private float GetAngle(Leap.Hand hand)
{
Vector3 proximalAxis = hand.DistalAxis() * -1f;
Vector3 radialAxis = hand.RadialAxis();
if (hand.IsLeft)
{
radialAxis *= -1f;
}
List <float> fingerAngles = new List <float>
{
Vector3.SignedAngle(proximalAxis, hand.GetIndex().Direction.ToVector3(), radialAxis),
Vector3.SignedAngle(proximalAxis, hand.GetMiddle().Direction.ToVector3(), radialAxis),
Vector3.SignedAngle(proximalAxis, hand.GetRing().Direction.ToVector3(), radialAxis),
Vector3.SignedAngle(proximalAxis, hand.GetPinky().Direction.ToVector3(), radialAxis)
};
List <float> fingerAnglesShifted = new List <float>();
foreach (float angle in fingerAngles)
{
float shiftedAngle = angle;
if (angle < -90f)
{
shiftedAngle += 360f;
}
fingerAnglesShifted.Add(shiftedAngle);
}
angle = 0.25f * (fingerAnglesShifted[0] + fingerAnglesShifted[1] + fingerAnglesShifted[2] + fingerAnglesShifted[3]);
return(angle);
}
//Determines if the fingers are extended and the palm is facing up
public bool IsFlatHand(Leap.Hand hand)
{
float angle = Vector3.Angle(hand.PalmNormal.ToVector3(), Vector3.up);
//Debug.Log(angle);
return((hand.GrabAngle <= 1f) && (angle < 120f));
}
//Check pinch and grab pose
public bool IsPinching(Leap.Hand hand)
{
if (Hands.GetIndex(hand).IsExtended)
{
return(false);
}
//return hand.PinchStrength > .9f;
//first and foremost we need the index to be pinched, if it it is we have a true
bool pinch = checkPinchOfFinger(hand, "index");
//if we are in pinch with index check to see if other fingers are not.
if (pinch)
{
string[] fings = { "ring", "pinky" };
foreach (string f in fings)
{
//If any other finger is in pinch return false
if (checkPinchOfFinger(hand, f))
{
return(false);
}
}
}
return(pinch);
}
private static SerializableHand ToSerializableHand(Hand leapHand)
{
var hand = new SerializableHand
{
id = leapHand.Id,
frameID = leapHand.FrameId,
confidence = leapHand.Confidence,
grabStrength = leapHand.GrabStrength,
grabAngle = leapHand.GrabAngle,
pinchStrength = leapHand.PinchStrength,
pinchDistance = leapHand.PinchDistance,
palmWidth = leapHand.PalmWidth,
isLeft = leapHand.IsLeft,
timeVisible = leapHand.TimeVisible,
arm = ToSerializableArm(leapHand.Arm),
fingers = leapHand.Fingers.Select(ToSerializableFinger).ToList(),
palmPosition = ToSerializableVector(leapHand.PalmPosition),
stabilizedPalmPosition = ToSerializableVector(leapHand.StabilizedPalmPosition),
palmVelocity = ToSerializableVector(leapHand.PalmVelocity),
palmNormal = ToSerializableVector(leapHand.PalmNormal),
direction = ToSerializableVector(leapHand.Direction),
wristPosition = ToSerializableVector(leapHand.WristPosition)
};
return hand;
}
private float DuckPinchMetric(Leap.Hand hand)
{
Vector3 thumbDistal = hand.GetThumb().bones[3].PrevJoint.ToVector3();
Vector3 thumbTip = hand.GetThumb().TipPosition.ToVector3();
Vector3 indexMetacarpal = hand.GetIndex().bones[0].PrevJoint.ToVector3();
Vector3 indexProximal = hand.GetIndex().bones[1].PrevJoint.ToVector3();
Vector3 indexTip = hand.GetIndex().TipPosition.ToVector3();
Vector3 middleMetacarpal = hand.GetMiddle().bones[0].PrevJoint.ToVector3();
Vector3 middleTip = hand.GetMiddle().bones[3].PrevJoint.ToVector3();
Vector3 ringMetacarpal = hand.GetMiddle().bones[0].PrevJoint.ToVector3();
Vector3 ringTip = hand.GetRing().bones[3].PrevJoint.ToVector3();
// Project all except thumb onto a plane
Vector3 projectionPlane = Vector3.Cross(hand.GetIndex().bones[2].Direction.ToVector3(), hand.PalmarAxis()).normalized;
if (hand.IsRight)
{
// convert to left-handed-rule for Unity
projectionPlane *= -1f;
}
Vector3 planeOrigin = indexProximal;
indexProximal = Vector3.zero;
indexMetacarpal = Vector3.ProjectOnPlane(indexMetacarpal - planeOrigin, projectionPlane) + planeOrigin;
indexTip = Vector3.ProjectOnPlane(indexTip - planeOrigin, projectionPlane) + planeOrigin;
middleMetacarpal = Vector3.ProjectOnPlane(middleMetacarpal - planeOrigin, projectionPlane) + planeOrigin;
middleTip = Vector3.ProjectOnPlane(middleTip - planeOrigin, projectionPlane) + planeOrigin;
ringMetacarpal = Vector3.ProjectOnPlane(ringMetacarpal - planeOrigin, projectionPlane) + planeOrigin;
ringTip = Vector3.ProjectOnPlane(ringTip - planeOrigin, projectionPlane) + planeOrigin;
// Limit thumb positions
float thumbDistalOverlap = Vector3.Dot(thumbDistal - planeOrigin, projectionPlane);
if (thumbDistalOverlap < 0)
{
thumbDistal += thumbDistalOverlap * projectionPlane;
}
float thumbTipOverlap = Vector3.Dot(thumbTip - planeOrigin, projectionPlane);
if (thumbTipOverlap < 0)
{
thumbTip += thumbTipOverlap * projectionPlane;
}
float indexMetric = SegmentDisplacement.SegmentToSegmentDistance(indexMetacarpal, indexTip, thumbDistal, thumbTip);
float middleMetric = SegmentDisplacement.SegmentToSegmentDistance(middleMetacarpal, middleTip, thumbDistal, thumbTip);
float ringMetric = SegmentDisplacement.SegmentToSegmentDistance(ringMetacarpal, ringTip, thumbDistal, thumbTip);
float wipMetric = (indexMetric + middleMetric + ringMetric) / (3.0f);
metric = Mathf.Max(0f, wipMetric - 0.01f);
return(metric);
}
bool ShouldGestureDeactivate(Leap.Hand hand)
{
bool shouldDeactivate = false;
_latestPinchStrength = 1f;
if (minDeactivateTimer > MIN_DEACTIVATE_TIME)
{
var pinchDistance = GetCustomPinchDistance(hand);
if (pinchDistance > pinchDeactivateDistance)
{
shouldDeactivate = true;
}
}
else
{
minDeactivateTimer += 1;
}
if (shouldDeactivate)
{
minReactivateTimer = 0;
}
return(shouldDeactivate);
}
//Recognise current gesture function
public string Recognise(Leap.Hand cur_hand)
{
//Initially assuming no gesture
string gesture = "NONE";
//If palm faces camera
bool result = checkPalmFacingCamera(cur_hand);
if (result)
{
//Was going to be used for UI
gesture = "UI";
}
//If making fist
bool result_fist = checkFist(cur_hand);
if (result_fist)
{
//Used for shooting
gesture = "FIST";
}
//Return gesture here
return(gesture);
//There is a gesture hierarchy of sorts,
//If the user is making a fist, we can ignore UI for example
}
// Update is called once per frame
void Update()
{
Leap.Hand left = null, right = null;
List <Leap.Finger> leftFingers = null, rightFingers = null;
controller.CurrentFrame.Hands.ForEach(delegate(Leap.Hand hand)
{
if (hand.IsLeft)
{
left = hand;
leftFingers = hand.Fingers;
}
else if (hand.IsRight)
{
right = hand;
rightFingers = hand.Fingers;
}
});
if (left != null)
{
if (Vector3.Angle(leftFingers[1].Direction.ToVector3(), left.Direction.ToVector3()) > 120)
{
transform.position += new Vector3(0, 0, -1);
}
else if (Vector3.Angle(leftFingers[1].Direction.ToVector3(), left.Direction.ToVector3()) < 50)
{
transform.position += new Vector3(0, 0, 1);
}
}
}
public bool checkPinch()
{
//Determine which hand.
