// 2026년 포트폴리오용 재구성 코드. 실제 업무 당시 소스가 아닙니다.
// 2026 portfolio reconstruction. Not original production source or a sensor SDK adapter.
using System;
using UnityEngine;
namespace PortfolioExamples
{
    public static class PoseAlignment
    {
        // Sensor and avatar roots must both be calibrated. Scaling is intentionally unsupported.
        public static Pose Retarget(Pose sensorRoot, Pose sensorJoint, Pose avatarRoot)
        {
            Vector3 localPosition = Quaternion.Inverse(sensorRoot.rotation) * (sensorJoint.position - sensorRoot.position);
            Quaternion localRotation = Quaternion.Inverse(sensorRoot.rotation) * sensorJoint.rotation;
            return new Pose(avatarRoot.position + avatarRoot.rotation * localPosition,
                avatarRoot.rotation * localRotation);
        }
        public static Pose AlignHead(Vector3 markerWorld, Quaternion hmdRotation, Quaternion rotationOffset)
            => new Pose(markerWorld, rotationOffset * hmdRotation);
    }
}