public Bone makeBone(ref LEAP_BONE bone, Bone.BoneType type)
{
Vector prevJoint = new Vector(bone.prev_joint.x, bone.prev_joint.y, bone.prev_joint.z);
Vector nextJoint = new Vector(bone.next_joint.x, bone.next_joint.y, bone.next_joint.z);
Vector center = (nextJoint + prevJoint) * .5f;
float length = (nextJoint - prevJoint).Magnitude;
Vector direction = (nextJoint - prevJoint) / length;
LeapQuaternion rotation = new LeapQuaternion(bone.rotation);
return new Bone(prevJoint, nextJoint, center, direction, length, bone.width, type, rotation);
}
public Bone makeBone(ref LEAP_BONE bone, Bone.BoneType type)
{
Vector prevJoint = new Vector(bone.prev_joint.x, bone.prev_joint.y, bone.prev_joint.z);
Vector nextJoint = new Vector(bone.next_joint.x, bone.next_joint.y, bone.next_joint.z);
Vector center = (nextJoint + prevJoint) * .5f;
float length = (nextJoint - prevJoint).Magnitude;
Vector direction = (nextJoint - prevJoint) / length;
LeapQuaternion rotation = new LeapQuaternion(bone.rotation);
return(new Bone(prevJoint, nextJoint, center, direction, length, bone.width, type, rotation));
}
public Arm makeArm(ref LEAP_BONE bone)
{
Vector prevJoint = new Vector(bone.prev_joint.x, bone.prev_joint.y, bone.prev_joint.z);
Vector nextJoint = new Vector(bone.next_joint.x, bone.next_joint.y, bone.next_joint.z);
Vector center = (nextJoint + prevJoint) * .5f;
float length = (nextJoint - prevJoint).Magnitude;
Vector direction = Vector.Zero;
if (length > 0)
direction = (nextJoint - prevJoint) / length;
LeapQuaternion rotation = new LeapQuaternion(bone.rotation);
return new Arm(prevJoint, nextJoint, center, direction, length, bone.width, rotation);
}
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 Arm makeArm(ref LEAP_BONE bone)
{
Vector prevJoint = new Vector(bone.prev_joint.x, bone.prev_joint.y, bone.prev_joint.z);
Vector nextJoint = new Vector(bone.next_joint.x, bone.next_joint.y, bone.next_joint.z);
Vector center = (nextJoint + prevJoint) * .5f;
float length = (nextJoint - prevJoint).Magnitude;
Vector direction = Vector.Zero;
if (length > 0)
{
direction = (nextJoint - prevJoint) / length;
}
LeapQuaternion rotation = new LeapQuaternion(bone.rotation);
return(new Arm(prevJoint, nextJoint, center, direction, length, bone.width, rotation));
}
/**
* Copies the data from an internal bone definition into a bone.
*
* @param leapBone The internal bone definition to be copied into this bone.
* @param type The bone type of this bone.
