Avii/bevy_oxr
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

normalized hand poses to palm

Browse Source
This commit is contained in:
Jay Christy
2023-10-03 15:03:34 -04:00
parent ed95087560
commit c49f716a02
1 changed files with 99 additions and 58 deletions
Download Patch File Download Diff File Expand all files Collapse all files

157
examples/xr.rs
View File

@@ -82,117 +82,158 @@ fn draw_skeleton_hand(mut commands: Commands,
let right_transform = right_controller_query.get_single().unwrap().0; let right_transform = right_controller_query.get_single().unwrap().0;
let right_translation = right_transform.compute_transform().translation; let right_translation = right_transform.compute_transform().translation;
let right_quat = right_transform.compute_transform().rotation; let right_quat = right_transform.compute_transform().rotation;
gizmos.sphere(right_translation, Quat::IDENTITY, 0.01, Color::PINK);
//we need to flip this i dont know why //we need to flip this i dont know why
let flip = Quat::from_rotation_x(PI); let flip = Quat::from_rotation_x(PI);
let flap = Quat::from_rotation_z(-45.0*(PI/180.0)); let flap = Quat::from_rotation_z(-45.0*(PI/180.0));
let controller_forward = right_quat.mul_quat(flip).mul_vec3(Vec3::Y);
let controller_backward = right_quat.mul_quat(flip).mul_quat(flap); let controller_backward = right_quat.mul_quat(flip).mul_quat(flap);
gizmos.ray(right_translation, controller_forward, Color::PINK);
let hand_pose: [Posef; 26] = [ let hand_pose: [Posef; 26] = [
Posef { position: Vector3f {x: -0.548, y: -0.161, z: -0.137}, orientation: Quaternionf {x: -0.267, y: 0.849, z: 0.204, w: 0.407}}, //palm Posef { position: Vector3f {x: 0.0, y: 0.0, z: 0.0}, orientation: Quaternionf {x: -0.267, y: 0.849, z: 0.204, w: 0.407}}, //palm
Posef { position: Vector3f {x: -0.548, y: 0.161, z: -0.137}, orientation: Quaternionf {x: -0.267, y: 0.849, z: 0.204, w: 0.407}}, Posef { position: Vector3f {x: 0.0, y: 0.32, z: 0.0}, orientation: Quaternionf {x: -0.267, y: 0.849, z: 0.204, w: 0.407}},
Posef { position: Vector3f {x: -0.529, y: -0.198, z: -0.126}, orientation: Quaternionf {x: -0.744, y: -0.530, z: 0.156, w: -0.376}},
Posef { position: Vector3f {x: -0.533, y: -0.175, z: -0.090}, orientation: Quaternionf {x: -0.786, y: -0.550, z: 0.126, w: -0.254}}, Posef { position: Vector3f {x: 0.019, y: -0.037, z: 0.011}, orientation: Quaternionf {x: -0.744, y: -0.530, z: 0.156, w: -0.376}},
Posef { position: Vector3f {x: -0.544, y: -0.158, z: -0.069}, orientation: Quaternionf {x: -0.729, y: -0.564, z: 0.027, w: -0.387}}, Posef { position: Vector3f {x: 0.015, y: -0.014, z: 0.047}, orientation: Quaternionf {x: -0.786, y: -0.550, z: 0.126, w: -0.254}},
Posef { position: Vector3f {x: -0.557, y: -0.150, z: -0.065}, orientation: Quaternionf {x: -0.585, y: -0.548, z: -0.140,w: -0.582}}, Posef { position: Vector3f {x: 0.004, y: 0.003, z: 0.068}, orientation: Quaternionf {x: -0.729, y: -0.564, z: 0.027, w: -0.387}},