if (handedness == "Right")
{
hand = Hands.Right;
}
else
{
hand = Hands.Left;
}
//Check if hand exists
if (hand == null)
{
return(false);
}
//Get position and value of Pinch
bool detected = util.IsPinching(hand);
if (detected)
{
position = util.weightedPos(hand);
}
return(detected);
}
List <float> HandToFloatArray(Leap.Hand h)
{
List <float> FloatArray = new List <float>();
for (int i = 0; i < 5; i++)
{
Finger f = h.Fingers[i];
// Debug.Log("PRST : " + f.ToString() + "indeks: " + i);
for (int j = 0; j < 4; j++)
{
// Debug.Log("Kost broj :" + j);
Bone b = f.Bone((Bone.BoneType)j);
Vector pJoint = b.PrevJoint;
Vector nJoint = b.NextJoint;
FloatArray.Add(pJoint.x);
FloatArray.Add(pJoint.y);
FloatArray.Add(pJoint.z);
FloatArray.Add(nJoint.x);
FloatArray.Add(nJoint.y);
FloatArray.Add(nJoint.z);
}
}
return(FloatArray);
}
private Node AddChildBone(string fingerType, string boneType, Hand hand, Node parentNode)
{
Node boneNode = new Node();
boneNode.Name = GetNodeBoneName(fingerType, boneType, hand);
parentNode.Children.Add(boneNode);
return (boneNode);
}
/// <summary>
/// Add a new frame Animation channel
/// </summary>
private void AddNewFrame(Hand hand, Animation anim)
{
NodeAnimationChannel nodeChannelHand = AssimpUtil.FindNodeAnim(anim, GetNodeHandName(hand.Id.ToString()));
var assimpNodeAnimHand = VectorToNode(hand.PalmPosition, anim.DurationInTicks);
nodeChannelHand.PositionKeys.Add(assimpNodeAnimHand.Item1);
nodeChannelHand.RotationKeys.Add(assimpNodeAnimHand.Item2);
foreach (Finger finger in hand.Fingers)
{
Leap.Bone bone;
foreach (Leap.Bone.BoneType boneType in (Leap.Bone.BoneType[])Enum.GetValues(typeof(Leap.Bone.BoneType)))
{
bone = finger.Bone(boneType);
//Fetch the NodeAnim corresponding to the Bone
NodeAnimationChannel nodeChannel = AssimpUtil.FindNodeAnim(anim,
GetNodeBoneName(finger.Type.ToString(), boneType.ToString(), hand));
var assimpNodeAnim = VectorToNode(bone.NextJoint - bone.PrevJoint, anim.DurationInTicks); //BoneToNode(bone);
nodeChannel.PositionKeys.Add(assimpNodeAnim.Item1);
nodeChannel.RotationKeys.Add(assimpNodeAnim.Item2);
}
}
}
public Hand makeHand(ref LEAP_HAND hand, Frame owningFrame)
{
Arm newArm = makeArm(ref hand.arm);
Hand newHand = new Hand(
(int)owningFrame.Id,
(int)hand.id,
hand.confidence,
hand.grab_strength,
hand.grab_angle,
hand.pinch_strength,
hand.pinch_distance,
hand.palm.width,
hand.type == eLeapHandType.eLeapHandType_Left,
hand.visible_time,
newArm,
new List<Finger>(5),
new Vector(hand.palm.position.x, hand.palm.position.y, hand.palm.position.z),
new Vector(hand.palm.stabilized_position.x, hand.palm.stabilized_position.y, hand.palm.stabilized_position.z),
new Vector(hand.palm.velocity.x, hand.palm.velocity.y, hand.palm.velocity.z),
new Vector(hand.palm.normal.x, hand.palm.normal.y, hand.palm.normal.z),
new Vector(hand.palm.direction.x, hand.palm.direction.y, hand.palm.direction.z),
newArm.NextJoint //wrist position
);
newHand.Fingers.Insert(0, makeFinger(owningFrame, ref hand, ref hand.thumb, Finger.FingerType.TYPE_THUMB));
newHand.Fingers.Insert(1, makeFinger(owningFrame, ref hand, ref hand.index, Finger.FingerType.TYPE_INDEX));
newHand.Fingers.Insert(2, makeFinger(owningFrame, ref hand, ref hand.middle, Finger.FingerType.TYPE_MIDDLE));
newHand.Fingers.Insert(3, makeFinger(owningFrame, ref hand, ref hand.ring, Finger.FingerType.TYPE_RING));
newHand.Fingers.Insert(4, makeFinger(owningFrame, ref hand, ref hand.pinky, Finger.FingerType.TYPE_PINKY));
return newHand;
}
// Update is called once per frame
void Update()
{
if (placed)
{
return;
}
frame = leapcontroller.Frame();
lHand = Hands.Left;
// if there are hands visible in the view.
