/// <summary>
/// Adds keyframe data into these VectorHandCurves at the specified time using the
/// provided hand data.
/// </summary>
public void AddKeyframes(float time, Hand hand)
{
bool isTracked = hand != null;
isTrackedCurve.AddBooleanKey(time, isTracked);
if (isTracked)
{
VectorHand vectorHand = Pool <VectorHand> .Spawn();
try {
vectorHand.Encode(hand);
palmPosCurves.AddKeyframes(time, vectorHand.palmPos);
palmRotCurves.AddKeyframes(time, vectorHand.palmRot);
for (int i = 0; i < VectorHand.NUM_JOINT_POSITIONS; i++)
{
jointPositionCurves[i].AddKeyframes(time, vectorHand.jointPositions[i]);
}
}
finally {
Pool <VectorHand> .Recycle(vectorHand);
}
}
}
/// <summary>
/// Encodes a Leap hand into a VectorHand representation.
/// </summary>
public static void Encode(Hand hand, ref VectorHand toVectorHand)
{
toVectorHand.isLeft = hand.IsLeft;
toVectorHand.palmPos = hand.PalmPosition.ToVector3();
toVectorHand.palmRot = hand.Rotation.ToQuaternion();
if (toVectorHand.jointPositions == null || toVectorHand.jointPositions.Length != NUM_JOINT_POSITIONS)
{
toVectorHand.jointPositions = new Vector3[NUM_JOINT_POSITIONS];
}
int boneIdx = 0;
for (int i = 0; i < 5; i++)
{
Vector3 baseMetacarpal = ToLocal(hand.Fingers[i].bones[0].PrevJoint.ToVector3(),
toVectorHand.palmPos, toVectorHand.palmRot);
toVectorHand.jointPositions[boneIdx++] = baseMetacarpal;
for (int j = 0; j < 4; j++)
{
Vector3 joint = ToLocal(hand.Fingers[i].bones[j].NextJoint.ToVector3(),
toVectorHand.palmPos, toVectorHand.palmRot);
toVectorHand.jointPositions[boneIdx++] = joint;
}
}
}
/// <summary>
/// Samples hand curve data into the provided hand object at the specified time.
///
/// If the hand is not tracked at the specified time, the function returns false,
/// although hand data is still copied (via interpolation).
/// </summary>
public bool Sample(float time, Hand intoHand, bool isLeft)
{
bool isTracked = isTrackedCurve.Evaluate(time) > 0.5f;
VectorHand vectorHand = Pool <VectorHand> .Spawn();
try
{
vectorHand.isLeft = isLeft;
vectorHand.palmPos = palmPosCurves.Evaluate(time);
vectorHand.palmRot = palmRotCurves.Evaluate(time);
for (int i = 0; i < VectorHand.NUM_JOINT_POSITIONS; i++)
{
vectorHand.jointPositions[i] = jointPositionCurves[i].Evaluate(time);
}
vectorHand.Decode(intoHand);
// Fill temporal data if we have a hand from the previous sampling.
if (_lastHand != null)
{
intoHand.FillTemporalData(_lastHand, Time.deltaTime);
_lastHand.CopyFrom(intoHand);
}
else
{
_lastHand = new Hand();
}
}
finally
{
Pool <VectorHand> .Recycle(vectorHand);
}
return(isTracked);
}
/// <summary>
/// Decodes a VectorHand representation into a Leap hand.
/// </summary>
public static void Decode(ref VectorHand vectorHand, Hand toHand)
{
int boneIdx = 0;
Vector3 prevJoint = Vector3.zero;
Vector3 nextJoint = Vector3.zero;
Quaternion boneRot = Quaternion.identity;
var isLeft = vectorHand.isLeft;
var palmPos = vectorHand.palmPos;
var palmRot = vectorHand.palmRot;
var jointPositions = vectorHand.jointPositions;
// Fill fingers.
for (int fingerIdx = 0; fingerIdx < 5; fingerIdx++)
{
for (int jointIdx = 0; jointIdx < 4; jointIdx++)
{
boneIdx = fingerIdx * 4 + jointIdx;
prevJoint = jointPositions[fingerIdx * 5 + jointIdx];
nextJoint = jointPositions[fingerIdx * 5 + jointIdx + 1];
if ((nextJoint - prevJoint).normalized == Vector3.zero)
{
// Thumb "metacarpal" slot is an identity bone.
boneRot = Quaternion.identity;
}
else
{
boneRot = Quaternion.LookRotation((nextJoint - prevJoint).normalized,
Vector3.Cross((nextJoint - prevJoint).normalized,
(fingerIdx == 0 ?
(isLeft ? -Vector3.up : Vector3.up)
: Vector3.right)));
}
// Convert to world space from palm space.
nextJoint = ToWorld(nextJoint, palmPos, palmRot);
prevJoint = ToWorld(prevJoint, palmPos, palmRot);
boneRot = palmRot * boneRot;
toHand.GetBone(boneIdx).Fill(prevJoint: prevJoint.ToVector(),
nextJoint: nextJoint.ToVector(),
center: ((nextJoint + prevJoint) / 2f).ToVector(),
direction: (palmRot * Vector3.forward).ToVector(),
length: (prevJoint - nextJoint).magnitude,
width: 0.01f,
type: (Bone.BoneType)jointIdx,
rotation: boneRot.ToLeapQuaternion());
}
toHand.Fingers[fingerIdx].Fill(frameId: -1,
handId: (isLeft ? 0 : 1),
fingerId: fingerIdx,
timeVisible: Time.time,
tipPosition: nextJoint.ToVector(),
tipVelocity: Vector.Zero,
direction: (boneRot * Vector3.forward).ToVector(),
stabilizedTipPosition: nextJoint.ToVector(),
width: 1f,
length: 1f,
isExtended: true,
type: (Finger.FingerType)fingerIdx);
}
// Fill arm data.
toHand.Arm.Fill(ToWorld(new Vector3(0f, 0f, -0.3f), palmPos, palmRot).ToVector(),
ToWorld(new Vector3(0f, 0f, -0.055f), palmPos, palmRot).ToVector(),
ToWorld(new Vector3(0f, 0f, -0.125f), palmPos, palmRot).ToVector(),
Vector.Zero,
0.3f,
0.05f,
(palmRot).ToLeapQuaternion());
// Finally, fill hand data.
toHand.Fill(frameID: -1,
id: (isLeft ? 0 : 1),
confidence: 1f,
grabStrength: 0.5f,
grabAngle: 100f,
pinchStrength: 0.5f,
pinchDistance: 50f,
palmWidth: 0.085f,
isLeft: isLeft,
timeVisible: 1f,
fingers: null /* already uploaded finger data */,
palmPosition: palmPos.ToVector(),
stabilizedPalmPosition: palmPos.ToVector(),
palmVelocity: Vector3.zero.ToVector(),
palmNormal: (palmRot * Vector3.down).ToVector(),
rotation: (palmRot.ToLeapQuaternion()),
direction: (palmRot * Vector3.forward).ToVector(),
wristPosition: ToWorld(new Vector3(0f, 0f, -0.055f), palmPos, palmRot).ToVector());
}
