/******************************************************************************
 * Copyright (C) Ultraleap, Inc. 2011-2021.                                   *
 *                                                                            *
 * Use subject to the terms of the Apache License 2.0 available at            *
 * http://www.apache.org/licenses/LICENSE-2.0, or another agreement           *
 * between Ultraleap and you, your company or other organization.             *
 ******************************************************************************/

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

namespace Leap.Unity.Interaction
{

    /// <summary>
    /// This implementation of IGraspedMovementHandler moves its interaction object to a
    /// target position and rotation by setting its rigidbody position and rotation
    /// directly to that target position and rotation. This is required when working with
    /// kinematic rigidbodies, which do not move based on their velocity and angular
    /// velocity.
    /// </summary>
    public class KinematicGraspedMovement : IGraspedMovementHandler
    {

        public void MoveTo(Vector3 solvedPosition, Quaternion solvedRotation,
                           InteractionBehaviour interactionObj, bool justGrasped)
        {
            interactionObj.rigidbody.MovePosition(solvedPosition);
            interactionObj.rigidbody.MoveRotation(solvedRotation);

            // Store the target position and rotation to prevent slippage in SwapGrasp
            // scenarios.
            interactionObj.latestScheduledGraspPose = new Pose(solvedPosition, solvedRotation);
        }
    }
}