void eleap::eleap_t::impl_t::onFrame(const Leap::Controller& controller)
{
const Leap::Frame frame = controller.frame();
if (frame.isValid())
{
// send the known hands in this frame, this will handle hands coming and going
const Leap::HandList hands = frame.hands();
{
unsigned long long time_encoded = (0&0xffffffff)<<8 | (DATA_KNOWN_HANDS&0xff);
float *f;
unsigned char *dp;
piw::data_nb_t d = ctx_.allocate_host(time_encoded,INT32_MAX,INT32_MIN,0,BCTVTYPE_INT,sizeof(int32_t),&dp,hands.count(),&f);
memset(f,0,hands.count()*sizeof(int32_t));
*dp = 0;
for(int i = 0; i < hands.count(); ++i)
{
const Leap::Hand hand = hands[i];
if(hand.isValid() && hand.fingers().count() > 1)
{
((int32_t *)f)[i] = hand.id();
}
}
enqueue_fast(d,1);
}
// handle the actual data for the detected hands
for(int i = 0; i < hands.count(); ++i)
{
const Leap::Hand hand = hands[i];
if(hand.isValid() && hand.fingers().count() > 1)
{
unsigned long long time_encoded = (hand.id()&0xffffffff)<<8 | (DATA_PALM_POSITION&0xff);
const Leap::Vector palm_pos = hand.palmPosition();
float *f;
unsigned char *dp;
piw::data_nb_t d = ctx_.allocate_host(time_encoded,600,-600,0,BCTVTYPE_FLOAT,sizeof(float),&dp,3,&f);
memset(f,0,3*sizeof(float));
*dp = 0;
f[0] = piw::normalise(600,-600,0,palm_pos.x);
f[1] = piw::normalise(600,-600,0,palm_pos.y);
f[2] = piw::normalise(600,-600,0,palm_pos.z);
enqueue_fast(d,1);
}
}
}
}
// This experimental mode sends chat messages into SL on a back channel for LSL scripts
// to intercept with a listen() event. This is experimental and not sustainable for
// a production feature ... many avatars using this would flood the chat system and
// hurt server performance. Depending on how useful this proves to be, a better
// mechanism should be designed to stream data from the viewer into SL scripts.
void LLLMImpl::modeStreamDataToSL(Leap::HandList & hands)
{
S32 numHands = hands.count();
if (numHands == 1 &&
mChatMsgTimer.checkExpirationAndReset(LLLEAP_CHAT_MSG_INTERVAL))
{
// Get the first (and only) hand
Leap::Hand hand = hands[0];
Leap::Vector palm_pos = hand.palmPosition();
Leap::Vector palm_normal = hand.palmNormal();
F32 ball_radius = (F32) hand.sphereRadius();
Leap::Vector ball_center = hand.sphereCenter();
// Chat message looks like "/2343 LM1,<palm pos>,<palm normal>,<sphere center>,<sphere radius>"
LLVector3 vec;
std::stringstream status_chat_msg;
status_chat_msg << "/2343 LM,";
status_chat_msg << "<" << palm_pos.x << "," << palm_pos.y << "," << palm_pos.z << ">,";
status_chat_msg << "<" << palm_normal.x << "," << palm_normal.y << "," << palm_normal.z << ">,";
status_chat_msg << "<" << ball_center.x << "," << ball_center.y << "," << ball_center.z << ">," << ball_radius;
FSNearbyChat::instance().sendChatFromViewer(status_chat_msg.str(), CHAT_TYPE_SHOUT, FALSE);
}
}
string PalmsGesture::checkGesture(const Leap::HandList& hands)
{
string gesture_out = "NONE";
if (hands.count() !=2 )
{
if (gestureBegin)
{
gestureBegin = false;
gesture_out = "LOST_TWO_HANDS";
}
return gesture_out;
}
else
{
gestureBegin = true;
float ddiff = math<float>::abs(hands[0].palmPosition().x - hands[1].palmPosition().x);
_diff = ddiff- _prevValue;
_prevValue = ddiff;
}
if (_diff>2.3)
{
gesture_out = "BIGGER";
console()<<gesture_out<<std::endl;
}
else if (_diff<-2.3)
{
gesture_out = "SMALLER";
console()<<gesture_out<<std::endl;
}
return gesture_out;
}
void ManipTool::onLeapFrame( Leap::Frame const &aFrame )
{
if( (aFrame.timestamp() - mLastExaminedFrame ) < 16*1000 )
return;
if( aFrame.hands().count() > 2 )
return;
mLastExaminedFrame = aFrame.timestamp();
U16 curFrame = getNextFrameNo( mLastStoredFrame );
Fingers &curFingers = mFingersPerFrame[ curFrame ];
U16 curFinger = 0;
curFingers.clear();
curFingers.mTimestamp = mLastExaminedFrame;
Leap::HandList hands = aFrame.hands();
for( int i = 0; i < hands.count(); ++i )
{
for( int j = 0; j < hands[i].fingers().count(); ++j )
{
Leap::Finger oFinger( hands[i].fingers()[j] );
Finger &oF = curFingers.mFingers[ curFinger++ ];
oF.mId = oFinger.id();
oF.mTimestamp = mLastExaminedFrame;
copy( oFinger.direction(), oF.mDir );
copy( oFinger.tipPosition(), oF.mTip );
oF.mWidth = oFinger.width();
oF.mLength = oFinger.length();
}
}
curFingers.mStoredFingers = curFinger;
if( mTotalStoredFrames > 0 )
{
Fingers &prevFingers = mFingersPerFrame[ mLastStoredFrame ];
for( U16 i = 0; i < curFingers.mStoredFingers; ++i )
{
Finger &curFinger = curFingers.mFingers[i];
Finger const *prevFinger = prevFingers.getFinger( curFinger.mId );
if( !prevFinger )
continue;
subtract( curFinger.mTip, prevFinger->mTip, curFinger.mFromLast );
curFinger.mLenFromLast = normalize( curFinger.mFromLast );
}
}
mLastStoredFrame = curFrame;
++mTotalStoredFrames;
}
// This controller mode just dumps out a bunch of the Leap Motion device data, which can then be
// analyzed for other use.