if (lHand != null)
{
if (util.IsFlatHand(lHand))
{
HUDObject.SetActive(true);
}
else
{
HUDObject.SetActive(false);
}
}
else
{
// if no hands are visible in the view, set the HUD inactive
HUDObject.SetActive(false);
}
}
//Update the hand
public void UpdateHand(Leap.Hand hand)
{
if (!hand.IsValid)
{
return;
}
//Refresh leap hand data
this.hand = hand;
//Set handObject position
//Reverse z coordinate
handObject.transform.position = new Vector3(hand.PalmPosition.x, hand.PalmPosition.y, -hand.PalmPosition.z);
//Set last hand position
lastPosition = position;
//Set hand position
position = handObject.transform.position;
//Set last hand speed
lastSpeed = speed;
//Set hand speed
speed = new Vector3(hand.PalmVelocity.x, hand.PalmVelocity.y, -hand.PalmVelocity.z);
//Refresh leap finger data
UpdateFingers();
}
private char DoASLTest_B(Leap.Hand hand)
{
float fingerThreshold = 1400;
Leap.FingerList fingers = hand.Fingers;
Leap.Finger pinky = fingers[(int)Leap.Finger.FingerType.TYPE_PINKY];
Leap.Finger ring = fingers[(int)Leap.Finger.FingerType.TYPE_RING];
Leap.Finger middle = fingers[(int)Leap.Finger.FingerType.TYPE_MIDDLE];
Leap.Finger index = fingers[(int)Leap.Finger.FingerType.TYPE_INDEX];
Leap.Finger thumb = fingers[(int)Leap.Finger.FingerType.TYPE_THUMB];
Vector3 pinkyPos = ToVector3(pinky.Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).NextJoint);
Vector3 ringPos = ToVector3(ring.Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).NextJoint);
Vector3 middlePos = ToVector3(middle.Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).NextJoint);
Vector3 indexPos = ToVector3(index.Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).NextJoint);
if ((pinkyPos - ringPos).sqrMagnitude < fingerThreshold &&
(ringPos - middlePos).sqrMagnitude < fingerThreshold &&
(middlePos - indexPos).sqrMagnitude < fingerThreshold)
{
return('B');
}
return(INVALID_ASL_LETTER);
}
//Test the final posture of the hand to end the gesture
protected override void TestEndGesture(Hand hand)
{
if (hand.PalmPosition.y-InitialPosition >= 150)
{
FinishGesture();
}
}
private static IJoint BuildHand(Hand hand, IJoint wrist, int side)
{
var handJoint = new OrientedJoint();
if (hand.IsValid)
{
var palmNormal = hand.PalmNormal;
var handPosition = hand.PalmPosition;
handJoint.Orientation = new Vector4(10 * palmNormal.x, 10 * palmNormal.y, 10 * palmNormal.z, 0);
handJoint.Point = new Vector3(0, 0, -100);
var fingers = hand.Fingers;
foreach (var t in fingers)
{
var normal = t.Direction;
var position = t.TipPosition - handPosition;
handJoint.AddChild(CreateFinger(position, normal, FingerType2JointType(t.Type(), side)));
}
handJoint.Valid = true;
}
return handJoint;
}
//Needs tested. Checks for a thumbs up pose.
public bool checkThumbsUp(Leap.Hand hand)
{
foreach (Leap.Finger f in hand.Fingers)
{
if (f.Type == Leap.Finger.FingerType.TYPE_THUMB)
{
if (f.IsExtended && checkDirectionUp(f))
{
continue;
}
else
{
return(false);
}
}
else
{
if (f.IsExtended && checkDirectionUp(f))
{
return(false);
}
else
{
continue;
}
}
}
return(true);
}
//Checks to see if a swipe has occured recently.
//Uses recent frame information and the users hand
public bool isSwiping(Leap.Hand hand, Queue <FrameInformation> framesQueue)
{
if (framesQueue.Count < 50)
{
return(false);
}
FrameInformation[] frames = framesQueue.ToArray();
List <float> accelMag = new List <float>();
//if not enough fingers extended no swipe
if (Extended(hand.Fingers) >= 4)
{
//Fetch the accel magnitude of recent and current frames
Vector3 accel = (hand.PalmVelocity.ToVector3() - frames[frames.Length - 2].hand.palmVelocity);
accelMag.Add(Vector3.Project(accel, hand.PalmNormal.ToVector3()).magnitude);
accelMag[0] *= Mathf.Sign(Vector3.Dot(accel, hand.PalmNormal.ToVector3()));
for (int i = frames.Length - 1; i > frames.Length - 7; --i)
{
accel = (frames[i].hand.palmVelocity - frames[frames.Length - 2].hand.palmVelocity);
accelMag.Add(Vector3.Project(accel, frames[i].hand.palmNormal).magnitude);
accelMag[accelMag.Count - 1] *= Mathf.Sign(Vector3.Dot(accel, frames[i].hand.palmNormal));
}
//Grab the roll of the hand
float handRoll = Mathf.Abs(hand.PalmNormal.Roll);
return((handRoll > 1.35 && accelMag[1] < -0.3f && accelMag[0] < accelMag[1] && accelMag[2] > accelMag[1]) ? true : false);
}
return(false);
}
bool ShouldGestureActivate(Leap.Hand hand)
{
bool shouldActivate = false;
_latestPinchStrength = 0f;
bool wasEligibleLastCheck = _isGestureEligible;
_isGestureEligible = false;
// Can only activate a pinch if we haven't already activated a pinch very recently.
