/**
* Returns a copy of this Hand object transformed by the specifid transform matrix.
*/
public Hand TransformedCopy(Matrix trs)
{
List <Finger> transformedFingers = new List <Finger>(5);
for (int f = 0; f < this.Fingers.Count; f++)
{
transformedFingers.Add(Fingers[f].TransformedCopy(trs));
}
float hScale = trs.xBasis.Magnitude;
return(new Hand(
FrameId,
Id,
Confidence,
GrabStrength,
GrabAngle,
PinchStrength,
PinchDistance,
PalmWidth * hScale,
IsLeft,
TimeVisible,
Arm.TransformedCopy(trs),
transformedFingers,
trs.TransformPoint(PalmPosition),
trs.TransformPoint(StabilizedPalmPosition),
trs.TransformPoint(PalmVelocity),
trs.TransformDirection(PalmNormal).Normalized,
trs.TransformDirection(Direction).Normalized,
trs.TransformPoint(WristPosition)
));
}
public Hand TransformedCopy(Matrix trs)
{
FingerList transformedFingers = new FingerList(5);
for (int f = 0; f < this.Fingers.Count; f++)
{
transformedFingers.Add(Fingers[f].TransformedCopy(trs));
}
float hScale = trs.xBasis.Magnitude;
return(new Hand(_frameId,
_id,
_confidence,
_grabStrength,
_grabAngle,
_pinchStrength,
_pinchDistance,
_palmWidth * hScale,
_isLeft,
_timeVisible,
_arm.TransformedCopy(trs),
transformedFingers,
trs.TransformPoint(_palmPosition),
trs.TransformPoint(_stabilizedPalmPosition),
trs.TransformPoint(_palmVelocity),
trs.TransformDirection(_palmNormal).Normalized,
trs.TransformDirection(_direction).Normalized,
trs.TransformPoint(_wristPosition)
));
}
/**
* Creates a copy of this arm, transformed by the specified transform.
*
* @param trs A Matrix containing the desired translation, rotation, and scale
* of the copied arm.
* @since 3.0
*/
public new Arm TransformedCopy(Matrix trs)
{
float dScale = trs.zBasis.Magnitude;
float hScale = trs.xBasis.Magnitude;
return new Arm(trs.TransformPoint(PrevJoint),
trs.TransformPoint(NextJoint),
trs.TransformPoint(Center),
trs.TransformDirection(Direction),
Length * dScale,
Width * hScale,
trs * Basis);
}
/**
* Creates a copy of this arm, transformed by the specified transform.
*
* @param trs A Matrix containing the desired translation, rotation, and scale
* of the copied arm.
* @since 3.0
*/
public new Arm TransformedCopy(Matrix trs)
{
float dScale = trs.zBasis.Magnitude;
float hScale = trs.xBasis.Magnitude;
return(new Arm(trs.TransformPoint(PrevJoint),
trs.TransformPoint(NextJoint),
trs.TransformPoint(Center),
trs.TransformDirection(Direction),
Length * dScale,
Width * hScale,
trs * Basis));
}
public Bone TransformedCopy(Matrix trs)
{
float dScale = trs.zBasis.Magnitude;
float hScale = trs.xBasis.Magnitude;
return(new Bone(trs.TransformPoint(_prevJoint),
trs.TransformPoint(_nextJoint),
trs.TransformPoint(_center),
trs.TransformDirection(_direction).Normalized,
_length * dScale,
_width * hScale,
_type,
trs * _basis));
}
/**
* Creates a copy of this bone, transformed by the specified transform.
*
* @param trs A Matrix containing the desired translation, rotation, and scale
* of the copied bone.
* @since 3.0
*/
public Bone TransformedCopy(Matrix trs)
{
float dScale = trs.zBasis.Magnitude;
float hScale = trs.xBasis.Magnitude;
return(new Bone(trs.TransformPoint(PrevJoint),
trs.TransformPoint(NextJoint),
trs.TransformPoint(Center),
trs.TransformDirection(Direction).Normalized,
Length * dScale,
Width * hScale,
Type,
trs * Basis));
}
/**
* Creates a copy of this finger, transformed by the specified transform.