Posef { position: Vector3f {x: -0.521, y: -0.182, z: -0.136}, orientation: Quaternionf {x: -0.277, y: -0.826, z: 0.317, w: -0.376}}, Posef { position: Vector3f {x: -0.009, y: 0.011, z: 0.072}, orientation: Quaternionf {x: -0.585, y: -0.548, z: -0.140,w: -0.582}},
Posef { position: Vector3f {x: -0.550, y: -0.135, z: -0.102}, orientation: Quaternionf {x: -0.277, y: -0.826, z: 0.317, w: -0.376}},
Posef { position: Vector3f {x: -0.571, y: -0.112, z: -0.082}, orientation: Quaternionf {x: -0.244, y: -0.843, z: 0.256, w: -0.404}}, Posef { position: Vector3f {x: 0.027, y: -0.021, z: 0.001}, orientation: Quaternionf {x: -0.277, y: -0.826, z: 0.317, w: -0.376}},
Posef { position: Vector3f {x: -0.585, y: -0.102, z: -0.070}, orientation: Quaternionf {x: -0.200, y: -0.866, z: 0.165, w: -0.428}}, Posef { position: Vector3f {x: -0.002, y:0.026, z:0.034}, orientation: Quaternionf {x: -0.277, y: -0.826, z: 0.317, w: -0.376}},
Posef { position: Vector3f {x: -0.593, y: -0.098, z: -0.064}, orientation: Quaternionf {x: -0.172, y: -0.874, z: 0.110, w: -0.440}}, Posef { position: Vector3f {x: -0.023, y:0.049, z:0.055}, orientation: Quaternionf {x: -0.244, y: -0.843, z: 0.256, w: -0.404}},
Posef { position: Vector3f {x: -0.527, y: -0.178, z: -0.144}, orientation: Quaternionf {x: -0.185, y: -0.817, z: 0.370, w: -0.401}}, Posef { position: Vector3f {x: -0.037, y:0.059, z:0.067}, orientation: Quaternionf {x: -0.200, y: -0.866, z: 0.165, w: -0.428}},
Posef { position: Vector3f {x: -0.559, y: -0.132, z: -0.119}, orientation: Quaternionf {x: -0.185, y: -0.817, z: 0.370, w: -0.401}}, Posef { position: Vector3f {x: -0.045, y:0.063, z:0.073}, orientation: Quaternionf {x: -0.172, y: -0.874, z: 0.110, w: -0.440}},
Posef { position: Vector3f {x: -0.582, y: -0.101, z: -0.104}, orientation: Quaternionf {x: -0.175, y: -0.809, z: 0.371, w: -0.420}},
Posef { position: Vector3f {x: -0.599, y: -0.089, z: -0.092}, orientation: Quaternionf {x: -0.109, y: -0.856, z: 0.245, w: -0.443}}, Posef { position: Vector3f {x: 0.021, y: -0.017, z: -0.007}, orientation: Quaternionf {x: -0.185, y: -0.817, z: 0.370, w: -0.401}},
Posef { position: Vector3f {x: -0.608, y: -0.084, z: -0.086}, orientation: Quaternionf {x: -0.075, y: -0.871, z: 0.180, w: -0.450}}, Posef { position: Vector3f {x: -0.011, y: 0.029, z:0.018}, orientation: Quaternionf {x: -0.185, y: -0.817, z: 0.370, w: -0.401}},
Posef { position: Vector3f {x: -0.535, y: -0.178, z: -0.152}, orientation: Quaternionf {x: -0.132, y: -0.786, z: 0.408, w: -0.445}}, Posef { position: Vector3f {x: -0.034, y:0.06, z:0.033}, orientation: Quaternionf {x: -0.175, y: -0.809, z: 0.371, w: -0.420}},
Posef { position: Vector3f {x: -0.568, y: -0.136, z: -0.137}, orientation: Quaternionf {x: -0.132, y: -0.786, z: 0.408, w: -0.445}}, Posef { position: Vector3f {x: -0.051, y: 0.072, z: 0.045}, orientation: Quaternionf {x: -0.109, y: -0.856, z: 0.245, w: -0.443}},
Posef { position: Vector3f {x: -0.590, y: -0.106, z: -0.130}, orientation: Quaternionf {x: -0.131, y: -0.762, z: 0.432, w: -0.464}}, Posef { position: Vector3f {x: -0.06, y: 0.077, z:0.051}, orientation: Quaternionf {x: -0.075, y: -0.871, z: 0.180, w: -0.450}},
