/**
* Copies the data from an internal finger definition into a finger.
*
* @param leapBone The internal finger definition to be copied into this finger.
* @param type The finger type of this finger.
* @param frameId The frame id of the frame this finger belongs to.
* @param handId The hand id of the hand this finger belongs to.
* @param timeVisible The time in seconds that this finger has been visible.
*/
public static Finger CopyFrom(this Finger finger, LEAP_DIGIT leapBone, Finger.FingerType type, int handId, float timeVisible)
{
finger.Id = (handId * 10) + leapBone.finger_id;
finger.HandId = handId;
finger.TimeVisible = timeVisible;
Bone metacarpal = finger.bones[0];
Bone proximal = finger.bones[1];
Bone intermediate = finger.bones[2];
Bone distal = finger.bones[3];
metacarpal.CopyFrom(leapBone.metacarpal, Leap.Bone.BoneType.TYPE_METACARPAL);
proximal.CopyFrom(leapBone.proximal, Leap.Bone.BoneType.TYPE_PROXIMAL);
intermediate.CopyFrom(leapBone.intermediate, Leap.Bone.BoneType.TYPE_INTERMEDIATE);
distal.CopyFrom(leapBone.distal, Leap.Bone.BoneType.TYPE_DISTAL);
finger.TipPosition = distal.NextJoint;
finger.Direction = intermediate.Direction;
finger.Width = intermediate.Width;
finger.Length = (leapBone.finger_id == 0 ? 0.0f : 0.5f * proximal.Length) + intermediate.Length + 0.77f * distal.Length; //The values 0.5 for proximal and 0.77 for distal are used in platform code for this calculation
finger.IsExtended = leapBone.is_extended != 0;
finger.Type = type;
return(finger);
}
public Finger makeFinger(Frame owner, ref LEAP_HAND hand, ref LEAP_DIGIT digit, Finger.FingerType type)
{
Bone metacarpal = makeBone(ref digit.metacarpal, Bone.BoneType.TYPE_METACARPAL);
Bone proximal = makeBone(ref digit.proximal, Bone.BoneType.TYPE_PROXIMAL);
Bone intermediate = makeBone(ref digit.intermediate, Bone.BoneType.TYPE_INTERMEDIATE);
Bone distal = makeBone(ref digit.distal, Bone.BoneType.TYPE_DISTAL);
return(new Finger((int)owner.Id,
(int)hand.id,
(int)digit.finger_id,
hand.visible_time,
distal.NextJoint,
new Vector(digit.tip_velocity.x, digit.tip_velocity.y, digit.tip_velocity.z),
intermediate.Direction,
new Vector(digit.stabilized_tip_position.x, digit.stabilized_tip_position.y, digit.stabilized_tip_position.z),
intermediate.Width,
proximal.Length + intermediate.Length + (distal.Length * 0.77f), //0.77 is used in platform code for this calculation
digit.is_extended != 0,
type,
metacarpal,
proximal,
intermediate,
distal
));
}
/**
* Copies the data from an internal finger definition into a finger.
*
* @param leapBone The internal finger definition to be copied into this finger.
* @param type The finger type of this finger.
* @param frameId The frame id of the frame this finger belongs to.
* @param handId The hand id of the hand this finger belongs to.
* @param timeVisible The time in seconds that this finger has been visible.