void LLLMImpl::modeDumpDebugInfo(Leap::HandList & hands)
{
S32 numHands = hands.count();
if (numHands == 1)
{
// Get the first hand
Leap::Hand hand = hands[0];
// Check if the hand has any fingers
Leap::FingerList finger_list = hand.fingers();
S32 num_fingers = finger_list.count();
if (num_fingers >= 1)
{ // Calculate the hand's average finger tip position
Leap::Vector pos(0, 0, 0);
Leap::Vector direction(0, 0, 0);
for (size_t i = 0; i < num_fingers; ++i)
{
Leap::Finger finger = finger_list[i];
pos += finger.tipPosition();
direction += finger.direction();
// Lots of log spam
LL_INFOS("LeapMotion") << "Finger " << i << " string is " << finger.toString() << LL_ENDL;
}
pos = Leap::Vector(pos.x/num_fingers, pos.y/num_fingers, pos.z/num_fingers);
direction = Leap::Vector(direction.x/num_fingers, direction.y/num_fingers, direction.z/num_fingers);
LL_INFOS("LeapMotion") << "Hand has " << num_fingers << " fingers with average tip position"
<< " (" << pos.x << ", " << pos.y << ", " << pos.z << ")"
<< " direction (" << direction.x << ", " << direction.y << ", " << direction.z << ")"
<< LL_ENDL;
}
Leap::Vector palm_pos = hand.palmPosition();
Leap::Vector palm_normal = hand.palmNormal();
LL_INFOS("LeapMotion") << "Palm pos " << palm_pos.x
<< ", " << palm_pos.y
<< ", " << palm_pos.z
<< ". Normal: " << palm_normal.x
<< ", " << palm_normal.y
<< ", " << palm_normal.z
<< LL_ENDL;
F32 ball_radius = (F32) hand.sphereRadius();
Leap::Vector ball_center = hand.sphereCenter();
LL_INFOS("LeapMotion") << "Ball pos " << ball_center.x
<< ", " << ball_center.y
<< ", " << ball_center.z
<< ", radius " << ball_radius
<< LL_ENDL;
} // dump_out_data
}
fdata get_finger_positions()
{
Leap::Frame frame = control.frame();
Leap::FingerList fingers = frame.fingers();
Leap::ToolList tools = frame.tools();
Leap::HandList hands = frame.hands();
//std::vector<std::pair<cl_float4, int>> positions;
fdata hand_data;
int p = 0;
for(int i=0; i<40; i++)
{
hand_data.fingers[i] = 0.0f;
}
///will explode if more than 2
for(int i=0; i<hands.count(); i++)
{
const Leap::Hand hand = hands[i];
Leap::FingerList h_fingers = hand.fingers();
float grab_strength = hand.grabStrength();
hand_data.grab_confidence[i] = grab_strength;
for(int j=0; j<h_fingers.count(); j++)
{
const Leap::Finger finger = h_fingers[j];
float mfingerposx = finger.tipPosition().x;
float mfingerposy = finger.tipPosition().y;
float mfingerposz = finger.tipPosition().z;
//cl_float4 ps = {mfingerposx, mfingerposy, mfingerposz, 0.0f};
//cl_float4 ps = {mfingerposx, mfingerposy, mfingerposz, 0.0f};
int id = finger.id();
hand_data.fingers[p++] = mfingerposx;
hand_data.fingers[p++] = mfingerposy;
hand_data.fingers[p++] = mfingerposz;
hand_data.fingers[p++] = 0.0f;
//positions.push_back(std::pair<cl_float4, int>(ps, id));
}
}
return hand_data;
}
bool handForId(int32 checkId, Leap::HandList hands, Leap::Hand& returnHand)
{
for (int i = 0; i < hands.count(); i++)
{
Leap::Hand hand = hands[i];
if (checkId == hand.id()){
returnHand = hand;
return true;
}
}
return false;
}
GestureFrame LMRecorder::prepareDataClone(const Leap::Frame frame, double timestamp)
{
GestureFrame outputFrame;
outputFrame.setTimestamp(timestamp);
Leap::HandList handsInFrame = frame.hands();
for(int handIndex=0; handIndex<handsInFrame.count(); handIndex++)
{
Leap::Hand currHand = handsInFrame[handIndex];
//create GestureHand
GestureHand gestureHand(
currHand.id(),
Vertex(currHand.palmPosition().x, currHand.palmPosition().y, currHand.palmPosition().z),
Vertex(0, 0, 0/*currHand.stabilizedPalmPosition().x, currHand.stabilizedPalmPosition().y, currHand.stabilizedPalmPosition().z*/),
Vertex(currHand.palmNormal().x, currHand.palmNormal().y, currHand.palmNormal().z),
Vertex(currHand.direction().x, currHand.direction().y, currHand.direction().z)
);
gestureHand.setOrderValue(currHand.palmPosition().x);
