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fix grab offset

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This commit is contained in:
ethan merchant 2024-12-07 18:45:34 -05:00
parent 148d2d3429
commit e42bafc962
1 changed files with 2 additions and 2 deletions
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4
src/Data.cs
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@ -31,7 +31,7 @@ public class Grab
{ {
held_by = hand; held_by = hand;
grab_ref = this; grab_ref = this;
pos_offset = hand.palm.position - pose.position; pos_offset = hand.palm.orientation.Inverse * (hand.palm.position - pose.position);
ori_offset = hand.palm.orientation.Inverse * pose.orientation; ori_offset = hand.palm.orientation.Inverse * pose.orientation;
return true; return true;
} }
@ -50,8 +50,8 @@ public class Grab
{ {
if (Held) if (Held)
{ {
pose.position = held_by.palm.position - pos_offset;
pose.orientation = held_by.palm.orientation * ori_offset; pose.orientation = held_by.palm.orientation * ori_offset;
pose.position = held_by.palm.position - held_by.palm.orientation * pos_offset;
} }
} }
} }