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bones.cpp
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#include "bones.h"
// these poses come from Valve's Index Controllers so share the same root bone to wrist
// geometry assumptions.
vr::VRBoneTransform_t right_open_hand_pose[NUM_BONES] = {
{ { 0.000000f, 0.000000f, 0.000000f, 1.000000f}, { 1.000000f, -0.000000f, -0.000000f, 0.000000f} },
{ { 0.034038f, 0.036503f, 0.164722f, 1.000000f}, {-0.055147f, -0.078608f, 0.920279f, -0.379296f} },
{ { 0.012083f, 0.028070f, 0.025050f, 1.000000f}, { 0.567418f, -0.464112f, 0.623374f, -0.272106f} },
{ {-0.040406f, -0.000000f, 0.000000f, 1.000000f}, { 0.994838f, 0.082939f, 0.019454f, 0.055130f} },
{ {-0.032517f, -0.000000f, -0.000000f, 1.000000f}, { 0.974793f, -0.003213f, 0.021867f, -0.222015f} },
{ {-0.030464f, 0.000000f, 0.000000f, 1.000000f}, { 1.000000f, -0.000000f, -0.000000f, 0.000000f} },
{ {-0.000632f, 0.026866f, 0.015002f, 1.000000f}, { 0.421979f, -0.644251f, 0.422133f, 0.478202f} },
{ {-0.074204f, 0.005002f, -0.000234f, 1.000000f}, { 0.995332f, 0.007007f, -0.039124f, 0.087949f} },
{ {-0.043930f, 0.000000f, 0.000000f, 1.000000f}, { 0.997891f, 0.045808f, 0.002142f, -0.045943f} },
{ {-0.028695f, -0.000000f, -0.000000f, 1.000000f}, { 0.999649f, 0.001850f, -0.022782f, -0.013409f} },
{ {-0.022821f, -0.000000f, 0.000000f, 1.000000f}, { 1.000000f, -0.000000f, 0.000000f, -0.000000f} },
{ {-0.002177f, 0.007120f, 0.016319f, 1.000000f}, { 0.541276f, -0.546723f, 0.460749f, 0.442520f} },
{ {-0.070953f, -0.000779f, -0.000997f, 1.000000f}, { 0.980294f, -0.167261f, -0.078959f, 0.069368f} },
{ {-0.043108f, -0.000000f, -0.000000f, 1.000000f}, { 0.997947f, 0.018493f, 0.013192f, 0.059886f} },
{ {-0.033266f, -0.000000f, -0.000000f, 1.000000f}, { 0.997394f, -0.003328f, -0.028225f, -0.066315f} },
{ {-0.025892f, 0.000000f, -0.000000f, 1.000000f}, { 0.999195f, -0.000000f, 0.000000f, 0.040126f} },
{ {-0.000513f, -0.006545f, 0.016348f, 1.000000f}, { 0.550143f, -0.516692f, 0.429888f, 0.495548f} },
{ {-0.065876f, -0.001786f, -0.000693f, 1.000000f}, { 0.990420f, -0.058696f, -0.101820f, 0.072495f} },
{ {-0.040697f, -0.000000f, -0.000000f, 1.000000f}, { 0.999545f, -0.002240f, 0.000004f, 0.030081f} },
{ {-0.028747f, 0.000000f, 0.000000f, 1.000000f}, { 0.999102f, -0.000721f, -0.012693f, 0.040420f} },
{ {-0.022430f, 0.000000f, -0.000000f, 1.000000f}, { 1.000000f, 0.000000f, 0.000000f, 0.000000f} },
{ { 0.002478f, -0.018981f, 0.015214f, 1.000000f}, { 0.523940f, -0.526918f, 0.326740f, 0.584025f} },
{ {-0.062878f, -0.002844f, -0.000332f, 1.000000f}, { 0.986609f, -0.059615f, -0.135163f, 0.069132f} },
{ {-0.030220f, -0.000000f, -0.000000f, 1.000000f}, { 0.994317f, 0.001896f, -0.000132f, 0.106446f} },
{ {-0.018187f, -0.000000f, -0.000000f, 1.000000f}, { 0.995931f, -0.002010f, -0.052079f, -0.073526f} },
{ {-0.018018f, -0.000000f, 0.000000f, 1.000000f}, { 1.000000f, 0.000000f, 0.000000f, 0.000000f} },
{ { 0.006059f, 0.056285f, 0.060064f, 1.000000f}, { 0.737238f, 0.202745f, -0.594267f, -0.249441f} },
{ { 0.040416f, -0.043018f, 0.019345f, 1.000000f}, {-0.290331f, 0.623527f, 0.663809f, 0.293734f} },
{ { 0.039354f, -0.075674f, 0.047048f, 1.000000f}, {-0.187047f, 0.678062f, 0.659285f, 0.265683f} },