Vertex planeNormalVec = gestureHand.getDirection().crossProduct(gestureHand.getPalmNormal()).getNormalized();
Leap::FingerList fingersInCurrHand = currHand.fingers();
for (int fingerIndex=0; fingerIndex<fingersInCurrHand.count(); fingerIndex++)
{
Leap::Finger currFinger = fingersInCurrHand[fingerIndex];
Leap::Vector leapFingerTipPos = currFinger.tipPosition();
Vertex fingerTipPos(leapFingerTipPos.x, leapFingerTipPos.y, leapFingerTipPos.z);
float distance = getPointDistanceFromPlane(fingerTipPos, gestureHand.getPalmPosition(), planeNormalVec);
//create GestureFinger
GestureFinger gestureFinger(
currFinger.id(),
fingerTipPos,
Vertex(currFinger.stabilizedTipPosition().x, currFinger.stabilizedTipPosition().y, currFinger.stabilizedTipPosition(). z),
Vertex(currFinger.direction().x, currFinger.direction().y, currFinger.direction().z),
currFinger.length(),
currFinger.width()
);
gestureFinger.setOrderValue(distance);
gestureHand.addFinger(gestureFinger);
}
gestureHand.sortFingers();
outputFrame.addHand(gestureHand);
}
outputFrame.sortHands();
}
bool FLeapMotionInputDevice::HandForId(int32 CheckId, Leap::HandList Hands, Leap::Hand& ReturnHand)
{
for (int i = 0; i < Hands.count(); i++)
{
Leap::Hand Hand = Hands[i];
if (CheckId == Hand.id())
{
ReturnHand = Hand;
return true;
}
}
return false;
}
// This mode tries to move the avatar and camera in Second Life. It's pretty rough and needs a lot of work
void LLLMImpl::modeMoveAndCamTest1(Leap::HandList & hands)
{
S32 numHands = hands.count();
if (numHands == 1)
{
// Get the first hand
Leap::Hand hand = hands[0];
// Check if the hand has any fingers
Leap::FingerList finger_list = hand.fingers();
S32 num_fingers = finger_list.count();
F32 orbit_rate = 0.f;
Leap::Vector pos(0, 0, 0);
for (size_t i = 0; i < num_fingers; ++i)
{
Leap::Finger finger = finger_list[i];
pos += finger.tipPosition();
}
pos = Leap::Vector(pos.x/num_fingers, pos.y/num_fingers, pos.z/num_fingers);
if (num_fingers == 1)
{ // 1 finger - move avatar
if (pos.x < -LM_DEAD_ZONE)
{ // Move left
gAgent.moveLeftNudge(1.f);
}
else if (pos.x > LM_DEAD_ZONE)
{
gAgent.moveLeftNudge(-1.f);
}
/*
if (pos.z < -LM_DEAD_ZONE)
{
gAgent.moveAtNudge(1.f);
}
else if (pos.z > LM_DEAD_ZONE)
{
gAgent.moveAtNudge(-1.f);
} */
if (pos.y < -LM_DEAD_ZONE)
{
gAgent.moveYaw(-1.f);
}
else if (pos.y > LM_DEAD_ZONE)
{
gAgent.moveYaw(1.f);
}
} // end 1 finger
else if (num_fingers == 2)
{ // 2 fingers - move camera around
// X values run from about -170 to +170
if (pos.x < -LM_DEAD_ZONE)
{ // Camera rotate left
gAgentCamera.unlockView();
orbit_rate = (llabs(pos.x) - LM_DEAD_ZONE) / LM_ORBIT_RATE_FACTOR;
gAgentCamera.setOrbitLeftKey(orbit_rate);
}
else if (pos.x > LM_DEAD_ZONE)
{
gAgentCamera.unlockView();
orbit_rate = (pos.x - LM_DEAD_ZONE) / LM_ORBIT_RATE_FACTOR;
gAgentCamera.setOrbitRightKey(orbit_rate);
}
if (pos.z < -LM_DEAD_ZONE)
{ // Camera zoom in
gAgentCamera.unlockView();
orbit_rate = (llabs(pos.z) - LM_DEAD_ZONE) / LM_ORBIT_RATE_FACTOR;
gAgentCamera.setOrbitInKey(orbit_rate);
}
else if (pos.z > LM_DEAD_ZONE)
{ // Camera zoom out
gAgentCamera.unlockView();
orbit_rate = (pos.z - LM_DEAD_ZONE) / LM_ORBIT_RATE_FACTOR;
gAgentCamera.setOrbitOutKey(orbit_rate);
}
if (pos.y < -LM_DEAD_ZONE)
{ // Camera zoom in
gAgentCamera.unlockView();
orbit_rate = (llabs(pos.y) - LM_DEAD_ZONE) / LM_ORBIT_RATE_FACTOR;
gAgentCamera.setOrbitUpKey(orbit_rate);
}
else if (pos.y > LM_DEAD_ZONE)
{ // Camera zoom out
gAgentCamera.unlockView();
orbit_rate = (pos.y - LM_DEAD_ZONE) / LM_ORBIT_RATE_FACTOR;
gAgentCamera.setOrbitDownKey(orbit_rate);
}
} // end 2 finger
}
}
// This mode tries to detect simple hand motion and either triggers an avatar gesture or
// sends a chat message into SL in response. It is very rough, hard-coded for detecting
// a hand wave (a SL gesture) or the wiggling-thumb gun trigger (a chat message sent to a
// special version of the popgun).
