public Hand makeHand(ref LEAP_HAND hand, Frame owningFrame)
{
Arm newArm = makeArm(ref hand.arm);
Hand newHand = new Hand(
(int)owningFrame.Id,
(int)hand.id,
hand.confidence,
hand.grab_strength,
hand.grab_angle,
hand.pinch_strength,
hand.pinch_distance,
hand.palm.width,
hand.type == eLeapHandType.eLeapHandType_Left,
hand.visible_time,
newArm,
new List<Finger>(5),
new Vector(hand.palm.position.x, hand.palm.position.y, hand.palm.position.z),
new Vector(hand.palm.stabilized_position.x, hand.palm.stabilized_position.y, hand.palm.stabilized_position.z),
new Vector(hand.palm.velocity.x, hand.palm.velocity.y, hand.palm.velocity.z),
new Vector(hand.palm.normal.x, hand.palm.normal.y, hand.palm.normal.z),
new Vector(hand.palm.direction.x, hand.palm.direction.y, hand.palm.direction.z),
newArm.NextJoint //wrist position
);
newHand.Fingers.Insert(0, makeFinger(owningFrame, ref hand, ref hand.thumb, Finger.FingerType.TYPE_THUMB));
newHand.Fingers.Insert(1, makeFinger(owningFrame, ref hand, ref hand.index, Finger.FingerType.TYPE_INDEX));
newHand.Fingers.Insert(2, makeFinger(owningFrame, ref hand, ref hand.middle, Finger.FingerType.TYPE_MIDDLE));
newHand.Fingers.Insert(3, makeFinger(owningFrame, ref hand, ref hand.ring, Finger.FingerType.TYPE_RING));
newHand.Fingers.Insert(4, makeFinger(owningFrame, ref hand, ref hand.pinky, Finger.FingerType.TYPE_PINKY));
return newHand;
}
public static LEAP_HAND CreateHand(Hand hand) {
LEAP_HAND leapHand = new LEAP_HAND();
leapHand.id = (uint)hand.Id;
leapHand.type = hand.IsLeft ? eLeapHandType.eLeapHandType_Right : eLeapHandType.eLeapHandType_Left; //HACK: flip due to coordinate space handedness
leapHand.confidence = hand.Confidence;
leapHand.visible_time = (uint)(hand.TimeVisible * 1000);
leapHand.grab_angle = hand.GrabAngle;
leapHand.grab_strength = hand.GrabStrength;
leapHand.pinch_distance = hand.PinchDistance;
leapHand.pinch_strength = hand.PinchStrength;
LEAP_PALM palm = new LEAP_PALM();
palm.position = new LEAP_VECTOR(hand.PalmPosition);
palm.stabilized_position = Vector3.zero.ToCVector(); //HACK: stabilized position is sometimes NaN, ignore it
palm.velocity = new LEAP_VECTOR(hand.PalmVelocity);
palm.normal = new LEAP_VECTOR(hand.PalmNormal);
palm.width = hand.PalmWidth;
palm.direction = new LEAP_VECTOR(hand.Direction);
leapHand.palm = palm;
leapHand.arm = CreateBone(hand.Arm);
for (int i = 0; i < hand.Fingers.Count; i++) {
Finger finger = hand.Fingers[i];
switch (finger.Type) {
case Finger.FingerType.TYPE_THUMB:
leapHand.thumb = CreateDigit(finger);
break;
case Finger.FingerType.TYPE_INDEX:
leapHand.index = CreateDigit(finger);
break;
case Finger.FingerType.TYPE_MIDDLE:
leapHand.middle = CreateDigit(finger);
break;
case Finger.FingerType.TYPE_RING:
leapHand.ring = CreateDigit(finger);
break;
case Finger.FingerType.TYPE_PINKY:
leapHand.pinky = CreateDigit(finger);
break;
default:
throw new Exception("Unexpected Finger Type " + finger.Type);
}
}
return leapHand;
}
public Hand makeHand(ref LEAP_HAND hand, Frame owningFrame)
{
LEAP_BONE arm = LeapC.PtrToStruct<LEAP_BONE>(hand.arm);
Arm newArm = makeArm(ref arm);
LEAP_PALM palm = LeapC.PtrToStruct<LEAP_PALM>(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 = LeapC.PtrToStruct<LEAP_DIGIT>(hand.thumb);
newHand.Fingers.Insert(0, makeFinger(owningFrame, ref hand, ref thumbDigit, Finger.FingerType.TYPE_THUMB));
LEAP_DIGIT indexDigit = LeapC.PtrToStruct<LEAP_DIGIT>(hand.index);
newHand.Fingers.Insert(1, makeFinger(owningFrame, ref hand, ref indexDigit, Finger.FingerType.TYPE_INDEX));
LEAP_DIGIT middleDigit = LeapC.PtrToStruct<LEAP_DIGIT>(hand.middle);
newHand.Fingers.Insert(2, makeFinger(owningFrame, ref hand, ref middleDigit, Finger.FingerType.TYPE_MIDDLE));
LEAP_DIGIT ringDigit = LeapC.PtrToStruct<LEAP_DIGIT>(hand.ring);
newHand.Fingers.Insert(3, makeFinger(owningFrame, ref hand, ref ringDigit, Finger.FingerType.TYPE_RING));
LEAP_DIGIT pinkyDigit = LeapC.PtrToStruct<LEAP_DIGIT>(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
);
}