Posef { position: Vector3f {x: -0.607, y: -0.092, z: -0.122}, orientation: Quaternionf {x: -0.071, y: -0.810, z: 0.332, w: -0.477}},
Posef { position: Vector3f {x: -0.617, y: -0.086, z: -0.117}, orientation: Quaternionf {x: -0.029, y: -0.836, z: 0.260, w: -0.482}}, Posef { position: Vector3f {x: 0.013, y:-0.017, z:-0.015}, orientation: Quaternionf {x: -0.132, y: -0.786, z: 0.408, w: -0.445}},
Posef { position: Vector3f {x: -0.544, y: -0.183, z: -0.159}, orientation: Quaternionf {x: -0.060, y: -0.749, z: 0.481, w: -0.452}}, Posef { position: Vector3f {x: -0.02, y: 0.025, z: 0.0}, orientation: Quaternionf {x: -0.132, y: -0.786, z: 0.408, w: -0.445}},
Posef { position: Vector3f {x: -0.576, y: -0.143, z: -0.152}, orientation: Quaternionf {x: -0.060, y: -0.749, z: 0.481, w: -0.452}}, Posef { position: Vector3f {x: -0.042, y:0.055, z:0.007}, orientation: Quaternionf {x: -0.131, y: -0.762, z: 0.432, w: -0.464}},
Posef { position: Vector3f {x: -0.594, y: -0.119, z: -0.154}, orientation: Quaternionf {x: -0.061, y: -0.684, z: 0.534, w: -0.493}}, Posef { position: Vector3f {x: -0.06, y:0.069, z: 0.015}, orientation: Quaternionf {x: -0.071, y: -0.810, z: 0.332, w: -0.477}},
Posef { position: Vector3f {x: -0.607, y: -0.108, z: -0.152}, orientation: Quaternionf {x: 0.002, y: -0.745, z: 0.444, w: -0.498}}, Posef { position: Vector3f {x: -0.069, y:0.075, z:0.02}, orientation: Quaternionf {x: -0.029, y: -0.836, z: 0.260, w: -0.482}},
Posef { position: Vector3f {x: -0.616, y: -0.102, z: -0.150}, orientation: Quaternionf {x: 0.045, y: -0.780, z: 0.378, w: -0.496}},
Posef { position: Vector3f {x: 0.004, y:-0.022, z:-0.022}, orientation: Quaternionf {x: -0.060, y: -0.749, z: 0.481, w: -0.452}},
Posef { position: Vector3f {x: -0.028, y:0.018, z:-0.015}, orientation: Quaternionf {x: -0.060, y: -0.749, z: 0.481, w: -0.452}},
Posef { position: Vector3f {x: -0.046, y:0.042, z:-0.017}, orientation: Quaternionf {x: -0.061, y: -0.684, z: 0.534, w: -0.493}},
Posef { position: Vector3f {x: -0.059, y:0.053, z:-0.015}, orientation: Quaternionf {x: 0.002, y: -0.745, z: 0.444, w: -0.498}},
Posef { position: Vector3f {x: -0.068, y:0.059, z:-0.013}, orientation: Quaternionf {x: 0.045, y: -0.780, z: 0.378, w: -0.496}},
]; ];
//log_hand(hand_pose);
//cursed wrist math //cursed wrist math
let wrist_dist = Vec3{ x: -0.01, y: -0.040, z: -0.015}; let wrist_dist = Vec3{ x: -0.01, y: -0.040, z: -0.015};
//cursed offset //cursed offset
let palm_negation = Vec3 { x: 0.548, y: 0.161, z: 0.137 };
let offset = right_translation; let offset = right_translation;
//old stuff dont touch for now //old stuff dont touch for now
let palm = hand_pose[HandJoint::PALM]; let palm = hand_pose[HandJoint::PALM];
gizmos.sphere(palm.position.to_vec3() + offset + palm_negation, palm.orientation.to_quat().mul_quat(controller_backward), 0.01, Color::WHITE); gizmos.sphere(palm.position.to_vec3() + offset, palm.orientation.to_quat().mul_quat(controller_backward), 0.01, Color::WHITE);
let rotated_wfp = palm.position.to_vec3() + right_quat.mul_quat(flip).mul_vec3(wrist_dist); let rotated_wfp = palm.position.to_vec3() + right_quat.mul_quat(flip).mul_vec3(wrist_dist);