if (minReactivateTimer > MIN_REACTIVATE_TIME)
{
shouldActivate = CheckHandForActivation(hand, wasEligibleLastCheck);
}
else
{
minReactivateTimer += 1;
}
if (shouldActivate)
{
minDeactivateTimer = 0;
}
return(shouldActivate);
}
void OnCollisionEnter(Collision collision)
{
if (canCollide)
{
var parent = GetParent("RigidHand(Clone)", collision.collider.transform);
if (parent == null)
{
return;
}
LM.Hand hand = parent.GetComponent <RigidHand>().GetLeapHand();
Marker marker = this.GetComponentInParent <Marker>();
logger.Debug("Collision");
if (hand.IsLeft == marker.IsLeft)
{
logger.Debug("Collision with correct hand");
if (OnMarkerCollision != null)
{
OnMarkerCollision(marker, gesture, hand);
}
}
}
}
// Update is called once per frame
void Update()
{
Leap.Hand left = null, right = null;
List <Leap.Finger> leftFingers = null, rightFingers = null;
controller.CurrentFrame.Hands.ForEach(delegate(Leap.Hand hand)
{
if (hand.IsLeft)
{
left = hand;
leftFingers = hand.Fingers;
}
else if (hand.IsRight)
{
right = hand;
rightFingers = hand.Fingers;
}
});
if (right != null)
{
if (previousDownVelocity > -2 && rightFingers[1].TipVelocity.y < -2 && Vector3.Angle(rightFingers[1].Direction.ToVector3(), right.Direction.ToVector3()) < 60 && Vector3.Angle(rightFingers[2].Direction.ToVector3(), right.Direction.ToVector3()) > 120 && Vector3.Angle(rightFingers[3].Direction.ToVector3(), right.Direction.ToVector3()) > 120)
{
ToggleMenu();
}
previousDownVelocity = rightFingers[1].TipVelocity.y;
}
}
public HandRepresentation(int handID, Hand hand, Chirality chirality, ModelType modelType) {
HandID = handID;
this.MostRecentHand = hand;
this.RepChirality = chirality;
this.RepType = modelType;
}
// Update is called once per frame
void Update()
{
controller = new Leap.Controller();
Leap.Frame frame = controller.Frame();
List <Leap.Hand> hands = frame.Hands;
Leap.Hand fristHand = hands[0];
position = hands[0].PalmPosition;
pos = Leap.Unity.UnityVectorExtension.ToVector3(position);
// Attach to the palm
// Vive Tracker
//Vector3 pos = new Vector3(ViveHand.transform.position.x - 0.2f, ViveHand.transform.position.y + 1.0f, ViveHand.transform.position.z - 0.5f);
//Vector3 pos = new Vector3(ViveHand.transform.position.x, ViveHand.transform.position.y, ViveHand.transform.position.z);
transform.position = pos;
//if (!pos.Equals(UnityEngine.Vector3.zero))
//{
// // If non-zero, orientate to the hand surface
// Vector3 dir = new Vector3(hand.Direction.x, hand.Direction.y, 0.0f);
// Vector3 norm =new Vector3(hand.PalmNormal.x, hand.PalmNormal.y, 0.0f);
// transform.rotation = Quaternion.LookRotation(dir, norm);
//}
}
/// <summary>
/// Build a Node hierachy into the scene property 'mainScene' from a Hand object
/// </summary>
/// <param name="hand"></param>
private void CreateNodeHierarchy(Hand hand, Scene handScene)
{
Node rootNode = handScene.RootNode = new Node();
Node handNode = new Node();
handNode.Name = GetNodeHandName(hand.Id.ToString());
rootNode.Children.Add(handNode);
NodeAnimationChannel bonetest = new NodeAnimationChannel();
bonetest.NodeName = GetNodeHandName(hand.Id.ToString());
handScene.Animations[0].NodeAnimationChannels.Add(bonetest);
foreach (Finger finger in hand.Fingers)
{
Node fingerNode = handNode;
foreach (Leap.Bone.BoneType boneType in (Leap.Bone.BoneType[])Enum.GetValues(typeof(Leap.Bone.BoneType)))
{
string fingerType = finger.Type.ToString();
//Add a node hierarchy
fingerNode = AddChildBone(fingerType, boneType.ToString(), hand, fingerNode);
//Fill the NodeAnimChannel
NodeAnimationChannel bone = new NodeAnimationChannel();
bone.NodeName = GetNodeBoneName(fingerType, boneType.ToString(), hand);
handScene.Animations[0].NodeAnimationChannels.Add(bone);
}
}
}
// Update is called once per frame
void FixedUpdate()
{
Leap.Hand mHand = myLeapManagerInstance.frontmostHand();
if (mHand.IsValid)
{
if (!swordUp)
{
audio.Play();
}
swordUp = true;
}
else
{
if (swordUp)
{
AudioSource.PlayClipAtPoint(swordSheath, transform.position, 0.25f);
}
swordUp = false;
}
Vector3 targetPos = getTargetPos(mHand);
Quaternion targetRot = getTargetRot(mHand);
//moveWithForce(targetPos);
moveWithMovePos(targetPos, targetRot);
}
private IEnumerator leftHandWatcher()
{
while (true)
{
if (leftHandModel != null)
{
leftHand = leftHandModel.GetLeapHand();
if (leftHand != null)
{
//if (leftHand.GrabStrength >= 0.85f) Debug.Log("Left Grabbing");
if (leftHandState != 0 && leftHand.PinchStrength >= pinchStrengthForce)
{
//Debug.Log("Left Pinching");
leftHandState = 1;
}
else if (leftHand.GrabStrength <= grabStrengthForce)
{
//Debug.Log("Left AllExtend");
leftHandState = 2;
}
else
{
offset = Vector3.zero;
leftHandState = 0;
if (workstationActivated)
{
dynamicUI.GetComponent <WorkstationBehaviourExample>().DeactivateWorkstation();
workstationActivated = false;
}
}
if (leftHandState == 2)
{
if (leftHand.PalmVelocity.z >= onoffVelocity)
{
//Debug.Log("Left Window TurnOff");
leftHandState = 3;
}
else if (leftHand.PalmVelocity.z <= -onoffVelocity)
{
//Debug.Log("Left Window TurnOn");
leftHandState = 4;
}
if (leftHand.PalmVelocity.x <= -onoffVelocity)
{
leftHandState = 5;
//Debug.Log("Left");
}
else if (leftHand.PalmVelocity.x >= onoffVelocity)
{
leftHandState = 6;
}
}
}
}
yield return(new WaitForSeconds(0.1f));
}
}
//Test the initial posture of the hand to start the gesture
protected override void TestInitialGesture(Hand hand)
{
InitialPosition = hand.PalmPosition.x;
PreviousHand = hand;
ReceiveBeginningLeftMoveEvent();
}
public HandProxy(HandPool parent, Hand hand, Chirality repChirality, ModelType repType) :
base(hand.Id, hand, repChirality, repType)
{
this.parent = parent;
this.RepChirality = repChirality;
this.RepType = repType;
this.MostRecentHand = hand;
}
float GetCustomPinchDistance(Leap.Hand hand)
