Update CCDIK processor and hip pinning scene targets

Summary: Update the CCDIK processor to not stretch for its target position - it will only solve rotation. In addition, update the hip pinning scene so that the CCDIK targets are the tracked anchors, rather than the hand directly to handle the case of invalid hands.

Reviewed By: sohailshafiiWk

Differential Revision: D74085068

fbshipit-source-id: 5891ca672093dc3f2c18486dd2165f830bd4eed6

Author: Andrew Kim

Runtime/Native/Scripts/Retargeting/TargetProcessors/CCDSkeletalProcessor.cs

@@ -177,8 +177,7 @@ private void RunCCDOnSkeletalData(
             // Push end effector to target. We need to know what the local position of the target
             // is based on the last recomputed world positions of the IK chain after CCD has
             // modified them.
-            var targetLocalPosition = GetTargetRelativeToEffectorParent(endEffectorParentIndex, targetPose,
-                targetPositionLerped, rootScale);
+            var targetLocalPosition = targetPoseLocal[endEffectorTargetIndex].Position;
             var localEndEffectorRotation =
                 Quaternion.Inverse(targetPose[endEffectorParentIndex].Orientation) * endEffectorRotation;
             targetPoseLocal[endEffectorTargetIndex] =

Samples/AdvancedSamples/Scenes/MovementHipPinning.unity

@@ -23653,15 +23653,7 @@ MonoBehaviour:
   resetHmdPoseOnRelease: 1
   resetHmdPoseByMiddleMouseButton: 1
   activateKeys: 3201000031010000
-  activateKeyBindings:
-  - <Keyboard>/leftCtrl
-  - <Keyboard>/rightCtrl
-  - <Keyboard>/f1
   pitchKeys: 3401000033010000
-  pitchKeyBindings:
-  - <Keyboard>/leftAlt
-  - <Keyboard>/rightAlt
-  - <Keyboard>/f2
 --- !u!114 &2062269061
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -23723,32 +23715,6 @@ MonoBehaviour:
   launchSimultaneousHandsControllersOnStartup: 0
   isInsightPassthroughEnabled: 0
   shouldBoundaryVisibilityBeSuppressed: 0
-  isImmersiveDebuggerEnabled: 0
-  expandFeatureFidelitySystemPropertySheet: 0
-  featureFidelitySystemActivated: 0
-  handTrackingFeatureFidelityGroup:
-    targetFeatureEnabled: -1
-    targetFeatureFidelity: -1
-  keyboardTrackingFeatureFidelityGroup:
-    targetFeatureEnabled: -1
-    targetFeatureFidelity: -1
-  eyeTrackingFeatureFidelityGroup:
-    targetFeatureEnabled: -1
-    targetFeatureFidelity: -1
-  faceTrackingFeatureFidelityGroup:
-    targetFeatureEnabled: -1
-    targetFeatureFidelity: -1
-  bodyTrackingFeatureFidelityGroup:
-    targetFeatureEnabled: -1
-    targetFeatureFidelity: -1
-  passthroughFeatureFidelityGroup:
-    targetFeatureEnabled: -1
-    targetFeatureFidelity: -1
-  gaseBasedFoveatedRenderingFeatureFidelityGroup:
-    targetFeatureEnabled: -1
-    targetFeatureFidelity: -1
-  handTrackingFeatureEnabled: 0
-  handTrackingFeatureFidelity: 0
   requestBodyTrackingPermissionOnStartup: 1
   requestFaceTrackingPermissionOnStartup: 0
   requestEyeTrackingPermissionOnStartup: 0
@@ -23767,8 +23733,6 @@ MonoBehaviour:
   SimultaneousHandsAndControllersEnabled: 0
   _readOnlyWideMotionModeHandPosesEnabled: 0
   wideMotionModeHandPosesEnabled: 0
-  _readOnlyBodyFusionHandPosesEnabled: 0
-  bodyFusionHandPosesEnabled: 0
   dynamicResolutionVersion: 1
 --- !u!114 &2062269062
 MonoBehaviour:
@@ -25483,11 +25447,11 @@ PrefabInstance:
     - target: {fileID: 4963305197896889744, guid: f26be2a7dbd67dc42b7191b7a75047a6, type: 3}
       propertyPath: _targetProcessorContainers.Array.data[3]._ccdProcessor._ccdData.Array.data[0].Target
       value: 
-      objectReference: {fileID: 205652339}
+      objectReference: {fileID: 1467336568}
     - target: {fileID: 4963305197896889744, guid: f26be2a7dbd67dc42b7191b7a75047a6, type: 3}
       propertyPath: _targetProcessorContainers.Array.data[4]._ccdProcessor._ccdData.Array.data[0].Target
       value: 
-      objectReference: {fileID: 676065713}
+      objectReference: {fileID: 1419136270}
     - target: {fileID: 4963305197896889744, guid: f26be2a7dbd67dc42b7191b7a75047a6, type: 3}
       propertyPath: _targetProcessorContainers.Array.data[2]._hipPinningProcessor._hipPinningTargetParent
       value: 
@@ -26007,11 +25971,11 @@ PrefabInstance:
     - target: {fileID: 4028155944758615682, guid: 1620c7a13bf63d74aa04e90ed9488f6e, type: 3}
       propertyPath: _bonePairs.Array.data[14].ParentJoint
       value: 
-      objectReference: {fileID: 0}
+      objectReference: {fileID: 324755899}
     - target: {fileID: 4028155944758615682, guid: 1620c7a13bf63d74aa04e90ed9488f6e, type: 3}
       propertyPath: _bonePairs.Array.data[15].ParentJoint
       value: 
-      objectReference: {fileID: 0}
+      objectReference: {fileID: 1009674806}
     - target: {fileID: 5558038247458039740, guid: 1620c7a13bf63d74aa04e90ed9488f6e, type: 3}
       propertyPath: m_LocalPosition.x
       value: 0