{ { 0.038340f, -0.090987f, 0.082579f, 1.000000f}, {-0.183037f, 0.736793f, 0.634757f, 0.143936f} },
{ { 0.031806f, -0.087214f, 0.121015f, 1.000000f}, {-0.003659f, 0.758407f, 0.639342f, 0.126678f} },
};
vr::VRBoneTransform_t right_fist_pose[NUM_BONES] =
{
{ { 0.000000f, 0.000000f, 0.000000f, 1.000000f}, { 1.000000f, -0.000000f, -0.000000f, 0.000000f} },
{ { 0.034038f, 0.036503f, 0.164722f, 1.000000f}, {-0.055147f, -0.078608f, 0.920279f, -0.379296f} },
{ { 0.016305f, 0.027529f, 0.017800f, 1.000000f}, { 0.483332f, -0.225703f, 0.836342f, -0.126413f} },
{ {-0.040406f, -0.000000f, 0.000000f, 1.000000f}, { 0.894335f, -0.013302f, -0.082902f, 0.439448f} },
{ {-0.032517f, -0.000000f, -0.000000f, 1.000000f}, { 0.842428f, 0.000655f, 0.001244f, 0.538807f} },
{ {-0.030464f, 0.000000f, 0.000000f, 1.000000f}, { 1.000000f, -0.000000f, -0.000000f, 0.000000f} },
{ {-0.003802f, 0.021514f, 0.012803f, 1.000000f}, { 0.395174f, -0.617314f, 0.449185f, 0.510874f} },
{ {-0.074204f, 0.005002f, -0.000234f, 1.000000f}, { 0.737291f, -0.032006f, -0.115013f, 0.664944f} },
{ {-0.043287f, 0.000000f, 0.000000f, 1.000000f}, { 0.611381f, 0.003287f, 0.003823f, 0.791321f} },
{ {-0.028275f, -0.000000f, -0.000000f, 1.000000f}, { 0.745388f, -0.000684f, -0.000945f, 0.666629f} },
{ {-0.022821f, -0.000000f, 0.000000f, 1.000000f}, { 1.000000f, -0.000000f, 0.000000f, -0.000000f} },
{ {-0.005787f, 0.006806f, 0.016534f, 1.000000f}, { 0.522315f, -0.514203f, 0.483700f, 0.478348f} },
{ {-0.070953f, -0.000779f, -0.000997f, 1.000000f}, { 0.723653f, -0.097901f, 0.048546f, 0.681458f} },
{ {-0.043108f, -0.000000f, -0.000000f, 1.000000f}, { 0.637464f, -0.002366f, -0.002831f, 0.770472f} },
{ {-0.033266f, -0.000000f, -0.000000f, 1.000000f}, { 0.658008f, 0.002610f, 0.003196f, 0.753000f} },
{ {-0.025892f, 0.000000f, -0.000000f, 1.000000f}, { 0.999195f, -0.000000f, 0.000000f, 0.040126f} },
{ {-0.004123f, -0.006858f, 0.016563f, 1.000000f}, { 0.523374f, -0.489609f, 0.463997f, 0.520644f} },
{ {-0.065876f, -0.001786f, -0.000693f, 1.000000f}, { 0.759970f, -0.055609f, 0.011571f, 0.647471f} },
{ {-0.040331f, -0.000000f, -0.000000f, 1.000000f}, { 0.664315f, 0.001595f, 0.001967f, 0.747449f} },
{ {-0.028489f, 0.000000f, 0.000000f, 1.000000f}, { 0.626957f, -0.002784f, -0.003234f, 0.779042f} },
{ {-0.022430f, 0.000000f, -0.000000f, 1.000000f}, { 1.000000f, 0.000000f, 0.000000f, 0.000000f} },
{ {-0.001131f, -0.019295f, 0.015429f, 1.000000f}, { 0.477833f, -0.479766f, 0.379935f, 0.630198f} },
{ {-0.062878f, -0.002844f, -0.000332f, 1.000000f}, { 0.827001f, 0.034282f, 0.003440f, 0.561144f} },
{ {-0.029874f, -0.000000f, -0.000000f, 1.000000f}, { 0.702185f, -0.006716f, -0.009289f, 0.711903f} },
{ {-0.017979f, -0.000000f, -0.000000f, 1.000000f}, { 0.676853f, 0.007956f, 0.009917f, 0.736009f} },
{ {-0.018018f, -0.000000f, 0.000000f, 1.000000f}, { 1.000000f, 0.000000f, 0.000000f, 0.000000f} },
{ {-0.019716f, 0.002802f, 0.093937f, 1.000000f}, { 0.377286f, -0.540831f, -0.150446f, 0.736562f} },
{ {-0.000171f, 0.016473f, 0.096515f, 1.000000f}, {-0.006456f, 0.022747f, 0.932927f, 0.359287f} },
{ {-0.000448f, 0.001536f, 0.116543f, 1.000000f}, {-0.039357f, 0.105143f, 0.928833f, 0.353079f} },
{ {-0.003949f, -0.014869f, 0.130608f, 1.000000f}, {-0.055071f, 0.068695f, 0.944016f, 0.317933f} },