{
float pinchDistance = PinchSegmentToSegmentDisplacement(hand).magnitude;
pinchDistance -= 0.01f;
pinchDistance = Mathf.Max(0f, pinchDistance);
return(pinchDistance);
}
List <Leap.Hand> FloatArrayToHands(List <float> FloatArray, List <GameObject> zgloboviIKostii)
{
List <Leap.Hand> hands = new List <Hand>();
int z = 0;
int handsCount = (int)FloatArray[z];
z++;
for (int k = 0; k < handsCount; k++)
{
Leap.Hand h = new Leap.Hand();
float leftRight = FloatArray[z];
z++;
if (leftRight == 0)
{
h.IsLeft = true;
}
else
{
h.IsLeft = false;
}
for (int i = 0; i < 5; i++)
{
Finger f = h.Fingers[i];
f.TipPosition.x = FloatArray[z];
f.TipPosition.y = FloatArray[z + 1];
f.TipPosition.z = FloatArray[z + 2];
z += 3;
for (int j = 0; j < 4; j++)
{
Bone b = f.Bone((Bone.BoneType)j);
b.PrevJoint = new Vector(FloatArray[z], FloatArray[z + 1], FloatArray[z + 2]);
z += 3;
b.NextJoint = new Vector(FloatArray[z], FloatArray[z + 1], FloatArray[z + 2]);
z += 3;
}
}
h.PalmPosition.x = FloatArray[z];
h.PalmPosition.y = FloatArray[z + 1];
h.PalmPosition.z = FloatArray[z + 2];
z += 3;
hands.Add(h);
}
return(hands);
}
FrameInformation fetchFrameInformation()
{
FrameInformation frameInfo = new FrameInformation();
frameInfo.grabHeld = grabHeld;
frameInfo.pinchHeld = pinchHeld;
foreach (Leap.Finger f in hand.Fingers)
{
FingerInformation fingerInfo = new FingerInformation();
fingerInfo.isExtended = f.IsExtended;
fingerInfo.direction = f.Direction.ToVector3();
fingerInfo.padDirection = Vector3.Cross(fingerInfo.direction, Vector3.Cross(fingerInfo.direction, f.bones[1].Direction.ToVector3()));
fingerInfo.tipPosition = f.TipPosition.ToVector3();
fingerInfo.tipVelocity = f.TipVelocity.ToVector3();
switch (f.Type)
{
case Leap.Finger.FingerType.TYPE_INDEX:
frameInfo.index = fingerInfo;
break;
case Leap.Finger.FingerType.TYPE_MIDDLE:
frameInfo.middle = fingerInfo;
break;
case Leap.Finger.FingerType.TYPE_RING:
frameInfo.ring = fingerInfo;
break;
case Leap.Finger.FingerType.TYPE_PINKY:
frameInfo.pinky = fingerInfo;
break;
case Leap.Finger.FingerType.TYPE_THUMB:
frameInfo.thumb = fingerInfo;
break;
}
}
if (handedness == "Right")
{
hand = Hands.Right;
}
else
{
hand = Hands.Left;
}
HandInformation handInfo = new HandInformation();
handInfo.direction = hand.Direction.ToVector3();
handInfo.pitch = hand.Direction.Pitch;
handInfo.roll = hand.Direction.Roll;
handInfo.yaw = hand.Direction.Yaw;
handInfo.palmPosition = hand.PalmPosition.ToVector3();
handInfo.palmVelocity = hand.PalmVelocity.ToVector3();
handInfo.palmNormal = hand.PalmNormal.ToVector3();
handInfo.rotation = hand.Rotation.ToQuaternion();
frameInfo.hand = handInfo;
return(frameInfo);
}
protected Finger FindFingerByType(Hand hand, Finger.FingerType type)
{
foreach (var finger in hand.Fingers)
{
if (finger.Type() == type)
return finger;
}
return null;
}
/* ========================= Initialize Tracking Algorithms ============================ */
/* Method for the Distance Between Palm and Pointer */
private static void OnLeapMotionUpdate(Leap.Hand hand)
{
// Get Instance
InputManager IM = _instance;
if (IM == null)
{
return;
}
// Complete First Pass
FingerLift[] fingerTest = IM.RetrieveFingerLift(hand);
ASLTest firstPassResults = IM.FirstPassAlgorithm(fingerTest);
// Call Similarity Handler
IM.UpdateCurrentSimilarity(firstPassResults);
/*if(IM.similarityHandler != null)
* {
* IM.similarityHandler(firstPassResults);
* }*/
if (firstPassResults == ASLTest.INVALID_ASL_TEST)
{
IM.UpdateCurrentLetter(INVALID_ASL_LETTER);
return;
}
// Complete Second Pass
char secondPassResults = IM.SecondPassAlgorithm(firstPassResults, hand);
// Determine if Successful
bool finalResults = (secondPassResults >= 'A' && secondPassResults <= 'Z') || (secondPassResults >= 'a' && secondPassResults <= 'z');
if (IM.lastResult != secondPassResults)
{
IM.lastResult = secondPassResults;
IM.lastLetterTime = DateTime.Now.Ticks;
}
// Call Letter Handler
if (finalResults)
{
if (((DateTime.Now.Ticks - IM.lastLetterTime) / TimeSpan.TicksPerMillisecond) >= (IM.dwellTime * 1000))
{
IM.UpdateCurrentLetter(secondPassResults);
}
else
{
IM.UpdateCurrentLetter(INVALID_ASL_LETTER);
}
}
else
{
IM.UpdateCurrentLetter(INVALID_ASL_LETTER);
}
}
// Use this for initialization
void Start()
{
theHand = GameObject.FindGameObjectWithTag("handControl").GetComponent <HandController>();
Leap.Frame frame = theHand.GetFrame(); // controller is a Controller object
Leap.HandList hands = frame.Hands;
firstHand = hands[0];
Debug.Log("starting");
}
private bool ShouldTriggerGrab(Leap.Hand hand)
{
float handAngle = GetAngle(hand);
float clampedHandAngle = Mathf.Clamp(handAngle, clickAngle, 180);
GrabStrength = ScreenControlUtility.MapRangeToRange(clampedHandAngle, clickAngle, 180, 1, 0);
return(handAngle < clickAngle);
}
static Vector3 PinchSegmentToSegmentDisplacement(Leap.Hand hand)
{
Vector3 indexDistal = hand.GetIndex().bones[3].PrevJoint.ToVector3();
Vector3 indexTip = hand.GetIndex().TipPosition.ToVector3();
Vector3 thumbDistal = hand.GetThumb().bones[3].PrevJoint.ToVector3();
Vector3 thumbTip = hand.GetThumb().TipPosition.ToVector3();
return(SegmentToSegmentDisplacement(indexDistal, indexTip, thumbDistal, thumbTip));
}
void createUI(Leap.Hand right_hand, Vector3 relPosBetweenHands)
{
initialAlpha = 0.0f;
Vector3 r_palm_Pos = right_hand.PalmPosition.ToVector3();
Vector3 uiPos = camera_.transform.position + (camera_.forward * .503f);
created_ui = (GameObject)Instantiate(UI, uiPos, Quaternion.identity);
created_ui.GetComponent <Renderer>().material.color = new Color(Color.green.r, Color.green.g, Color.green.b, initialAlpha);
}
/*
* IEnumerator BeklemeIncongruent()
* {
* int randomNumber = UnityEngine.Random.Range(0, 4);
* int randomNumberSecond = UnityEngine.Random.Range(0, 4);
