight
@@ -919,30 +837,37 @@ const FTransform& FSGXRTracker::FImpl::GetRawMeshBoneRefTransform(const bool bRi
     return Transform;
 }
 
-FTransform FSGXRTracker::FImpl::GetOpenXRMeshBoneRefTransform(
+FTransform FSGXRTracker::FImpl::GetMeshWristChildBoneRefTransform(const bool bRight, const FName& BoneName)
-    const bool bRight, const FName& BoneName)
 {
-    const FQuat RootRotationCorrection{
+    FQuat RootRotationCorrection{
-        GetVirtualHandTrackingSettings().HandMeshToOpenXRRootBoneRotationCorrection.Quaternion()
+        GetVirtualHandTrackingSettings().RootBoneRotationCorrection
     };
+    const FTransform& RootBoneRefTransform{GetMeshRawBoneRefTransform(bRight, EHandKeypoint::Wrist)};
+    const FTransform& RawTransform{GetMeshRawBoneRefTransform(bRight, BoneName)};
+    FQuat CorrectedRootBoneRefRotation{MoveTemp(RootRotationCorrection) * RootBoneRefTransform.GetRotation()};
+    FVector CorrectedLocation{MoveTemp(CorrectedRootBoneRefRotation) * RawTransform.GetLocation()};
 
-    FTransform RootBoneRefTransform{GetRawMeshBoneRefTransform(bRight, EHandKeypoint::Wrist)};
+    const FTransform Transform{RawTransform.GetRotation(), MoveTemp(CorrectedLocation)};
-    RootBoneRefTransform.SetRotation(RootRotationCorrection * RootBoneRefTransform.GetRotation());
-    const FTransform Transform{GetRawMeshBoneRefTransform(bRight, BoneName) * RootBoneRefTransform};
-
     return Transform;
 }
 
-FTransform FSGXRTracker::FImpl::GetSGMeshMetacarpalBoneRefTransform(const bool bRight, const FName& BoneName)
+FTransform FSGXRTracker::FImpl::GetMeshFingerStartBoneRefTransform(
+    const bool bRight, const EHandKeypoint Parent, const FName& BoneName)
 {
-    const FQuat RootRotationCorrection{
+    FQuat RootRotationCorrection{
-        GetVirtualHandTrackingSettings().HandMeshToSenseGloveRootBoneRotationCorrection.Quaternion()
+        GetVirtualHandTrackingSettings().RootBoneRotationCorrection
+    };
+    const FTransform& RootBoneRefTransform{GetMeshRawBoneRefTransform(bRight, EHandKeypoint::Wrist)};
+    FQuat CorrectedRootBoneRefRotation{MoveTemp(RootRotationCorrection) * RootBoneRefTransform.GetRotation()};
+    FTransform CorrectedRootBoneRefTransform {
+        MoveTemp(CorrectedRootBoneRefRotation), RootBoneRefTransform.GetLocation()
     };
 
-    FTransform RootBoneRefTransform{GetRawMeshBoneRefTransform(bRight, EHandKeypoint::Wrist)};
+    FTransform ParentBoneRefTransform{
-    RootBoneRefTransform.SetRotation(RootRotationCorrection * RootBoneRefTransform.GetRotation());
+        GetMeshRawBoneRefTransform(bRight, Parent) * MoveTemp(CorrectedRootBoneRefTransform)
-    const FTransform Transform{RootBoneRefTransform * GetRawMeshBoneRefTransform(bRight, BoneName)};
+    };
 
+    const FTransform Transform{GetMeshRawBoneRefTransform(bRight, BoneName) * MoveTemp(ParentBoneRefTransform)};
     return Transform;
 }
 
@@ -1852,11 +1777,9 @@ bool FSGXRTracker::FImpl::UpdateSGPalmJointData(
         return false;
     }
 
-    const FTransform JointTransform{GetOpenXRMeshBoneRefTransform(DeviceHand, EHandKeypoint::Palm)};
+    const FTransform JointTransform{GetMeshWristChildBoneRefTransform(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,
                            MoveTemp(JointLocation), MoveTemp(JointRotation), WristLocation, WristRotation,
@@ -1945,12 +1868,10 @@ bool FSGXRTracker::FImpl::UpdateSGIndexJointData(
     static constexpr int32 IndexTipJointIndex = 3;
 
     const FTransform& IndexMetacarpalTransform{
-        GetOpenXRMeshBoneRefTransform(DeviceHand, EHandKeypoint::IndexMetacarpal)
+       GetMeshWristChildBoneRefTransform(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& IndexIntermediateLocation{JointLocations[IndexFingerIndex][IndexIntermediateJointIndex]};
@@ -2026,12 +1947,10 @@ bool FSGXRTracker::FImpl::UpdateSGMiddleJointData(
     static constexpr int32 MiddleTipJointMiddle = 3;
 
     const FTransform& MiddleMetacarpalTransform{
-        GetOpenXRMeshBoneRefTransform(DeviceHand, EHandKeypoint::MiddleMetacarpal)
+        GetMeshWristChildBoneRefTransform(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& MiddleIntermediateLocation{JointLocations[MiddleFingerMiddle][MiddleIntermediateJointMiddle]};
@@ -2107,12 +2026,10 @@ bool FSGXRTracker::FImpl::UpdateSGRingJointData(
     static constexpr int32 RingTipJointRing = 3;
 
     const FTransform& RingMetacarpalTransform{
-        GetOpenXRMeshBoneRefTransform(DeviceHand, EHandKeypoint::RingMetacarpal)
+        GetMeshWristChildBoneRefTransform(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& RingIntermediateLocation{JointLocations[RingFingerRing][RingIntermediateJointRing]};
@@ -2188,12 +2105,10 @@ bool FSGXRTracker::FImpl::UpdateSGLittleJointData(
     static constexpr int32 LittleTipJointLittle = 3;
 
     const FTransform& LittleMetacarpalTransform{
-        GetOpenXRMeshBoneRefTransform(DeviceHand, EHandKeypoint::LittleMetacarpal)
+        GetMeshWristChildBoneRefTransform(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& LittleIntermediateLocation{JointLocations[LittleFingerLittle][LittleIntermediateJointLittle]};