void LLLMImpl::modeGestureDetection1(Leap::HandList & hands)
{
static S32 trigger_direction = -1;
S32 numHands = hands.count();
if (numHands == 1)
{
// Get the first hand
Leap::Hand hand = hands[0];
// Check if the hand has any fingers
Leap::FingerList finger_list = hand.fingers();
S32 num_fingers = finger_list.count();
static S32 last_num_fingers = 0;
if (num_fingers == 1)
{ // One finger ... possibly reset the
Leap::Finger finger = finger_list[0];
Leap::Vector finger_dir = finger.direction();
// Negative Z is into the screen - check that it's the largest component
S32 abs_z_dir = llabs(finger_dir.z);
if (finger_dir.z < -0.5 &&
abs_z_dir > llabs(finger_dir.x) &&
abs_z_dir > llabs(finger_dir.y))
{
Leap::Vector finger_pos = finger.tipPosition();
Leap::Vector finger_vel = finger.tipVelocity();
LL_INFOS("LeapMotion") << "finger direction is " << finger_dir.x << ", " << finger_dir.y << ", " << finger_dir.z
<< ", position " << finger_pos.x << ", " << finger_pos.y << ", " << finger_pos.z
<< ", velocity " << finger_vel.x << ", " << finger_vel.y << ", " << finger_vel.z
<< LL_ENDL;
}
if (trigger_direction != -1)
{
LL_INFOS("LeapMotion") << "Reset trigger_direction - one finger" << LL_ENDL;
trigger_direction = -1;
}
}
else if (num_fingers == 2)
{
Leap::Finger barrel_finger = finger_list[0];
Leap::Vector barrel_finger_dir = barrel_finger.direction();
// Negative Z is into the screen - check that it's the largest component
F32 abs_z_dir = llabs(barrel_finger_dir.z);
if (barrel_finger_dir.z < -0.5f &&
abs_z_dir > llabs(barrel_finger_dir.x) &&
abs_z_dir > llabs(barrel_finger_dir.y))
{
Leap::Finger thumb_finger = finger_list[1];
Leap::Vector thumb_finger_dir = thumb_finger.direction();
Leap::Vector thumb_finger_pos = thumb_finger.tipPosition();
Leap::Vector thumb_finger_vel = thumb_finger.tipVelocity();
if ((thumb_finger_dir.x < barrel_finger_dir.x) )
{ // Trigger gunfire
if (trigger_direction < 0 && // Haven't fired
thumb_finger_vel.x > 50.f && // Moving into screen
thumb_finger_vel.z < -50.f &&
mChatMsgTimer.checkExpirationAndReset(LLLEAP_CHAT_MSG_INTERVAL))
{
// Chat message looks like "/2343 LM2 gunfire"
std::string gesture_chat_msg("/2343 LM2 gunfire");
//LLNearbyChatBar::sendChatFromViewer(gesture_chat_msg, CHAT_TYPE_SHOUT, FALSE);
trigger_direction = 1;
LL_INFOS("LeapMotion") << "Sent gunfire chat" << LL_ENDL;
}
else if (trigger_direction > 0 && // Have fired, need to pull thumb back
thumb_finger_vel.x < -50.f &&
thumb_finger_vel.z > 50.f) // Moving out of screen
{
trigger_direction = -1;
LL_INFOS("LeapMotion") << "Reset trigger_direction" << LL_ENDL;
}
}
}
else if (trigger_direction != -1)
{
LL_INFOS("LeapMotion") << "Reset trigger_direction - hand pos" << LL_ENDL;
trigger_direction = -1;
}
}
else if (num_fingers == 5 &&
num_fingers == last_num_fingers)
{
if (mGestureTimer.checkExpirationAndReset(LLLEAP_GESTURE_INTERVAL))
{
// figure out a gesture to trigger
std::string gestureString("/overhere");
LLGestureMgr::instance().triggerAndReviseString( gestureString );
}
}
last_num_fingers = num_fingers;
}
}
// This controller mode is used to fly the avatar, going up, down, forward and turning.
void LLLMImpl::modeFlyingControlTest(Leap::HandList & hands)
{
static S32 sLMFlyingHysteresis = 0;
S32 numHands = hands.count();
BOOL agent_is_flying = gAgent.getFlying();
if (numHands == 0
&& agent_is_flying
&& sLMFlyingHysteresis > 0)
{
sLMFlyingHysteresis--;
if (sLMFlyingHysteresis == 0)
{
LL_INFOS("LeapMotion") << "LM stop flying - look ma, no hands!" << LL_ENDL;
gAgent.setFlying(FALSE);
}
}
else if (numHands == 1)
{
// Get the first hand
Leap::Hand hand = hands[0];
// Check if the hand has any fingers
Leap::FingerList finger_list = hand.fingers();
S32 num_fingers = finger_list.count();
Leap::Vector palm_pos = hand.palmPosition();
Leap::Vector palm_normal = hand.palmNormal();
F32 ball_radius = (F32) hand.sphereRadius();
Leap::Vector ball_center = hand.sphereCenter();
// Number of fingers controls flying on / off
if (num_fingers == 0 && // To do - add hysteresis or data smoothing?
agent_is_flying)
{
if (sLMFlyingHysteresis > 0)
{
sLMFlyingHysteresis--;
}
else
{
LL_INFOS("LeapMotion") << "LM stop flying" << LL_ENDL;
gAgent.setFlying(FALSE);
}
}
else if (num_fingers > 2 &&
!agent_is_flying)
{
LL_INFOS("LeapMotion") << "LM start flying" << LL_ENDL;
gAgent.setFlying(TRUE);
sLMFlyingHysteresis = 5;
}
// Radius of ball controls forward motion
if (agent_is_flying)
{
if (ball_radius > 110.f)
{ // Open hand, move fast
gAgent.setControlFlags(AGENT_CONTROL_AT_POS | AGENT_CONTROL_FAST_AT);
}
else if (ball_radius > 85.f)
{ // Partially open, move slow
gAgent.setControlFlags(AGENT_CONTROL_AT_POS);
}
else
{ // Closed - stop
gAgent.clearControlFlags(AGENT_CONTROL_AT_POS);
}
// Height of palm controls moving up and down
if (palm_pos.y > 260.f)
{ // Go up fast
gAgent.setControlFlags(AGENT_CONTROL_UP_POS | AGENT_CONTROL_FAST_UP);
}
else if (palm_pos.y > 200.f)
{ // Go up
gAgent.setControlFlags(AGENT_CONTROL_UP_POS);
}
else if (palm_pos.y < 60.f)
{ // Go down fast
gAgent.setControlFlags(AGENT_CONTROL_FAST_UP | AGENT_CONTROL_UP_NEG);
}
else if (palm_pos.y < 120.f)
{ // Go down
gAgent.setControlFlags(AGENT_CONTROL_UP_NEG);
}
else
{ // Clear up / down
gAgent.clearControlFlags(AGENT_CONTROL_FAST_UP | AGENT_CONTROL_UP_POS | AGENT_CONTROL_UP_NEG);