*
* yield return new WaitForSeconds(2.5f);
* GameObject.Find("Numerator").GetComponent<TextMesh>().text = digits[randomNumber];
* isTiming = true;
* // GestureIncongruent();
* yield return new WaitUntil(() => DigitDetector() == randomNumber);
* Debug.Log(DigitDetector() + " Reaction time: " + reactionTimer + " ms");
* GameObject.Find("Numerator").GetComponent<TextMesh>().text = "TRUE";
* yield return new WaitForSeconds(0.2f);
* GameObject.Find("Numerator").GetComponent<TextMesh>().text = "";
* isTiming = false;
* reactionTimer = 0;
*
* yield return new WaitForSeconds(2.5f);
* GameObject.Find("Numerator").GetComponent<TextMesh>().text = digits[randomNumberSecond];
* isTiming = true;
* yield return new WaitUntil(() => DigitDetector() == randomNumberSecond);
* Debug.Log(DigitDetector() + " Reaction timeSecond: " + reactionTimer + " ms");
* GameObject.Find("Numerator").GetComponent<TextMesh>().text = "TRUE";
* yield return new WaitForSeconds(0.2f);
* GameObject.Find("Numerator").GetComponent<TextMesh>().text = "";
* isTiming = false;
* reactionTimer = 0;
* }
*/
public bool PostureDetector()
{
_current = _controller.Frame();
var rightHandPosture = new Vector3();
var leftHandPosture = new Vector3();
var isRHandPostureCounting = false;
var isLHandPostureCounting = false;
//TODO: is this part necessary for this method
if (_current.Hands.Count == 1)
{
if (_current.Hands[0].IsRight)
{
_handRight = _current.Hands[0];
_handLeft = null;
}
else if (_current.Hands[0].IsLeft)
{
_handLeft = _current.Hands[0];
_handRight = null;
}
}
else if (_current.Hands.Count == 2)
{
_handRight = _current.Hands[0];
_handLeft = _current.Hands[1];
}
else if (_current.Hands.Count == 0)
{
_handRight = null;
_handLeft = null;
}
if (_handRight != null)
{
rightHandPosture = _handRight.Basis.yBasis.ToVector3();
}
if (_handLeft != null)
{
leftHandPosture = _handLeft.Basis.yBasis.ToVector3();
}
if (rightHandPosture.y >= 0)
{
isRHandPostureCounting = true;
}
if (leftHandPosture.y >= 0)
{
isLHandPostureCounting = true;
}
return(isLHandPostureCounting && isRHandPostureCounting);
}
void FollowHand(IVIHand ivihand)
{
Leap.Hand hand = ivihand.LeapHand;
Vector3 palmPos = hand.PalmPosition.ToVector3();
Vector3 palmNorm = hand.PalmNormal.ToVector3();
float palmRot = .02f + transform.localScale.y / 2;
transform.position = initialPos + palmNorm * palmRot + palmPos;
transform.rotation = hand.Basis.rotation.ToQuaternion();
}
/** Calls Updates in IHandModels that are part of this HandRepresentation */
public override void UpdateRepresentation(Hand hand)
{
base.UpdateRepresentation(hand);
if (handModels != null) {
for (int i = 0; i < handModels.Count; i++) {
handModels[i].SetLeapHand(hand);
handModels[i].UpdateHand();
}
}
}
//Test gesture and throw an event if the gesture is validated
public override void TestGesture(Hand hand)
{
//throw an event if the posture is verified
if (TestPosture(hand))
{
if (GestureRecognized != null)
{
GestureRecognized();
}
}
}
// Constructor for LeapFrame
public HandData(Hand hand)
{
m_id = hand.Id;
m_fingers = new List<FingerData>();
foreach (Finger f in hand.Fingers)
{
m_fingers.Add(new FingerData(f));
}
m_isFrontmost = (hand.Id == hand.Frame.Hands.Frontmost.Id);
m_palmPosition = hand.PalmPosition;
m_isValid = hand.IsValid;
}
public HandProxy(HandPool parent, IHandModel handModel, Hand hand) :
base(hand.Id)
{
this.parent = parent;
this.handModel = handModel;
// Check to see if the hand model has been initialized yet
if (handModel.GetLeapHand() == null) {
handModel.SetLeapHand(hand);
handModel.InitHand();
} else {
handModel.SetLeapHand(hand);
}
handModel.BeginHand();
}
//get latest frame called each second
public static void Update()
{
if(_controller != null)
{
Frame lastFrame = _frame == null ? Frame.Invalid : _frame;
_frame = _controller.Frame();
if(_frame != null)
{
if(_frame.Hands.Count > 0)
{
_hand = _frame.Hands[0];
}
}
}
}
//Test gesture and throw an event if the gesture is validated
public override void TestGesture(Hand hand)
{
//verify if it is the first frame of the position
if (!IsRunning)
{
TestInitialGesture(hand);
}
else
{
//verify the dynamic of the gesture
if (CurrentNbOfFrame <= MinNbOfFrame)
{
if (TestDynamic(hand))
{
PreviousHand = hand;
CurrentNbOfFrame++;
}
else
{
IsRunning = false;
CurrentNbOfFrame = 0;
}
}
//verify the dynamic of the gesture or the end of gesture
else if (CurrentNbOfFrame <= MaxNbOfFrame)
{
if (TestDynamic(hand))
{
PreviousHand = hand;
CurrentNbOfFrame++;
TestEndGesture(hand);
}
else
{
IsRunning = false;
CurrentNbOfFrame = 0;
}
}
//case if the gesture is too long
else
{
IsRunning = false;
CurrentNbOfFrame = 0;
}
}
}
/*--------------------------------------------------------------------------------------------*/
private void UpdateForFinger(Hand pLeapHand, Finger.FingerType pLeapFingerType) {
Finger leapFinger = LeapUtil.GetValidFinger(pLeapHand, pLeapFingerType);
if ( leapFinger == null ) {
UpdateForNull();
return;
}
Bone bone = leapFinger.Bone(Bone.BoneType.TYPE_DISTAL); //GC_ALLOC
IsAvailable = true;
Position = leapFinger.TipPosition.ToUnityScaled(); //GC_ALLOC
Rotation = LeapUtil.CalcQuaternion(bone.Basis); //GC_ALLOC
Size = leapFinger.Width*SizeScaleFactor;
}
public static void Update()
{
if( m_controller != null )
{
Frame lastFrame = m_Frame == null ? Frame.Invalid : m_Frame;
m_Frame = m_controller.Frame();
if (m_Frame != null)
{
if (m_Frame.Hands.Count > 0)
{
m_Hand = m_Frame.Hands[0];
}
fingerCount = m_Frame.Fingers.Count;
}
}
}
/**
* MakeHandRepresentation receives a Hand and combines that with an IHandModel to create a HandRepresentation
* @param hand The Leap Hand data to be drive an IHandModel
* @param modelType Filters for a type of hand model, for example, physics or graphics hands.