*/
public static Bone CopyFrom(this Bone bone, LEAP_BONE leapBone, Bone.BoneType type) {
bone.Type = type;
bone.PrevJoint = leapBone.prev_joint.ToLeapVector();
bone.NextJoint = leapBone.next_joint.ToLeapVector();
bone.Direction = (bone.NextJoint - bone.PrevJoint);
bone.Length = bone.Direction.Magnitude;
if (bone.Length < float.Epsilon) {
bone.Direction = Vector.Zero;
} else {
bone.Direction /= bone.Length;
}
bone.Center = (bone.PrevJoint + bone.NextJoint) / 2.0f;
bone.Rotation = leapBone.rotation.ToLeapQuaternion();
bone.Width = leapBone.width;
return bone;
}
public Bone makeBone(ref LEAP_BONE bone, Bone.BoneType type)
{
Vector prevJoint = new Vector(bone.prev_joint.x, bone.prev_joint.y, bone.prev_joint.z);
Vector nextJoint = new Vector(bone.next_joint.x, bone.next_joint.y, bone.next_joint.z);
Vector center = (nextJoint + prevJoint) * .5f;
float length = (nextJoint - prevJoint).Magnitude;
Vector direction = (nextJoint - prevJoint) / length;
Matrix basis = new Matrix(bone.basis.x_basis.x,
bone.basis.x_basis.y,
bone.basis.x_basis.z,
bone.basis.y_basis.x,
bone.basis.y_basis.y,
bone.basis.y_basis.z,
bone.basis.z_basis.x,
bone.basis.z_basis.y,
bone.basis.z_basis.z);
return(new Bone(prevJoint, nextJoint, center, direction, length, bone.width, type, basis));
}
public Arm makeArm(ref LEAP_BONE bone)
{
Vector prevJoint = new Vector(bone.prev_joint.x, bone.prev_joint.y, bone.prev_joint.z);
Vector nextJoint = new Vector(bone.next_joint.x, bone.next_joint.y, bone.next_joint.z);
Vector center = (nextJoint + prevJoint) * .5f;
float length = (nextJoint - prevJoint).Magnitude;
Vector direction = Vector.Zero;
if (length > 0)
{
direction = (nextJoint - prevJoint) / length;
}
Matrix basis = new Matrix(bone.basis.x_basis.x,
bone.basis.x_basis.y,
bone.basis.x_basis.z,
bone.basis.y_basis.x,
bone.basis.y_basis.y,
bone.basis.y_basis.z,
bone.basis.z_basis.x,
bone.basis.z_basis.y,
bone.basis.z_basis.z);
return(new Arm(prevJoint, nextJoint, center, direction, length, bone.width, basis));
}
public Bone makeBone(ref LEAP_BONE bone, Bone.BoneType type)
{
Vector prevJoint = new Vector(bone.prev_joint.x, bone.prev_joint.y, bone.prev_joint.z);
Vector nextJoint = new Vector(bone.next_joint.x, bone.next_joint.y, bone.next_joint.z);
Vector center = (nextJoint + prevJoint) * .5f;
float length = (nextJoint - prevJoint).Magnitude;
Vector direction = (nextJoint - prevJoint) / length;
Matrix basis = new Matrix(bone.basis.x_basis.x,
bone.basis.x_basis.y,
bone.basis.x_basis.z,
bone.basis.y_basis.x,
bone.basis.y_basis.y,
bone.basis.y_basis.z,
bone.basis.z_basis.x,
bone.basis.z_basis.y,
bone.basis.z_basis.z);
return new Bone(prevJoint, nextJoint, center, direction, length, bone.width, type, basis);
}
public Arm makeArm(ref LEAP_BONE bone)
{
Vector prevJoint = new Vector(bone.prev_joint.x, bone.prev_joint.y, bone.prev_joint.z);
Vector nextJoint = new Vector(bone.next_joint.x, bone.next_joint.y, bone.next_joint.z);
Vector center = (nextJoint + prevJoint) * .5f;
float length = (nextJoint - prevJoint).Magnitude;
Vector direction = Vector.Zero;
if (length > 0)
direction = (nextJoint - prevJoint) / length;
Matrix basis = new Matrix(bone.basis.x_basis.x,
bone.basis.x_basis.y,
bone.basis.x_basis.z,
bone.basis.y_basis.x,
bone.basis.y_basis.y,
bone.basis.y_basis.z,
bone.basis.z_basis.x,
bone.basis.z_basis.y,
bone.basis.z_basis.z);
return new Arm(prevJoint, nextJoint, center, direction, length, bone.width, basis);
}
public static LEAP_BONE CreateBone(Bone bone) {
LEAP_BONE leapBone = new LEAP_BONE();
leapBone.prev_joint = new LEAP_VECTOR(bone.PrevJoint);
leapBone.next_joint = new LEAP_VECTOR(bone.NextJoint);
leapBone.width = bone.Width;
leapBone.rotation = new LEAP_QUATERNION(bone.Rotation);
return leapBone;
}
