protected void ConvertMagicLeapKeyPoint(MLKeyPoint keyPoint, TrackedHandJoint joint)
{
if (keyPoint.IsSupported)
{
var position = keyPoint.Position;
UpdateJointPose(joint, position, Quaternion.identity);
}
}
/// <summary>
/// Create a GameObject for the desired KeyPoint.
/// </summary>
/// <param name="keyPoint"></param>
/// <returns></returns>
private GameObject CreateKeyPoint(MLKeyPoint keyPoint, Color color)
{
GameObject newObject;
newObject = GameObject.CreatePrimitive(PrimitiveType.Sphere);
newObject.transform.SetParent(transform);
newObject.transform.localScale = new Vector3(0.01f, 0.01f, 0.01f);
newObject.name = keyPoint.ToString();
newObject.GetComponent <Renderer>().material.color = color;
return(newObject);
}
private Quaternion GetOrientation(MLKeyPoint wristCenter, params MLKeyPoint[] hand)
{
if (handShape.Length != hand.Length)
{
handShape = new Vector3[hand.Length];
}
for (var i = 0; i < hand.Length; ++i)
{
handShape[i] = (hand[i].Position - wristCenter.Position).normalized;
}
var forward = Vector3.zero;
var up = Vector3.zero;
for (var i = 0; i < handShape.Length - 1; ++i)
{
var j = i + 1;
var a = handShape[i];
var b = handShape[j];
forward += Vector3.Cross(a, b);
up += a;
}
if (IsRightHand)
{
forward *= -1;
}
forward.Normalize();
up.Normalize();
var q = Quaternion.LookRotation(forward, up);
var right = Vector3.Cross(forward, up);
var twist = Quaternion.AngleAxis(twistHand, forward);
var raise = Quaternion.AngleAxis(raiseHand, right);
var rot = Quaternion.AngleAxis(rotateHand, up);
return(raise * rot * twist * q);
}