*/
public override HandRepresentation MakeHandRepresentation(Hand hand, ModelType modelType)
{
Chirality handChirality = hand.IsRight ? Chirality.Right : Chirality.Left;
HandRepresentation handRep = new HandProxy(this, hand, handChirality, modelType);
for (int i = 0; i < ModelPool.Count; i++) {
ModelGroup group = ModelPool[i];
if (group.IsEnabled) {
IHandModel model = group.TryGetModel(handChirality, modelType);
if (model != null) {
handRep.AddModel(model);
modelToHandRepMapping.Add(model, handRep);
}
}
}
activeHandReps.Add(handRep);
return handRep;
}
/*--------------------------------------------------------------------------------------------*/
public void UpdateWithHand(Hand pLeapHand) {
if ( pLeapHand == null ) {
UpdateForNull();
return;
}
if ( vLeapFingerType != null ) {
UpdateForFinger(pLeapHand, (Finger.FingerType)vLeapFingerType);
return;
}
if ( vIsPalm ) {
UpdateForPalm(pLeapHand);
return;
}
throw new Exception("Unhandled CursorType: "+Type);
}
public static void Update()
{
if( m_controller != null )
{
Frame lastFrame = m_Frame == null ? Frame.Invalid : m_Frame;
m_Frame = m_controller.Frame();
if (m_Frame != null)
{
if (m_Frame.Hands.Count > 0)
{
m_Hand = m_Frame.Hands[0];
normal = m_Hand.PalmNormal;
direction = m_Hand.Direction;
}
}
}
}
// Update is called once per frame
void Update()
{
transform.RotateAround(new Vector3(0.0f,1.0f,0.0f),angle);
Leap.Frame frame = controller.Frame();
guiFrame=frame;
if (!frame.Hands.Empty)
{
hand0 = frame.Hands[0];
hand1 = frame.Hands[1];
Leap.FingerList fingers = hand0.Fingers;
if (!fingers.Empty)
{
Leap.Finger firstfinger = fingers[0];
if ((hand1.Fingers.Count) >=3 ){
mustPause=true;
}
mustPause=false;
if (!hand1.IsValid ||(hand1.IsValid && hand1.Fingers.Count<=2) ){
if (mustPause==false && frame.Hands[0].Id != hand1ID){ // (*)<--
//if (scratch==true) if (audio.pitch > 0.0f) audio.pitch-=0.010f;
if (hand0.PalmPosition.x>0 ){
float moveStraightY = hand0.PalmPosition.y;
if (moveStraightY >190) angle = 2.0f;
if (moveStraightY >=130 && moveStraightY<190) {
moveStraightY/=180;
if (moveStraightY>1) moveStraightY=1;
angle = moveStraightY;
}
else {
if (angle > 0.0f) angle -=0.30f;
if (angle <= 0.0f) angle =0.0f;
}
}
}
}
}
}
else {
if (angle<2.0f) angle +=0.086f;
}
}
public static Hand MakeTestHand(int frameId, int handId, bool isLeft){
List<Finger> fingers = new List<Finger>(5);
fingers.Add(MakeThumb (frameId, handId, isLeft));
fingers.Add(MakeIndexFinger (frameId, handId, isLeft));
fingers.Add(MakeMiddleFinger (frameId, handId, isLeft));
fingers.Add(MakeRingFinger (frameId, handId, isLeft));
fingers.Add( MakePinky (frameId, handId, isLeft));
Vector armWrist = new Vector(-7.05809944059f, 4.0f, 50.0f);
Vector elbow = armWrist + 250f * Vector.Backward;
// Adrian: The previous "armBasis" used "elbow" as a translation component.
Arm arm = new Arm(elbow, armWrist,(elbow + armWrist)/2, Vector.Forward, 250f, 41f, LeapQuaternion.Identity);
Hand testHand = new Hand(frameId,
handId,
1.0f,
0.0f,
0.0f,
0.0f,
0.0f,
85f,
isLeft,
0.0f,
arm,
fingers,
new Vector (0,0,0),
new Vector(0,0,0),
new Vector(0,0,0),
Vector.Down,
Vector.Forward,
new Vector(-4.36385750984f, 6.5f, 31.0111342526f)
);
LeapTransform restPosition = LeapTransform.Identity;
//restPosition.rotation = RotationFromTo(Vector.Up, Vector.Left).Multiply(RotationFromTo(Vector.Up, Vector.Left));
restPosition.rotation = AngleAxis(180 * Constants.DEG_TO_RAD, Vector.Forward);
if(isLeft){
restPosition.translation = new Vector(80f, 120f, 0f);
} else {
restPosition.translation = new Vector(-80f, 120f, 0f);
restPosition.MirrorX();
}
return testHand.TransformedCopy(restPosition);
}
public Hand makeHand(ref LEAP_HAND hand, Frame owningFrame)
{
LEAP_BONE arm = LeapC.PtrToStruct<LEAP_BONE>(hand.arm);
Arm newArm = makeArm(ref arm);
LEAP_PALM palm = LeapC.PtrToStruct<LEAP_PALM>(hand.palm);
Hand newHand = new Hand(
(int)owningFrame.Id,
(int)hand.id,
hand.confidence,
hand.grab_strength,
hand.grab_angle,
hand.pinch_strength,
hand.pinch_distance,
palm.width,
hand.type == eLeapHandType.eLeapHandType_Left,
hand.visible_time,
newArm,
new List<Finger>(5),
new Vector(palm.position.x, palm.position.y, palm.position.z),
new Vector(palm.stabilized_position.x, palm.stabilized_position.y, palm.stabilized_position.z),
new Vector(palm.velocity.x, palm.velocity.y, palm.velocity.z),
new Vector(palm.normal.x, palm.normal.y, palm.normal.z),
new Vector(palm.direction.x, palm.direction.y, palm.direction.z),
newArm.NextJoint //wrist position
);
LEAP_DIGIT thumbDigit = LeapC.PtrToStruct<LEAP_DIGIT>(hand.thumb);
newHand.Fingers.Insert(0, makeFinger(owningFrame, ref hand, ref thumbDigit, Finger.FingerType.TYPE_THUMB));
LEAP_DIGIT indexDigit = LeapC.PtrToStruct<LEAP_DIGIT>(hand.index);
newHand.Fingers.Insert(1, makeFinger(owningFrame, ref hand, ref indexDigit, Finger.FingerType.TYPE_INDEX));
LEAP_DIGIT middleDigit = LeapC.PtrToStruct<LEAP_DIGIT>(hand.middle);
newHand.Fingers.Insert(2, makeFinger(owningFrame, ref hand, ref middleDigit, Finger.FingerType.TYPE_MIDDLE));
LEAP_DIGIT ringDigit = LeapC.PtrToStruct<LEAP_DIGIT>(hand.ring);
newHand.Fingers.Insert(3, makeFinger(owningFrame, ref hand, ref ringDigit, Finger.FingerType.TYPE_RING));