*
* @param trs A Matrix containing the desired translation, rotation, and scale
* of the copied finger.
* @since 3.0
*/
public Finger TransformedCopy(Matrix trs)
{
float dScale = trs.zBasis.Magnitude;
float hScale = trs.xBasis.Magnitude;
return(new Finger(_frameId,
HandId,
Id,
TimeVisible,
trs.TransformPoint(TipPosition),
trs.TransformPoint(TipVelocity),
trs.TransformDirection(Direction).Normalized,
trs.TransformPoint(StabilizedTipPosition),
Width * hScale,
Length * dScale,
IsExtended,
Type,
_bones[0].TransformedCopy(trs),
_bones[1].TransformedCopy(trs),
_bones[2].TransformedCopy(trs),
_bones[3].TransformedCopy(trs)));
}
public Finger TransformedCopy(Matrix trs)
{
float dScale = trs.zBasis.Magnitude;
float hScale = trs.xBasis.Magnitude;
return(new Finger(_frameId,
_handID,
_id,
_timeVisible,
trs.TransformPoint(_tipPosition),
trs.TransformPoint(_tipVelocity),
trs.TransformDirection(_direction).Normalized,
trs.TransformPoint(_stabilizedTipPosition),
_width * hScale,
_length * dScale,
_isExtended,
_type,
_bones[0].TransformedCopy(trs),
_bones[1].TransformedCopy(trs),
_bones[2].TransformedCopy(trs),
_bones[3].TransformedCopy(trs)));
}
/// <summary>
/// Update joint positions based on finger positions
/// </summary>
void UpdateJoints()
{
Vector3 angle;
float seekSpeed = Time.deltaTime * 20;
float returnSpeed = Time.deltaTime * 4;
Vector3 rotation;
List<int> fingerIDs = new List<int>(unityHand.leapFingers.Keys);
handTransform = unityHand.detectedFingers.handTransform;
// Update Visible Fingers
foreach (int i in fingerIDs)
{
Vector3 transformedPosition = handTransform.TransformPoint(unityHand.leapFingers[i].TipPosition).ToUnityScaled();
Vector basePosition = -unityHand.leapFingers[i].Direction * unityHand.leapFingers[i].Length;
basePosition += unityHand.leapFingers[i].TipPosition;
//angle = Quaternion.FromToRotation(Vector3.forward + baseTransformedPosition, transformedPosition).eulerAngles;
angle = Quaternion.FromToRotation(Vector3.forward, transformedPosition).eulerAngles;
rotation = joints[i].localEulerAngles;
rotation.x = Mathf.LerpAngle(rotation.x, angle.x, seekSpeed);
rotation.y = Mathf.LerpAngle(rotation.y, angle.y, seekSpeed);
rotation.z = Mathf.LerpAngle(rotation.z, angle.z, seekSpeed);
joints[i].localEulerAngles = rotation;
}
// Update Missing Fingers
for (int i = 0; i < 5; i++)
{
if (!unityHand.leapFingers.ContainsKey(i))
{
rotation = joints[i].localEulerAngles;
rotation.x = Mathf.LerpAngle(rotation.x, 90, returnSpeed);
rotation.y = Mathf.LerpAngle(rotation.y, 0, returnSpeed);
rotation.z = Mathf.LerpAngle(rotation.z, 0, returnSpeed);
joints[i].localEulerAngles = rotation;
}
}
}
public Bone TransformedCopy(Matrix trs)
{
float dScale = trs.zBasis.Magnitude;
float hScale = trs.xBasis.Magnitude;
return new Bone(trs.TransformPoint(_prevJoint),
trs.TransformPoint(_nextJoint),
trs.TransformPoint(_center),
trs.TransformDirection(_direction).Normalized,
_length * dScale,
_width * hScale,
_type,
trs * _basis);
}
/**
* Creates a copy of this finger, transformed by the specified transform.
*
* @param trs A Matrix containing the desired translation, rotation, and scale
* of the copied finger.