gizmos.sphere(offset + palm_negation + rotated_wfp, palm.orientation.to_quat(), 0.01, Color::GRAY); gizmos.sphere(offset + rotated_wfp, palm.orientation.to_quat(), 0.01, Color::GRAY);
let thumb_meta = hand_pose[HandJoint::THUMB_METACARPAL]; let thumb_meta = hand_pose[HandJoint::THUMB_METACARPAL];
draw_joint(&mut gizmos, thumb_meta.position.to_vec3(), thumb_meta.orientation.to_quat(), 0.01, Color::RED, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, thumb_meta.position.to_vec3(), thumb_meta.orientation.to_quat(), 0.01, Color::RED, controller_backward, offset);
let thumb_prox = hand_pose[HandJoint::THUMB_PROXIMAL]; let thumb_prox = hand_pose[HandJoint::THUMB_PROXIMAL];
draw_joint(&mut gizmos, thumb_prox.position.to_vec3(), thumb_prox.orientation.to_quat(), 0.008, Color::RED, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, thumb_prox.position.to_vec3(), thumb_prox.orientation.to_quat(), 0.008, Color::RED, controller_backward, offset);
let thumb_dist = hand_pose[HandJoint::THUMB_DISTAL]; let thumb_dist = hand_pose[HandJoint::THUMB_DISTAL];
draw_joint(&mut gizmos, thumb_dist.position.to_vec3(), thumb_dist.orientation.to_quat(), 0.006, Color::RED, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, thumb_dist.position.to_vec3(), thumb_dist.orientation.to_quat(), 0.006, Color::RED, controller_backward, offset);
let thumb_tip = hand_pose[HandJoint::THUMB_TIP]; let thumb_tip = hand_pose[HandJoint::THUMB_TIP];
draw_joint(&mut gizmos, thumb_tip.position.to_vec3(), thumb_tip.orientation.to_quat(), 0.004, Color::RED, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, thumb_tip.position.to_vec3(), thumb_tip.orientation.to_quat(), 0.004, Color::RED, controller_backward, offset);
let index_meta = hand_pose[HandJoint::INDEX_METACARPAL]; let index_meta = hand_pose[HandJoint::INDEX_METACARPAL];
draw_joint(&mut gizmos, index_meta.position.to_vec3(), index_meta.orientation.to_quat(), 0.01, Color::ORANGE, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, index_meta.position.to_vec3(), index_meta.orientation.to_quat(), 0.01, Color::ORANGE, controller_backward, offset);
let index_prox = hand_pose[HandJoint::INDEX_PROXIMAL]; let index_prox = hand_pose[HandJoint::INDEX_PROXIMAL];
draw_joint(&mut gizmos, index_prox.position.to_vec3(), index_prox.orientation.to_quat(), 0.008, Color::ORANGE, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, index_prox.position.to_vec3(), index_prox.orientation.to_quat(), 0.008, Color::ORANGE, controller_backward, offset);
let index_inter = hand_pose[HandJoint::INDEX_INTERMEDIATE]; let index_inter = hand_pose[HandJoint::INDEX_INTERMEDIATE];
draw_joint(&mut gizmos, index_inter.position.to_vec3(), index_inter.orientation.to_quat(), 0.006, Color::ORANGE, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, index_inter.position.to_vec3(), index_inter.orientation.to_quat(), 0.006, Color::ORANGE, controller_backward, offset);
let index_dist = hand_pose[HandJoint::INDEX_DISTAL]; let index_dist = hand_pose[HandJoint::INDEX_DISTAL];