LEAP_DIGIT pinkyDigit = LeapC.PtrToStruct<LEAP_DIGIT>(hand.pinky);
newHand.Fingers.Insert(4, makeFinger(owningFrame, ref hand, ref pinkyDigit, Finger.FingerType.TYPE_PINKY));
return newHand;
}
private bool CheckTwoHandGestures(Hand leftHand, Hand rightHand, Action<IEnumerable<Result>> fireNewMotions)
{
var leftHandOld = _startFrame.Hands.Find(h => h.IsLeft);
var rightHandOld = _startFrame.Hands.Find(h => h.IsRight);
var rightToLeftOld = leftHandOld.PalmPosition - rightHandOld.PalmPosition;
var center = rightHandOld.StabilizedPalmPosition +
(rightToLeftOld) /2;
var cmd = new ScaleAndRotate
{
Scale = (leftHand.PalmPosition - rightHand.PalmPosition).MagnitudeSquared / (rightToLeftOld).MagnitudeSquared,
Center = center,
Rotation = Quaternion.Inverse(rightHandOld.Rotation.ToBetterQuaternion()) * rightHand.Rotation.ToBetterQuaternion(),
LeftHand = leftHand.PalmPosition,
RightHand = rightHand.PalmPosition
};
var result = new Result(cmd, 0.9);
fireNewMotions(new List<Result> {result});
return true;
}
/*--------------------------------------------------------------------------------------------*/
internal void Rebuild(Hand pLeapHand) {
if ( pLeapHand == null ) {
IsAvailable = false;
Position = Vector3.zero;
Rotation = Quaternion.identity;
Radius = 0;
NavigateBackStrength = 0;
DisplayStrength = 0;
return;
}
IsAvailable = true;
Position = pLeapHand.PalmPosition.ToUnityScaled();
Rotation = LeapUtil.CalcQuaternion(pLeapHand.Basis); //GC_ALLOC
Radius = 0.01f;
FingerList leapFingers = pLeapHand.Fingers; //GC_ALLOC
for ( int i = 0 ; i < leapFingers.Count ; i++ ) {
Finger leapFinger = leapFingers[i]; //GC_ALLOC
if ( leapFinger == null || !leapFinger.IsValid ) {
continue;
}
Vector3 palmToFinger = leapFinger.TipPosition.ToUnityScaled()-Position; //GC_ALLOC
Bone bone = leapFinger.Bone(Bone.BoneType.TYPE_DISTAL); //GC_ALLOC
Quaternion boneRot = LeapUtil.CalcQuaternion(bone.Basis); //GC_ALLOC
Radius = Math.Max(Radius, palmToFinger.sqrMagnitude);
Rotation = Quaternion.Slerp(Rotation, boneRot, 0.1f);
}
Radius = (float)Math.Sqrt(Radius);
Position += Rotation*Vector3.down*vSettings.DistanceFromPalm*Radius;
NavigateBackStrength = pLeapHand.GrabStrength/vSettings.NavBackGrabThreshold;
NavigateBackStrength = Mathf.Clamp(NavigateBackStrength, 0, 1);
DisplayStrength = Vector3.Dot(pLeapHand.PalmNormal.ToUnity(), vSettings.PalmDirection);
DisplayStrength = Mathf.Clamp((DisplayStrength-0.7f)/0.25f, 0, 1);
}
/**
* MakeHandRepresentation receives a Hand and combines that with an IHandModel to create a HandRepresentation
* @param hand The Leap Hand data to be drive an IHandModel
* @param modelType Filters for a type of hand model, for example, physics or graphics hands.
*/
public override HandRepresentation MakeHandRepresentation(Hand hand, ModelType modelType) {
HandRepresentation handRep = null;
for (int i = 0; i < ModelPool.Count; i++) {
IHandModel model = ModelPool[i];
bool isCorrectHandedness;
Chirality handChirality = hand.IsRight ? Chirality.Right : Chirality.Left;
isCorrectHandedness = model.Handedness == handChirality;
if (!EnforceHandedness || model.Handedness == Chirality.Either) {
isCorrectHandedness = true;
}
bool isCorrectModelType;
isCorrectModelType = model.HandModelType == modelType;
if (isCorrectModelType && isCorrectHandedness) {
ModelPool.RemoveAt(i);
handRep = new HandProxy(this, model, hand);
break;
}
}
return handRep;
}
/// <summary>
/// Builds the hand.
/// </summary>
/// <returns>The hand.</returns>
/// <param name="hand">Hand.</param>
/// <param name="side">Side.</param>
private static IList<IJoint> BuildHand(Hand hand, int side)
{
var handJoint = new OrientedJoint();
if (!hand.IsValid)
{
return new IJoint[]{handJoint};
}
var palmNormal = hand.PalmNormal;
var handPosition = hand.PalmPosition;
handJoint.Orientation = new Vector4(palmNormal.x, palmNormal.y, palmNormal.z, 0);
handJoint.Point = new Vector3(0, 0, -100);
var joints = new List<IJoint> { handJoint };
var fingers = hand.Fingers;
joints.AddRange(from t in fingers let normal = t.Direction let position = t.TipPosition - handPosition select CreateFinger(position, normal, FingerType2JointType(t.Type(), side)));
handJoint.Valid = true;
return joints;
}
public static Hand MakeTestHand(int frameId, int handId, bool isLeft)
{
FingerList fingers = new FingerList(5);
fingers.Add(MakeThumb (frameId, handId));
fingers.Add(MakeIndexFinger (frameId, handId));
fingers.Add(MakeMiddleFinger (frameId, handId));
fingers.Add(MakeRingFinger (frameId, handId));
fingers.Add( MakePinky (frameId, handId));
Vector armWrist = new Vector(-7.05809944059f, 4.0f, 50.0f);
Vector elbow = armWrist + 250f * Vector.Backward;
Matrix armBasis = new Matrix(Vector.Right, Vector.Down, Vector.Forward);
Arm arm = new Arm(elbow,armWrist,(elbow + armWrist)/2, Vector.Forward, 250f, 41f, Bone.BoneType.TYPE_DISTAL, armBasis);
Hand testHand = new Hand(frameId,
handId,
1.0f,
0.0f,
0.0f,
0.0f,
0.0f,
85f,
isLeft,
0.0f,
arm,
fingers,
new Vector (0,0,0),
new Vector(0,0,0),
new Vector(0,0,0),
Vector.Down,
Vector.Backward,
new Vector(-4.36385750984f, 6.5f, 31.0111342526f)
);
if(isLeft){
return testHand;
} else {
Matrix leftToRight = new Matrix(Vector.Right, Vector.Up, Vector.Forward);
return testHand.TransformedCopy(leftToRight);
}
}