improve the wrist tracking code when using motion controllers

Source/SenseGloveTracking/Private/SGTracking/SGXRTracker.cpp

@@ -1495,25 +1495,27 @@ bool FSGXRTracker::FImpl::UpdateXRHandTrackingData(
     XR_ENSURE(XRLocateHandJointsEXT(OutHandState.HandTracker, &LocateInfo, &OutHandState.Locations));
 
     OutHandState.bReceivedJointPoses = OutHandState.Locations.isActive == XR_TRUE;
-    if (!!OutHandState.bReceivedJointPoses)
+    if (!OutHandState.bReceivedJointPoses)
     {
-        static_assert(
+        return false;
-            XR_HAND_JOINT_PALM_EXT == 0 && XR_HAND_JOINT_LITTLE_TIP_EXT == XR_HAND_JOINT_COUNT_EXT - 1,
-            "XrHandJointEXT enum is not as assumed for the following loop!");
-
-        for (int j = 0; j < XR_HAND_JOINT_COUNT_EXT; ++j)
-        {
-            const XrHandJointLocationEXT& JointLocation{OutHandState.JointLocations[j]};
-            const XrPosef& Pose{JointLocation.pose};
-            FTransform Transform{ToFTransform(Pose, WorldToMetersScale)};
-            OutHandState.KeypointTransforms[j] = MoveTemp(Transform);
-            OutHandState.Radii[j] = JointLocation.radius * WorldToMetersScale;
-            // velocities would go here
-        }
-
-        return true;
     }
 
+    static_assert(
+        XR_HAND_JOINT_PALM_EXT == 0 && XR_HAND_JOINT_LITTLE_TIP_EXT == XR_HAND_JOINT_COUNT_EXT - 1,
+        "XrHandJointEXT enum is not as assumed for the following loop!");
+
+    for (int j = 0; j < XR_HAND_JOINT_COUNT_EXT; ++j)
+    {
+        const XrHandJointLocationEXT& JointLocation{OutHandState.JointLocations[j]};
+        const XrPosef& Pose{JointLocation.pose};
+        FTransform Transform{ToFTransform(Pose, WorldToMetersScale)};
+        OutHandState.KeypointTransforms[j] = MoveTemp(Transform);
+        OutHandState.Radii[j] = JointLocation.radius * WorldToMetersScale;
+        // velocities would go here
+    }
+
+    return true;
+
     return false;
 }
 
@@ -1529,17 +1531,18 @@ bool FSGXRTracker::FImpl::GetOpenXRHandTrackingWristTransform(
 
     FXRMotionControllerData MotionControllerData;
     XRTrackingSystem->GetMotionControllerData(World, DeviceHand, MotionControllerData);
-    if (MotionControllerData.bValid)
+    if (!MotionControllerData.bValid)
     {
-        static constexpr int32_t WristJointIndex = static_cast<int32>(EHandKeypoint::Wrist);
+        return false;
-        OutTransform = FTransform{
-            MotionControllerData.HandKeyRotations[WristJointIndex],
-            MotionControllerData.HandKeyPositions[WristJointIndex]
-        };
-        return true;
     }
 
-    return false;
+    static constexpr int32_t WristJointIndex = static_cast<int32>(EHandKeypoint::Wrist);
+    OutTransform = FTransform{
+        MotionControllerData.HandKeyRotations[WristJointIndex],
+        MotionControllerData.HandKeyPositions[WristJointIndex]
+    };
+
+    return true;
 }
 
 bool FSGXRTracker::FImpl::GetOpenXRWristTransform(
@@ -1556,44 +1559,44 @@ bool FSGXRTracker::FImpl::GetOpenXRWristTransform(
     FRotator TrackerRotation;
     const bool bGotTransform = MotionController->GetControllerOrientationAndPosition(
         CurrentPlayerControllerIndex, MotionSource, TrackerRotation, TrackerLocation, WorldToMetersScale);
-    if (bGotTransform)
+    if (!bGotTransform)
     {
-        const bool bIsRight = DeviceHand == EControllerHand::Right;
+        return false;
-
-        const ESGPositionalTrackingHardware TrackingHardware = GetPositionalTrackingHardware();
-        if (TrackingHardware == ESGPositionalTrackingHardware::Custom)
-        {
-            FSGWristTrackingSettings Settings{GetWristTrackingSettings()};
-            if (bIsRight)
-            {
-                TrackerLocation += Settings.TrackingHardwareLocationOffsetRightHand;
-                TrackerRotation += Settings.TrackingHardwareRotationOffsetRightHand;
-            }
-            else
-            {
-                TrackerLocation += Settings.TrackingHardwareLocationOffsetLeftHand;
-                TrackerRotation += Settings.TrackingHardwareRotationOffsetLeftHand;
-            }
-        }
-
-        FVector WristLocation;
-        FRotator WristRotation;
-
-        const USGHapticGlove* Glove{GetGlove(bIsRight)};
-        if (!IsValid(Glove))
-        {
-            return false;
-        }
-
-        Glove->GetWristLocation(TrackerLocation, TrackerRotation, TrackingHardware,
-                                WristLocation, WristRotation);
-
-        OutTransform = FTransform{MoveTemp(WristRotation), WristLocation};
-
-        return true;
     }
 
-    return false;
+    const FSGWristTrackingSettings& Settings{GetWristTrackingSettings()};
+
+    const bool bIsRight = DeviceHand == Settings.RightHandMotionSource;
+
+    const ESGPositionalTrackingHardware TrackingHardware = GetPositionalTrackingHardware();
+    if (TrackingHardware == ESGPositionalTrackingHardware::Custom)
+    {
+        if (bIsRight)
+        {
+            TrackerLocation += Settings.TrackingHardwareLocationOffsetRightHand;
+            TrackerRotation += Settings.TrackingHardwareRotationOffsetRightHand;
+        }
+        else
+        {
+            TrackerLocation += Settings.TrackingHardwareLocationOffsetLeftHand;
+            TrackerRotation += Settings.TrackingHardwareRotationOffsetLeftHand;
+        }
+    }
+
+    const USGHapticGlove* Glove{GetGlove(bIsRight)};
+    if (!IsValid(Glove))
+    {
+        return false;
+    }
+
+    FVector WristLocation;
+    FRotator WristRotation;
+    Glove->GetWristLocation(TrackerLocation, TrackerRotation, TrackingHardware,
+                            WristLocation, WristRotation);
+
+    OutTransform = FTransform{MoveTemp(WristRotation), MoveTemp(WristLocation)};
+
+    return true;
 }
 
 bool FSGXRTracker::FImpl::GetWristTransform(