draw_joint(&mut gizmos, index_dist.position.to_vec3(), index_dist.orientation.to_quat(), 0.004, Color::ORANGE, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, index_dist.position.to_vec3(), index_dist.orientation.to_quat(), 0.004, Color::ORANGE, controller_backward, offset);
let index_tip = hand_pose[HandJoint::INDEX_TIP]; let index_tip = hand_pose[HandJoint::INDEX_TIP];
draw_joint(&mut gizmos, index_tip.position.to_vec3(), index_tip.orientation.to_quat(), 0.002, Color::ORANGE, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, index_tip.position.to_vec3(), index_tip.orientation.to_quat(), 0.002, Color::ORANGE, controller_backward, offset);
let middle_meta = hand_pose[HandJoint::MIDDLE_METACARPAL]; let middle_meta = hand_pose[HandJoint::MIDDLE_METACARPAL];
draw_joint(&mut gizmos, middle_meta.position.to_vec3(), middle_meta.orientation.to_quat(), 0.01, Color::YELLOW, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, middle_meta.position.to_vec3(), middle_meta.orientation.to_quat(), 0.01, Color::YELLOW, controller_backward, offset);
let middle_prox = hand_pose[HandJoint::MIDDLE_PROXIMAL]; let middle_prox = hand_pose[HandJoint::MIDDLE_PROXIMAL];
draw_joint(&mut gizmos, middle_prox.position.to_vec3(), middle_prox.orientation.to_quat(), 0.008, Color::YELLOW, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, middle_prox.position.to_vec3(), middle_prox.orientation.to_quat(), 0.008, Color::YELLOW, controller_backward, offset);
let middle_inter = hand_pose[HandJoint::MIDDLE_INTERMEDIATE]; let middle_inter = hand_pose[HandJoint::MIDDLE_INTERMEDIATE];
draw_joint(&mut gizmos, middle_inter.position.to_vec3(), middle_inter.orientation.to_quat(), 0.006, Color::YELLOW, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, middle_inter.position.to_vec3(), middle_inter.orientation.to_quat(), 0.006, Color::YELLOW, controller_backward, offset);
let middle_dist = hand_pose[HandJoint::MIDDLE_DISTAL]; let middle_dist = hand_pose[HandJoint::MIDDLE_DISTAL];
draw_joint(&mut gizmos, middle_dist.position.to_vec3(), middle_dist.orientation.to_quat(), 0.004, Color::YELLOW, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, middle_dist.position.to_vec3(), middle_dist.orientation.to_quat(), 0.004, Color::YELLOW, controller_backward, offset);
let middle_tip = hand_pose[HandJoint::MIDDLE_TIP]; let middle_tip = hand_pose[HandJoint::MIDDLE_TIP];
draw_joint(&mut gizmos, middle_tip.position.to_vec3(), middle_tip.orientation.to_quat(), 0.002, Color::YELLOW, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, middle_tip.position.to_vec3(), middle_tip.orientation.to_quat(), 0.002, Color::YELLOW, controller_backward, offset);
let ring_meta = hand_pose[HandJoint::RING_METACARPAL]; let ring_meta = hand_pose[HandJoint::RING_METACARPAL];
draw_joint(&mut gizmos, ring_meta.position.to_vec3(), ring_meta.orientation.to_quat(), 0.01, Color::GREEN, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, ring_meta.position.to_vec3(), ring_meta.orientation.to_quat(), 0.01, Color::GREEN, controller_backward, offset);
let ring_prox = hand_pose[HandJoint::RING_PROXIMAL]; let ring_prox = hand_pose[HandJoint::RING_PROXIMAL];