}
// Palm normal going left / right controls direction
if (mYawTimer.checkExpirationAndReset(LLLEAP_YAW_INTERVAL))
{
if (palm_normal.x > 0.4f)
{ // Go left fast
gAgent.moveYaw(1.f);
}
else if (palm_normal.x < -0.4f)
{ // Go right fast
gAgent.moveYaw(-1.f);
}
}
} // end flying controls
}
}
//--------------------------------------------------------------
void testApp::draw(){
ofSetWindowTitle(ofToString(ofGetFrameRate()));
//camera.begin();
float r0 = 30;
Leap::Vector ptp;
Leap::Vector ptp0;
Leap::Vector pNormal;
ofPushMatrix();
ofTranslate(ofGetWidth()/2, ofGetHeight());
//ofSetColor(255, 255, 255);
Leap::Frame frame = leapController.frame();
Leap::HandList hands = frame.hands();
if (!hands.isEmpty()) {
//ofLogNotice("hand detected");
int count = hands.count();
for (int i = 0; i<count; i++) {
if (i>1) break;
Leap::Hand tempHand = hands[i];
pNormal = tempHand.palmNormal();
ofLogNotice("hand " +ofToString(i) + "normal", ofToString(pNormal.x) + " " + ofToString(pNormal.y) + " " + ofToString(pNormal.z));
}
Leap::Hand hand = hands[0];
Leap::Hand hand1 = hands[1];
double r = hand.sphereRadius();
//ofLogNotice("r is" + ofToString(r));
r0 = r * 5;
ptp = hand1.palmNormal();
ptp0 = hand.palmNormal();
ofLogNotice("distance is ", ofToString(abs(ptp.x)-abs(pNormal.x)) + " " + ofToString(abs(ptp.y)-abs(pNormal.y)));
if (abs(abs(ptp.x)-abs(pNormal.x))<0.04 && abs(abs(ptp.y)-abs(pNormal.y))<0.04) {
phase1=false;
phase2=true;
ofLogNotice("phase 2 triggered", ofToString(phase1));
}
}
if(phase1){
ofSphere(ptp.x,-ptp.y,ptp.z, r0);
}
vector<Leap::FingerList> fingers = leap.getFingers();
if (!fingers.empty() && phase1==false && phase2 == false && phase3==false
&& phase4==false && phase5==false && phase6 == false && phase7 == false) {
//ofLogNotice("finger detected");
//ofBox(100, -200, 4, 40, 40, 40);
phase1 = true;
}
if (!fingers.empty()) {
for (int cnt = 0; cnt < fingers.size(); cnt++) {
for (int fingerNum = 0; fingerNum < fingers[cnt].count(); fingerNum++) {
Leap::Vector pt = fingers[cnt][fingerNum].tipPosition();
Leap::Vector vpt = fingers[cnt][fingerNum].tipVelocity();
pt.x = pt.x*2;
pt.y = (pt.y * -1)*2;
pt.z = pt.z *2;
//ofLogNotice("finger number is " + ofToString(cnt) + ofToString(fingerNum));
//ofSphere(pt.x,pt.y,pt.z, 10);
//ofBox(pt.x, pt.y, pt.z, 10, 10, 10);
//ofLogNotice("position is " + ofToString(pt.x) + " " + ofToString(pt.y) + " " + ofToString(pt.z));
//ofLogNotice("velocity is " + ofToString(vpt.x) + " " + ofToString(vpt.y) + " " + ofToString(vpt.z));
drawSphere(pt, 10);
}
}
Leap::Vector tpt = fingers[0][0].tipPosition();
}
ofPopMatrix();
camera.end();
}
//--------------------------------------------------------------
void testApp::update(){
Leap::Vector pNormal;
Leap::Frame frame = leapController.frame();
Leap::HandList hands = frame.hands();
Leap::Vector pt0;
Leap::Vector pt1;
if (!hands.isEmpty()) {
fingerPos.clear();
sphereSize.clear();
sphereNorm.clear();
spherePos.clear();
//ofLogNotice("hand detected");
//----------------------------------- data collection -------------------------------------------------------------
for (int i = 0; i<hands.count(); i++) {
if (i>1) break;
Leap::Hand tempHand = hands[i];
Leap::FingerList tempfinger = tempHand.fingers();
for (int j = 0; j <= tempfinger.count(); j++) {
ofVec3f pt;
Leap::Finger finger = hands[i].fingers()[j];
Leap::Vector tempPT=finger.tipPosition();
pt.x=tempPT.x;pt.y=tempPT.y;pt.z=tempPT.z;
fingerPos.push_back(pt);
}
pt0 = tempHand.palmNormal();
Leap::Vector center = tempHand.sphereCenter();
ofVec3f sp; sp.x = center.x; sp.y = center.y; sp.z = center.z;
float r = tempHand.sphereRadius();
spherePos.push_back(sp);
sphereSize.push_back(r);
sphereNorm.push_back(pt0);
ofLogNotice("hand " +ofToString(i) + "normal", ofToString(pt0.x) + " " + ofToString(pt0.y) + " " + ofToString(pt0.z));
ofLogNotice("hand " + ofToString(i) + "center ", ofToString(sp.x) + " " + ofToString(sp.y) + " " + ofToString(sp.z));
}
//---------------------------------- state machine ------------------------------------------------------------------
if(phase1==true && phase2 == false && phase3==false && phase4 == false && phase5==false && phase6 == false && phase7 == false && (!fingerPos.empty()))
{
phase2 = true;
state = 1;
}
if (phase2 == true && (sphereNorm.size()>=2)) {
pt0 = sphereNorm[0];
pt1 = sphereNorm[1];
if (abs(abs(pt0.x)-abs(pt1.x))<0.04 && abs(abs(pt0.y)-abs(pt1.y))<0.04) {
phase3 = true;
phase2 = false;
}
}
}
// ofLogNotice("phase1: ", ofToString(phase1));
// ofLogNotice("phase2: ", ofToString(phase2));
// ofLogNotice("phase3: ", ofToString(phase3));
// ofLogNotice("phase4: ", ofToString(phase4));
// ofLogNotice("phase5: ", ofToString(phase5));
// ofLogNotice("phase6: ", ofToString(phase6));
// ofLogNotice("phase7: ", ofToString(phase7));
oldFrame = frame;
preId = frame.id();
}
void MouseListener::onFrame(const Leap::Controller &controller) {
// get list of detected screens
const Leap::ScreenList screens = controller.calibratedScreens();
// make sure we have a detected screen
if (screens.empty()) return;
const Leap::Screen screen = screens[0];
// get hands
const Leap::Frame frame = controller.frame();
const Leap::HandList hands = frame.hands();
if (hands.empty()) return;
// which is the pointer hand and which is the clicker hand?
