HumanoidMocap/Core/Motion/ContactSample.cs
A simple immutable data record representing a contact sample for motion capture. It stores time, hand position, an object transform, a closest surface point, finger closure amount, whether the contact was observed, and an optional wrist position.
using System;
using System.Collections.Generic;
using System.Numerics;
using HumanoidMocap.Core.Maths;
namespace HumanoidMocap.Core.Motion;
using Vector3 = System.Numerics.Vector3;
public readonly record struct ContactSample(double Time,Vector3 Hand, XForm Object,
Vector3 ClosestSurfacePoint, float FingerClosure, bool Observed,Vector3? Wrist=null);