draw_joint(&mut gizmos, ring_prox.position.to_vec3(), ring_prox.orientation.to_quat(), 0.008, Color::GREEN, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, ring_prox.position.to_vec3(), ring_prox.orientation.to_quat(), 0.008, Color::GREEN, controller_backward, offset);
let ring_inter = hand_pose[HandJoint::RING_INTERMEDIATE]; let ring_inter = hand_pose[HandJoint::RING_INTERMEDIATE];
draw_joint(&mut gizmos, ring_inter.position.to_vec3(), ring_inter.orientation.to_quat(), 0.006, Color::GREEN, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, ring_inter.position.to_vec3(), ring_inter.orientation.to_quat(), 0.006, Color::GREEN, controller_backward, offset);
let ring_dist = hand_pose[HandJoint::RING_DISTAL]; let ring_dist = hand_pose[HandJoint::RING_DISTAL];
draw_joint(&mut gizmos, ring_dist.position.to_vec3(), ring_dist.orientation.to_quat(), 0.004, Color::GREEN, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, ring_dist.position.to_vec3(), ring_dist.orientation.to_quat(), 0.004, Color::GREEN, controller_backward, offset);
let ring_tip = hand_pose[HandJoint::RING_TIP]; let ring_tip = hand_pose[HandJoint::RING_TIP];
draw_joint(&mut gizmos, ring_tip.position.to_vec3(), ring_tip.orientation.to_quat(), 0.002, Color::GREEN, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, ring_tip.position.to_vec3(), ring_tip.orientation.to_quat(), 0.002, Color::GREEN, controller_backward, offset);
let little_meta = hand_pose[HandJoint::LITTLE_METACARPAL]; let little_meta = hand_pose[HandJoint::LITTLE_METACARPAL];
draw_joint(&mut gizmos, little_meta.position.to_vec3(), little_meta.orientation.to_quat(), 0.01, Color::BLUE, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, little_meta.position.to_vec3(), little_meta.orientation.to_quat(), 0.01, Color::BLUE, controller_backward, offset);
let little_prox = hand_pose[HandJoint::LITTLE_PROXIMAL]; let little_prox = hand_pose[HandJoint::LITTLE_PROXIMAL];
draw_joint(&mut gizmos, little_prox.position.to_vec3(), little_prox.orientation.to_quat(), 0.008, Color::BLUE, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, little_prox.position.to_vec3(), little_prox.orientation.to_quat(), 0.008, Color::BLUE, controller_backward, offset);
let little_inter = hand_pose[HandJoint::LITTLE_INTERMEDIATE]; let little_inter = hand_pose[HandJoint::LITTLE_INTERMEDIATE];
draw_joint(&mut gizmos, little_inter.position.to_vec3(), little_inter.orientation.to_quat(), 0.006, Color::BLUE, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, little_inter.position.to_vec3(), little_inter.orientation.to_quat(), 0.006, Color::BLUE, controller_backward, offset);
let little_dist = hand_pose[HandJoint::LITTLE_DISTAL]; let little_dist = hand_pose[HandJoint::LITTLE_DISTAL];
draw_joint(&mut gizmos, little_dist.position.to_vec3(), little_dist.orientation.to_quat(), 0.004, Color::BLUE, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, little_dist.position.to_vec3(), little_dist.orientation.to_quat(), 0.004, Color::BLUE, controller_backward, offset);
let little_tip = hand_pose[HandJoint::LITTLE_TIP]; let little_tip = hand_pose[HandJoint::LITTLE_TIP];