// if there's only one hand it's the pointer hand. if there's two
// then we'll use the user's primary hand. if ambidextrous, bail.
Leap::Hand pointerHand, clickerHand;
if (pointerHandID) {
pointerHand = frame.hand(pointerHandID);
if (! pointerHand.isValid())
pointerHand = hands[0];
}
if (clickerHandID)
clickerHand = frame.hand(clickerHandID);
if (! clickerHand.isValid() && hands.count() == 2) {
// figure out clicker and pointer hand
// which hand is on the left and which is on the right?
Leap::Hand leftHand, rightHand;
if (hands[0].palmPosition()[0] <= hands[1].palmPosition()[0]) {
leftHand = hands[0];
rightHand = hands[1];
} else {
leftHand = hands[1];
rightHand = hands[0];
}
// now that we know the left and right hands, determine
// which is the clicker and which is the pointer
if (leftHanded) {
pointerHand = leftHand;
clickerHand = rightHand;
} else {
pointerHand = rightHand;
clickerHand = leftHand;
}
// keep track of which hands we decided on
clickerHandID = clickerHand.id();
pointerHandID = pointerHand.id();
}
// find the first finger or tool
const Leap::PointableList pointables = pointerHand.pointables();
if (pointables.empty()) return;
const Leap::Pointable firstPointable = pointables[0];
// get x, y coordinates on the first screen
const Leap::Vector intersection = screen.intersect(
firstPointable,
true, // normalize
1.0f // clampRatio
);
// if the user is not pointing at the screen all components of
// the returned vector will be Not A Number (NaN)
// isValid() returns true only if all components are finite
if (! intersection.isValid()) return;
unsigned int x = screen.widthPixels() * intersection.x;
// flip y coordinate to standard top-left origin
unsigned int y = screen.heightPixels() * (1.0f - intersection.y);
// move cursor to location pointed at
CGPoint destPoint = CGPointMake(x, y);
CGDisplayMoveCursorToPoint(kCGDirectMainDisplay, destPoint);
// check for click gesture
if (! clickerHand.isValid()) return;
// click = two fingers on the clicker hand touching together
const Leap::PointableList clickerFingers = clickerHand.pointables();
if (clickerFingers.count() != 2) return;
// get finger distance
float clickFingerDistance = clickerFingers[0].tipPosition().distanceTo(
clickerFingers[1].tipPosition()
);
cout << "distance: " << clickFingerDistance << endl;
if (! clickActive && clickFingerDistance < clickActivationDistance) {
clickActive = true;
cout << "mouseDown\n";
postMouseDown(x, y);
} else if (clickActive && clickFingerDistance > clickActivationDistance) {
cout << "mouseUp\n";
clickActive = false;
postMouseUp(x, y);
}
}
void oleap_bang(t_oleap *x)
{
const Leap::Frame frame = x->leap->frame();
const int64_t frame_id = frame.id();
Leap::Controller controller;
// ignore the same frame
if (frame_id == x->frame_id_save) return;
x->frame_id_save = frame_id;
//outlet_anything(x->outlet, gensym("frame_start"), 0, nil);
char buff[128];
const Leap::HandList hands = frame.hands();
const size_t numHands = hands.count();
const Leap::Hand leftmost = hands.leftmost();
const Leap::Hand rightmost = hands.rightmost();
t_osc_bundle_u *bundle = osc_bundle_u_alloc();//alloc creates memory for and initializes the bundle
controller.enableGesture(Leap::Gesture::TYPE_CIRCLE);
controller.enableGesture(Leap::Gesture::TYPE_KEY_TAP);
controller.enableGesture(Leap::Gesture::TYPE_SCREEN_TAP);
controller.enableGesture(Leap::Gesture::TYPE_SWIPE);
// Get gestures
const Leap::GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Leap::Gesture gesture = gestures[g];
switch (gesture.type()) {
case Leap::Gesture::TYPE_CIRCLE:
{
Leap::CircleGesture circle = gesture;
std::string clockwiseness;
sprintf(buff,"/gesture/circle/center/x");
oleap_bundleMessage(bundle,buff,circle.center().x);
sprintf(buff,"/gesture/circle/center/y");
oleap_bundleMessage(bundle,buff,circle.center().y);
sprintf(buff,"/gesture/circle/center/z");
oleap_bundleMessage(bundle,buff,circle.center().z);
sprintf(buff,"/gesture/circle/pitch");
oleap_bundleMessage(bundle,buff,circle.center().pitch());
sprintf(buff,"/gesture/circle/yaw");
oleap_bundleMessage(bundle,buff,circle.center().yaw());
sprintf(buff,"/gesture/circle/roll");
oleap_bundleMessage(bundle,buff,circle.center().roll());
sprintf(buff,"/gesture/circle/radius");
oleap_bundleMessage(bundle,buff,circle.radius());
sprintf(buff,"/gesture/circle/duration");
oleap_bundleMessage(bundle,buff,circle.duration());
if (circle.pointable().direction().angleTo(circle.normal()) <= Leap::PI/4) {
clockwiseness = "clockwise";
sprintf(buff,"/gesture/circle/clockwiseness/");
oleap_bundleMessage(bundle,buff,1);
} else {
clockwiseness = "counterclockwise";
sprintf(buff,"/gesture/circle/clockwiseness/");
oleap_bundleMessage(bundle,buff,-1);
}
// Calculate angle swept since last frame
float sweptAngle = 0;
if (circle.state() != Leap::Gesture::STATE_START) {
Leap::CircleGesture previousUpdate = Leap::CircleGesture(controller.frame(1).gesture(circle.id()));
sweptAngle = (circle.progress() - previousUpdate.progress()) * 2 * Leap::PI;
sprintf(buff,"/gesture/circle/angle/sweep");
