fix: atlas transform ignored by pathfinder (#593)

Author: kjy5

Assets/Scenes/TrajectoryPlanner.unity

@@ -3119,15 +3119,15 @@ PrefabInstance:
       objectReference: {fileID: 1703646459}
     - target: {fileID: 341190943836035196, guid: 94cdeca105038d74ea47b57e6b99eb4e, type: 3}
       propertyPath: m_AnchorMax.y
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+      value: 0
       objectReference: {fileID: 0}
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       propertyPath: m_AnchorMin.y
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+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 341190943836035196, guid: 94cdeca105038d74ea47b57e6b99eb4e, type: 3}
       propertyPath: m_AnchoredPosition.x
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+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 341190943836276264, guid: 94cdeca105038d74ea47b57e6b99eb4e, type: 3}
       propertyPath: m_IsOn
@@ -3263,19 +3263,19 @@ PrefabInstance:
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       propertyPath: m_AnchorMax.y
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 341190944034978748, guid: 94cdeca105038d74ea47b57e6b99eb4e, type: 3}
       propertyPath: m_AnchorMin.y
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 341190944034978748, guid: 94cdeca105038d74ea47b57e6b99eb4e, type: 3}
       propertyPath: m_AnchoredPosition.x
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+      value: 0
       objectReference: {fileID: 0}
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       propertyPath: m_AnchoredPosition.y
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+      value: 0
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       propertyPath: m_AnchorMax.x
@@ -3555,19 +3555,19 @@ PrefabInstance:
       objectReference: {fileID: 0}
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       propertyPath: m_AnchorMax.y
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 341190944410943211, guid: 94cdeca105038d74ea47b57e6b99eb4e, type: 3}
       propertyPath: m_AnchorMin.y
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 341190944410943211, guid: 94cdeca105038d74ea47b57e6b99eb4e, type: 3}
       propertyPath: m_AnchoredPosition.x
-      value: 384.91998
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 341190944410943211, guid: 94cdeca105038d74ea47b57e6b99eb4e, type: 3}
       propertyPath: m_AnchoredPosition.y
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+      value: 0
       objectReference: {fileID: 0}
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       propertyPath: m_AnchorMax.y

Assets/Scripts/Pinpoint/CoordinateSystems/ManipulatorSpace.cs

@@ -5,9 +5,13 @@ namespace Pinpoint.CoordinateSystems
 {
     public sealed class ManipulatorSpace : CoordinateSpace
     {
-        // Default to Sensapex dimensions
-        public override Vector3 Dimensions { get; }
+        #region Properties
+
         public override string Name => "Manipulator";
+        public override Vector3 Dimensions { get; }
+
+        #endregion
+
 
         public ManipulatorSpace(Vector3 dimensions)
         {

Assets/Scripts/Pinpoint/CoordinateSystems/PathfinderSpace.cs

@@ -0,0 +1,37 @@
+using System;
+using BrainAtlas.CoordinateSystems;
+using UnityEngine;
+
+namespace Pinpoint.CoordinateSystems
+{
+    public class PathfinderSpace : CoordinateSpace
+    {
+        #region Properties
+
+        public override string Name => "Pathfinder";
+        public override Vector3 Dimensions => Vector3.one * 15f;
+
+        #endregion
+
+
+        public override Vector3 Space2World(Vector3 coordSpace, bool useReference = true)
+        {
+            return new Vector3(coordSpace.x, -coordSpace.z, -coordSpace.y);
+        }
+
+        public override Vector3 World2Space(Vector3 coordWorld, bool useReference = true)
+        {
+            return new Vector3(coordWorld.x, -coordWorld.z, -coordWorld.y);
+        }
+
+        public override Vector3 Space2World_Vector(Vector3 vecSpace)
+        {
+            return Space2World(vecSpace);
+        }
+
+        public override Vector3 World2Space_Vector(Vector3 vecWorld)
+        {
+            return World2Space(vecWorld);
+        }
+    }
+}

Assets/Scripts/Pinpoint/CoordinateSystems/PathfinderSpace.cs.meta

@@ -146,13 +146,17 @@ private void EchoPosition(Vector4 pos)
         {
             if (!enabled && _probeController == null) return;
 
-            // Check for special pathfinder mode (directly set probe position, no calculations needed)
+            // Check for special Pathfinder mode (directly set probe position, no calculations needed)
             if (NumAxes == -1)
             {
                 CommunicationManager.Instance.GetAngles(ManipulatorID, angles =>
                 {
                     _probeController.SetProbeAngles(new Vector3(angles.x, 90 - angles.y, angles.z));
-                    _probeController.SetProbePosition(new Vector3(pos.y, pos.x, pos.z));
+
+                    // Convert Pathfinder space coordinates into active atlas space
+                    _probeController.SetProbePosition(
+                        BrainAtlasManager.ActiveReferenceAtlas.World2Atlas_Vector(
+                            CoordinateSpace.Space2World_Vector(pos)));
                 });
             }
             else
@@ -268,7 +272,11 @@ void StartEchoing()
 
         public void UpdateSpaceAndTransform()
         {
-            CoordinateSpace = new ManipulatorSpace(Dimensions);
+            CoordinateSpace = NumAxes switch
+            {
+                -1 => new PathfinderSpace(),
+                _ => new ManipulatorSpace(Dimensions)
+            };
             CoordinateTransform = NumAxes switch
             {
                 4 => IsRightHanded