draw_joint(&mut gizmos, little_tip.position.to_vec3(), little_tip.orientation.to_quat(), 0.002, Color::BLUE, controller_backward, palm_negation, offset); draw_joint(&mut gizmos, little_tip.position.to_vec3(), little_tip.orientation.to_quat(), 0.002, Color::BLUE, controller_backward, offset);
} }
fn draw_joint(gizmos: &mut Gizmos, joint_pos: Vec3, joint_rot: Quat, radius: f32, color: Color, controller_backwards: Quat, palm_negation: Vec3, offset: Vec3) { fn draw_joint(gizmos: &mut Gizmos, joint_pos: Vec3, joint_rot: Quat, radius: f32, color: Color, controller_backwards: Quat, offset: Vec3) {
gizmos.sphere(controller_backwards.mul_vec3(joint_pos + palm_negation) + offset, joint_rot, radius, color); gizmos.sphere(controller_backwards.mul_vec3(joint_pos) + offset, joint_rot, radius, color);
}
fn log_hand(hand_pose: [Posef; 26]) {
let palm_vec = hand_pose[HandJoint::PALM].position.to_vec3();
info!("palm: {}", hand_pose[HandJoint::PALM].position.to_vec3() - palm_vec);
info!("wrist: {}", hand_pose[HandJoint::WRIST].position.to_vec3() - palm_vec);
info!("tm: {}", hand_pose[HandJoint::THUMB_METACARPAL].position.to_vec3() - palm_vec);
info!("tp: {}", hand_pose[HandJoint::THUMB_PROXIMAL].position.to_vec3() - palm_vec);
info!("td: {}", hand_pose[HandJoint::THUMB_DISTAL].position.to_vec3() - palm_vec);
info!("tt: {}", hand_pose[HandJoint::THUMB_TIP].position.to_vec3() - palm_vec);
info!("im: {}", hand_pose[HandJoint::INDEX_METACARPAL].position.to_vec3() - palm_vec);
info!("ip: {}", hand_pose[HandJoint::INDEX_PROXIMAL].position.to_vec3() - palm_vec);
info!("ii: {}", hand_pose[HandJoint::INDEX_INTERMEDIATE].position.to_vec3() - palm_vec);
info!("id: {}", hand_pose[HandJoint::INDEX_DISTAL].position.to_vec3() - palm_vec);
info!("it: {}", hand_pose[HandJoint::INDEX_TIP].position.to_vec3() - palm_vec);
info!("mm: {}", hand_pose[HandJoint::MIDDLE_METACARPAL].position.to_vec3() - palm_vec);
info!("mp: {}", hand_pose[HandJoint::MIDDLE_PROXIMAL].position.to_vec3() - palm_vec);
info!("mi: {}", hand_pose[HandJoint::MIDDLE_INTERMEDIATE].position.to_vec3() - palm_vec);
info!("md: {}", hand_pose[HandJoint::MIDDLE_DISTAL].position.to_vec3() - palm_vec);
info!("mt: {}", hand_pose[HandJoint::MIDDLE_TIP].position.to_vec3() - palm_vec);
info!("rm: {}", hand_pose[HandJoint::RING_METACARPAL].position.to_vec3() - palm_vec);
info!("rp: {}", hand_pose[HandJoint::RING_PROXIMAL].position.to_vec3() - palm_vec);
info!("ri: {}", hand_pose[HandJoint::RING_INTERMEDIATE].position.to_vec3() - palm_vec);
info!("rd: {}", hand_pose[HandJoint::RING_DISTAL].position.to_vec3() - palm_vec);
info!("rt: {}", hand_pose[HandJoint::RING_TIP].position.to_vec3() - palm_vec);
info!("lm: {}", hand_pose[HandJoint::LITTLE_METACARPAL].position.to_vec3() - palm_vec);
info!("lp: {}", hand_pose[HandJoint::LITTLE_PROXIMAL].position.to_vec3() - palm_vec);
info!("li: {}", hand_pose[HandJoint::LITTLE_INTERMEDIATE].position.to_vec3() - palm_vec);
info!("ld: {}", hand_pose[HandJoint::LITTLE_DISTAL].position.to_vec3() - palm_vec);
info!("lt: {}", hand_pose[HandJoint::LITTLE_TIP].position.to_vec3() - palm_vec);
} }