oleap_bundleMessage(bundle,buff,sweptAngle);
}
}
case Leap::Gesture::TYPE_SWIPE:
{
Leap::SwipeGesture swipe = gesture;
int swipe_id = gesture.id();
int gesture_state = gesture.state();
Leap::Vector swipe_direction = swipe.direction();
float swipe_speed = swipe.speed();
////////////////////////////////Swipe data
sprintf(buff,"/gesture/swipe/direction/x");
oleap_bundleMessage(bundle,buff,swipe_direction.x);
sprintf(buff,"/gesture/swipe/direction/x");
oleap_bundleMessage(bundle,buff,swipe_direction.y);
sprintf(buff,"/gesture/swipe/direction/x");
oleap_bundleMessage(bundle,buff,swipe_direction.z);
sprintf(buff,"/gesture/swipe/position/x");
oleap_bundleMessage(bundle,buff,swipe.position().x);
sprintf(buff,"/gesture/swipe/position/y");
oleap_bundleMessage(bundle,buff,swipe.position().y);
sprintf(buff,"/gesture/swipe/position/z");
oleap_bundleMessage(bundle,buff,swipe.position().z);
sprintf(buff,"/gesture/swipe/pitch");
oleap_bundleMessage(bundle,buff,swipe.position().pitch());
sprintf(buff,"/gesture/swipe/yaw");
oleap_bundleMessage(bundle,buff,swipe.position().yaw());
sprintf(buff,"/gesture/swipe/roll");
oleap_bundleMessage(bundle,buff,swipe.position().roll());
sprintf(buff,"/gesture/swipe/position/start/x");
oleap_bundleMessage(bundle,buff,swipe.startPosition().x);
sprintf(buff,"/gesture/swipe/position/start/y");
oleap_bundleMessage(bundle,buff,swipe.startPosition().y);
sprintf(buff,"/gesture/swipe/position/start/z");
oleap_bundleMessage(bundle,buff,swipe.startPosition().z);
sprintf(buff,"/gesture/swipe/speed");
oleap_bundleMessage(bundle,buff,swipe_speed);
sprintf(buff,"/gesture/swipe/duration");
oleap_bundleMessage(bundle,buff,swipe.duration());
}
case Leap::Gesture::TYPE_KEY_TAP:
{
Leap::KeyTapGesture tap = gesture;
int tap_id = gesture.id();
int tap_state = gesture.state();
Leap::Vector tap_position = tap.position();
Leap::Vector tap_direction = tap.direction();
////////////////////////////////Key tap data
sprintf(buff,"/gesture/tap/down/position/x");
oleap_bundleMessage(bundle,buff,tap_position.x);
sprintf(buff,"/gesture/tap/down/position/y");
oleap_bundleMessage(bundle,buff,tap_position.y);
sprintf(buff,"/gesture/tap/down/position/z");
oleap_bundleMessage(bundle,buff,tap_position.z);
sprintf(buff,"/gesture/tap/down/direction/x");
oleap_bundleMessage(bundle,buff,tap_direction.x);
sprintf(buff,"/gesture/tap/down/direction/y");
oleap_bundleMessage(bundle,buff,tap_direction.y);
sprintf(buff,"/gesture/tap/down/direction/z");
oleap_bundleMessage(bundle,buff,tap_direction.z);
sprintf(buff,"/gesture/tap/down/duration");
oleap_bundleMessage(bundle,buff,tap.duration());
}
case Leap::Gesture::TYPE_SCREEN_TAP:
{
Leap::ScreenTapGesture screentap = gesture;
int screen_tap_id = gesture.id();
int screen_tap_state = gesture.state();
Leap::Vector screentap_position = screentap.position();
Leap::Vector screentap_direction = screentap.direction();
////////////////////////////////Screen tap data
sprintf(buff,"/gesture/tap/forward/position/x");
oleap_bundleMessage(bundle,buff,screentap_position.x);
sprintf(buff,"/gesture/tap/forward/position/y");
oleap_bundleMessage(bundle,buff,screentap_position.y);
sprintf(buff,"/gesture/tap/forward/position/z");
oleap_bundleMessage(bundle,buff,screentap_position.z);
sprintf(buff,"/gesture/tap/forward/direction/x");
oleap_bundleMessage(bundle,buff,screentap_direction.x);
sprintf(buff,"/gesture/tap/forward/direction/y");
oleap_bundleMessage(bundle,buff,screentap_direction.y);
sprintf(buff,"/gesture/tap/forward/direction/z");
oleap_bundleMessage(bundle,buff,screentap_direction.z);
sprintf(buff,"/gesture/tap/forward/duration");
oleap_bundleMessage(bundle,buff,screentap.duration());
}
default:
break;
}
}
sprintf(buff,"/timeStamp");
oleap_bundleMessage(bundle,buff,frame.timestamp());
sprintf(buff,"/Hands");
oleap_bundleMessage(bundle,buff,numHands);
sprintf(buff,"/hand/leftmost/id");
oleap_bundleMessage(bundle,buff,leftmost.id());
sprintf(buff,"/hand/leftmost/palm/positiony/x");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().x);
sprintf(buff,"/hand/leftmost/palm/positiony/y");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().y);
sprintf(buff,"/hand/leftmost/palm/positiony/z");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().z);
sprintf(buff,"/hand/leftmost/direction/x");
oleap_bundleMessage(bundle,buff,leftmost.direction().x);
sprintf(buff,"/hand/leftmost/direction/y");
oleap_bundleMessage(bundle,buff,leftmost.direction().y);
sprintf(buff,"/hand/leftmost/direction/z");
oleap_bundleMessage(bundle,buff,leftmost.direction().z);
sprintf(buff,"/hand/leftmost/pitch");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().pitch());
sprintf(buff,"/hand/leftmost/yaw");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().yaw());
sprintf(buff,"/hand/leftmost/roll");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().roll());
sprintf(buff,"/hand/leftmost/palm/velocity/x");
oleap_bundleMessage(bundle,buff,leftmost.palmVelocity().x);
sprintf(buff,"/hand/leftmost/palm/velocity/y");