{ {-0.003263f, -0.034685f, 0.139926f, 1.000000f}, { 0.019690f, -0.100741f, 0.957331f, 0.270149f} },
};
vr::VRBoneTransform_t right_grip_limit_transforms[NUM_BONES] = {
{ { 0.000000f, 0.000000f, 0.000000f, 1.000000f}, { 1.000000f, -0.000000f, -0.000000f, 0.000000f } },
{ { 0.042734f, 0.037441f, 0.162973f, 1.000000f}, {-0.075403f, -0.084072f, 0.917270f, -0.381918f} },
{ { 0.017914f, 0.029178f, 0.025298f, 1.000000f}, { 0.541885f, -0.448971f, 0.708897f, -0.047450f} },
{ {-0.041264f, -0.000000f, 0.000000f, 1.000000f}, { 0.996870f, 0.079059f, -0.000009f, -0.000013f} },
{ {-0.033207f, 0.000000f, -0.000000f, 1.000000f}, { 0.999659f, 0.012017f, 0.006461f, -0.022253f} },
{ {-0.030464f, 0.000000f, 0.000000f, 1.000000f}, { 1.000000f, 0.000000f, 0.000000f, -0.000000f} },
{ { 0.003925f, 0.027171f, 0.014640f, 1.000000f}, { 0.431682f, -0.667844f, 0.401427f, 0.454413f} },
{ {-0.076015f, 0.005124f, -0.000239f, 1.000000f}, { 0.958344f, 0.014743f, -0.151000f, 0.241991f} },
{ {-0.043930f, 0.000000f, 0.000000f, 1.000000f}, { 0.893543f, 0.041030f, -0.020467f, 0.446629f} },
{ {-0.028696f, 0.000000f, -0.000000f, 1.000000f}, { 0.929722f, -0.065581f, -0.101427f, 0.347892f} },
{ {-0.022821f, -0.000000f, 0.000000f, 1.000000f}, { 1.000000f, 0.000000f, -0.000000f, -0.000000f} },
{ {-0.002177f, 0.007120f, 0.016319f, 1.000000f}, { 0.540512f, -0.529359f, 0.461011f, 0.463783f} },
{ {-0.070953f, -0.000779f, -0.000997f, 1.000000f}, { 0.832451f, -0.145885f, -0.098445f, 0.525406f} },
{ {-0.043108f, -0.000000f, -0.000000f, 1.000000f}, { 0.824004f, 0.003631f, 0.029493f, 0.565804f} },
{ {-0.033266f, 0.000000f, -0.000000f, 1.000000f}, { 0.961132f, 0.006624f, -0.010843f, 0.275798f} },
{ {-0.025892f, 0.000000f, -0.000000f, 1.000000f}, { 0.999195f, 0.000000f, -0.000000f, 0.040126f} },
{ {-0.000513f, -0.006545f, 0.016348f, 1.000000f}, { 0.530784f, -0.500244f, 0.448939f, 0.516215f} },
{ {-0.065876f, -0.001786f, -0.000693f, 1.000000f}, { 0.810935f, -0.137375f, -0.119365f, 0.556115f} },
{ {-0.040697f, -0.000000f, -0.000000f, 1.000000f}, { 0.806122f, -0.001828f, 0.001256f, 0.591745f} },
{ {-0.028747f, 0.000000f, 0.000000f, 1.000000f}, { 0.993450f, -0.011813f, -0.016734f, 0.112419f} },
{ {-0.022430f, 0.000000f, -0.000000f, 1.000000f}, { 1.000000f, 0.000000f, -0.000000f, -0.000000f} },
{ { 0.002478f, -0.018981f, 0.015214f, 1.000000f}, { 0.434670f, -0.474671f, 0.398827f, 0.653212f} },
{ {-0.062878f, -0.002844f, -0.000332f, 1.000000f}, { 0.795969f, -0.069753f, -0.150887f, 0.582066f} },
{ {-0.030220f, -0.000002f, 0.000000f, 1.000000f}, { 0.839854f, 0.001619f, -0.000953f, 0.542809f} },
{ {-0.018187f, 0.000002f, -0.000000f, 1.000000f}, { 0.998622f, -0.007149f, -0.031066f, 0.041678f} },
{ {-0.018018f, -0.000000f, 0.000000f, 1.000000f}, { 1.000000f, 0.000000f, -0.000000f, -0.000000f} },
{ { 0.001669f, 0.034864f, 0.056132f, 1.000000f}, { 0.765067f, -0.132105f, -0.620484f, -0.110541f} },
{ { 0.006605f, -0.036169f, 0.043548f, 1.000000f}, {-0.257665f, 0.935662f, -0.147347f, -0.190876f} },
{ {-0.016489f, -0.022935f, 0.096787f, 1.000000f}, {-0.203911f, 0.799009f, -0.549352f, -0.134974f} },
{ {-0.013666f, -0.027040f, 0.120205f, 1.000000f}, {-0.119247f, 0.851374f, -0.492734f, -0.134742f} },
{ {-0.011263f, -0.027858f, 0.140215f, 1.000000f}, {-0.085885f, 0.840835f, -0.519690f, -0.124671f} }
};