*/
public static Finger CopyFrom(this Finger finger, LEAP_DIGIT leapBone, Finger.FingerType type, int handId, float timeVisible)
{
finger.Id = (handId * 10) + leapBone.finger_id;
finger.HandId = handId;
finger.TimeVisible = timeVisible;
Bone metacarpal = finger.bones[0];
Bone proximal = finger.bones[1];
Bone intermediate = finger.bones[2];
Bone distal = finger.bones[3];
metacarpal.CopyFrom(leapBone.metacarpal, Leap.Bone.BoneType.TYPE_METACARPAL);
proximal.CopyFrom(leapBone.proximal, Leap.Bone.BoneType.TYPE_PROXIMAL);
intermediate.CopyFrom(leapBone.intermediate, Leap.Bone.BoneType.TYPE_INTERMEDIATE);
distal.CopyFrom(leapBone.distal, Leap.Bone.BoneType.TYPE_DISTAL);
finger.TipPosition = distal.NextJoint;
finger.TipVelocity = leapBone.tip_velocity.ToLeapVector();
finger.Direction = intermediate.Direction;
finger.StabilizedTipPosition = leapBone.stabilized_tip_position.ToLeapVector();
finger.Width = intermediate.Width;
finger.Length = proximal.Length + intermediate.Length + (distal.Length * 0.77f); //0.77 is used in platform code for this calculation
finger.IsExtended = leapBone.is_extended != 0;
finger.Type = type;
return(finger);
}
public static LEAP_DIGIT CreateDigit(Finger finger) {
LEAP_DIGIT digit = new LEAP_DIGIT();
digit.finger_id = finger.Id;
digit.metacarpal = CreateBone(finger.Bone(Bone.BoneType.TYPE_METACARPAL));
digit.proximal = CreateBone(finger.Bone(Bone.BoneType.TYPE_PROXIMAL));
digit.intermediate = CreateBone(finger.Bone(Bone.BoneType.TYPE_INTERMEDIATE));
digit.distal = CreateBone(finger.Bone(Bone.BoneType.TYPE_DISTAL));
digit.tip_velocity = new LEAP_VECTOR(finger.TipVelocity);
digit.stabilized_tip_position = Vector3.zero.ToCVector(); //HACK: stabilized position is sometimes NaN, ignore it
digit.is_extended = finger.IsExtended ? 1 : 0;
return digit;
}
public Hand makeHand(ref LEAP_HAND hand, Frame owningFrame)
{
LEAP_BONE arm = StructMarshal <LEAP_BONE> .PtrToStruct(hand.arm);
Arm newArm = makeArm(ref arm);
LEAP_PALM palm = StructMarshal <LEAP_PALM> .PtrToStruct(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 = StructMarshal <LEAP_DIGIT> .PtrToStruct(hand.thumb);
newHand.Fingers.Insert(0, makeFinger(owningFrame, ref hand, ref thumbDigit, Finger.FingerType.TYPE_THUMB));
LEAP_DIGIT indexDigit = StructMarshal <LEAP_DIGIT> .PtrToStruct(hand.index);
newHand.Fingers.Insert(1, makeFinger(owningFrame, ref hand, ref indexDigit, Finger.FingerType.TYPE_INDEX));
LEAP_DIGIT middleDigit = StructMarshal <LEAP_DIGIT> .PtrToStruct(hand.middle);
newHand.Fingers.Insert(2, makeFinger(owningFrame, ref hand, ref middleDigit, Finger.FingerType.TYPE_MIDDLE));
LEAP_DIGIT ringDigit = StructMarshal <LEAP_DIGIT> .PtrToStruct(hand.ring);
newHand.Fingers.Insert(3, makeFinger(owningFrame, ref hand, ref ringDigit, Finger.FingerType.TYPE_RING));
LEAP_DIGIT pinkyDigit = StructMarshal <LEAP_DIGIT> .PtrToStruct(hand.pinky);
newHand.Fingers.Insert(4, makeFinger(owningFrame, ref hand, ref pinkyDigit, Finger.FingerType.TYPE_PINKY));
return(newHand);
}
public Finger makeFinger(Frame owner, ref LEAP_HAND hand, ref LEAP_DIGIT digit, Finger.FingerType type)
{
Bone metacarpal = makeBone(ref digit.metacarpal, Bone.BoneType.TYPE_METACARPAL);
Bone proximal = makeBone(ref digit.proximal, Bone.BoneType.TYPE_PROXIMAL);
Bone intermediate = makeBone(ref digit.intermediate, Bone.BoneType.TYPE_INTERMEDIATE);
Bone distal = makeBone(ref digit.distal, Bone.BoneType.TYPE_DISTAL);
return new Finger((int)owner.Id,
(int)hand.id,
(int)digit.finger_id,
hand.visible_time,
distal.NextJoint,
new Vector(digit.tip_velocity.x, digit.tip_velocity.y, digit.tip_velocity.z),
intermediate.Direction,
new Vector(digit.stabilized_tip_position.x, digit.stabilized_tip_position.y, digit.stabilized_tip_position.z),
intermediate.Width,
proximal.Length + intermediate.Length + (distal.Length * 0.77f), //0.77 is used in platform code for this calculation
digit.is_extended != 0,
type,
metacarpal,
proximal,
intermediate,
distal
);
}