* @since 3.0
*/
public Finger TransformedCopy(Matrix trs)
{
float dScale = trs.zBasis.Magnitude;
float hScale = trs.xBasis.Magnitude;
return new Finger(_frameId,
HandId,
Id,
TimeVisible,
trs.TransformPoint(TipPosition),
trs.TransformPoint(TipVelocity),
trs.TransformDirection(Direction).Normalized,
trs.TransformPoint(StabilizedTipPosition),
Width * hScale,
Length * dScale,
IsExtended,
Type,
_bones[0].TransformedCopy(trs),
_bones[1].TransformedCopy(trs),
_bones[2].TransformedCopy(trs),
_bones[3].TransformedCopy(trs));
}
/**
* Converts a Leap Matrix object representing a translation to a
* Unity Vector3 object.
*
* @param matrix The Leap.Matrix to convert.
* @param mirror If true, the operation is reflected along the z axis.
*/
public static Vector3 Translation(this Matrix matrix, bool mirror = false)
{
return(matrix.TransformPoint(LEAP_ORIGIN).ToUnityScaled(mirror));
}
public Hand TransformedCopy(Matrix trs)
{
List<Finger> transformedFingers = new List<Finger>(5);
for (int f = 0; f < this.Fingers.Count; f++)
transformedFingers.Add(Fingers[f].TransformedCopy(trs));
float hScale = trs.xBasis.Magnitude;
return new Hand(
FrameId,
Id,
Confidence,
GrabStrength,
GrabAngle,
PinchStrength,
PinchDistance,
PalmWidth * hScale,
IsLeft,
TimeVisible,
Arm.TransformedCopy(trs),
transformedFingers,
trs.TransformPoint(PalmPosition),
trs.TransformPoint(StabilizedPalmPosition),
trs.TransformPoint(PalmVelocity),
trs.TransformDirection(PalmNormal).Normalized,
trs.TransformDirection(Direction).Normalized,
trs.TransformPoint(WristPosition)
);
}
public Hand TransformedCopy(Matrix trs)
{
FingerList transformedFingers = new FingerList(5);
for(int f = 0; f < this.Fingers.Count; f++)
transformedFingers.Add(Fingers[f].TransformedCopy(trs));
float hScale = trs.xBasis.Magnitude;
return new Hand(_frameId,
_id,
_confidence,
_grabStrength,
_grabAngle,
_pinchStrength,
_pinchDistance,
_palmWidth * hScale,
_isLeft,
_timeVisible,
_arm.TransformedCopy(trs),
transformedFingers,
trs.TransformPoint(_palmPosition),
trs.TransformPoint(_stabilizedPalmPosition),
trs.TransformPoint(_palmVelocity),
trs.TransformDirection(_palmNormal).Normalized,
trs.TransformDirection(_direction).Normalized,
trs.TransformPoint(_wristPosition)
);
}
// Convert Leap Matrix into Unity Translation.
public static Vector3 Translation(this Matrix matrix)
{
return(matrix.TransformPoint(LEAP_ORIGIN).ToUnityScaled());
}
public Finger TransformedCopy(Matrix trs)
{
float dScale = trs.zBasis.Magnitude;
float hScale = trs.xBasis.Magnitude;
return new Finger(_frameId,
_handID,
_id,
_timeVisible,
trs.TransformPoint(_tipPosition),
trs.TransformPoint(_tipVelocity),
trs.TransformDirection(_direction).Normalized,
trs.TransformPoint(_stabilizedTipPosition),
_width * hScale,
_length * dScale,
_isExtended,
_type,
_bones[0].TransformedCopy(trs),
_bones[1].TransformedCopy(trs),
_bones[2].TransformedCopy(trs),
_bones[3].TransformedCopy(trs));
}
/**
* Creates a copy of this bone, transformed by the specified transform.
*
* @param trs A Matrix containing the desired translation, rotation, and scale
* of the copied bone.
* @since 3.0
*/
public Bone TransformedCopy(Matrix trs)
{
float dScale = trs.zBasis.Magnitude;
float hScale = trs.xBasis.Magnitude;
return new Bone(trs.TransformPoint(PrevJoint),
trs.TransformPoint(NextJoint),
trs.TransformPoint(Center),
trs.TransformDirection(Direction).Normalized,
Length * dScale,
Width * hScale,
Type,
trs * Basis);
}