oleap_bundleMessage(bundle,buff,leftmost.palmVelocity().y);
sprintf(buff,"/hand/leftmost/palm/velocity/z");
oleap_bundleMessage(bundle,buff,leftmost.palmVelocity().z);
sprintf(buff,"/hand/leftmost/palm/sphere/center/x");
oleap_bundleMessage(bundle,buff,leftmost.sphereCenter().x);
sprintf(buff,"/hand/leftmost/palm/sphere/center/y");
oleap_bundleMessage(bundle,buff,leftmost.sphereCenter().y);
sprintf(buff,"/hand/leftmost/palm/sphere/center/z");
oleap_bundleMessage(bundle,buff,leftmost.sphereCenter().z);
sprintf(buff,"/hand/leftmost/palm/sphere/radius");
oleap_bundleMessage(bundle,buff,leftmost.sphereRadius());
sprintf(buff,"/hand/leftmost/palm/normal/x");
oleap_bundleMessage(bundle,buff,leftmost.palmNormal().x);
sprintf(buff,"/hand/leftmost/palm/normal/y");
oleap_bundleMessage(bundle,buff,leftmost.palmNormal().y);
sprintf(buff,"/hand/leftmost/palm/normal/z");
oleap_bundleMessage(bundle,buff,leftmost.palmNormal().z);
sprintf(buff,"/hand/leftmost/distance/from/rightmost");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().angleTo(rightmost.palmPosition()));
const Leap::FingerList &fingers = leftmost.fingers();
const size_t numFingers = fingers.count();
for(size_t j = 0; j < numFingers; j++)
{
const Leap::Finger &finger = fingers[j];
const int32_t finger_id = finger.id();
//const Leap::Ray& tip = finger.tip();
const Leap::Vector direction = finger.direction();
const Leap::Vector position = finger.tipPosition();
const Leap::Vector velocity = finger.tipVelocity();
const double width = finger.width();
const double length = finger.length();
const bool isTool = finger.isTool();
sprintf(buff,"/hand/leftmost/finger/%d/hand_id",j+1);
oleap_bundleMessage(bundle,buff,leftmost.id());
sprintf(buff,"/hand/leftmost/finger/%d/finger_id",j+1);
oleap_bundleMessage(bundle,buff,finger.id());
sprintf(buff,"/hand/leftmost/finger/%d/position/x",j+1);
oleap_bundleMessage(bundle,buff,position.x);
sprintf(buff,"/hand/leftmost/finger/%d/position/y",j+1);
oleap_bundleMessage(bundle,buff,position.y);
sprintf(buff,"/hand/leftmost/finger/%d/position/z",j+1);
oleap_bundleMessage(bundle,buff,position.z);
sprintf(buff,"/hand/leftmost/finger/%d/direction/x",j+1);
oleap_bundleMessage(bundle,buff,direction.x);
sprintf(buff,"/hand/leftmost/finger/%d/direction/y",j+1);
oleap_bundleMessage(bundle,buff,direction.y);
sprintf(buff,"/hand/leftmost/finger/%d/direction/z",j+1);
oleap_bundleMessage(bundle,buff,direction.z);
sprintf(buff,"/hand/leftmost/finger/%d/velocity/x",j+1);
oleap_bundleMessage(bundle,buff,velocity.x);
sprintf(buff,"/hand/leftmost/finger/%d/velocity/y",j+1);
oleap_bundleMessage(bundle,buff,velocity.y);
sprintf(buff,"/hand/leftmost/finger/%d/velocity/z",j+1);
oleap_bundleMessage(bundle,buff,velocity.z);
sprintf(buff,"/hand/leftmost/finger/%d/direction/normalized/x",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().x);
sprintf(buff,"/hand/leftmost/finger/%d/direction/normalized/y",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().y);
sprintf(buff,"/hand/leftmost/finger/%d/direction/normalized/z",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().z);
sprintf(buff,"/hand/leftmost/finger/%d/pitch/normalized/",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().pitch());
sprintf(buff,"/hand/leftmost/finger/%d/yaw/normalized/",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().yaw());
sprintf(buff,"/hand/leftmost/finger/%d/roll/normalized/",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().roll());
sprintf(buff,"/hand/leftmost/finger/%d/width",j+1);
oleap_bundleMessage(bundle,buff,width);
sprintf(buff,"/hand/leftmost/finger/%d/length",j+1);
oleap_bundleMessage(bundle,buff,length);
sprintf(buff,"/hand/leftmost/isTool",j+1);
oleap_bundleMessage(bundle,buff,isTool);
for(size_t i = j+1; i < numFingers; i++)
{
sprintf(buff,"/hand/leftmost/finger/%d/distance/to/finger/%d",j+1,i+1);
oleap_bundleMessage(bundle,buff,fingers[j].direction().distanceTo(fingers[i].direction()));
sprintf(buff,"/hand/leftmost/finger/%d/angle/to/finger/%d",j+1,i+1);
oleap_bundleMessage(bundle,buff,fingers[j].direction().angleTo((fingers[i].direction())));
}
}
sprintf(buff,"/hand/rightmost/id");
oleap_bundleMessage(bundle,buff,rightmost.id());
sprintf(buff,"/hand/rightmost/palm/positiony/x");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().x);
sprintf(buff,"/hand/rightmost/palm/positiony/y");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().y);
sprintf(buff,"/hand/rightmost/palm/positiony/z");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().z);
sprintf(buff,"/hand/rightmost/direction/x");
oleap_bundleMessage(bundle,buff,rightmost.direction().x);
sprintf(buff,"/hand/rightmost/direction/y");
oleap_bundleMessage(bundle,buff,rightmost.direction().y);
sprintf(buff,"/hand/rightmost/direction/z");
oleap_bundleMessage(bundle,buff,rightmost.direction().z);
sprintf(buff,"/hand/rightmost/pitch");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().pitch());
sprintf(buff,"/hand/rightmost/yaw");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().yaw());
sprintf(buff,"/hand/rightmost/roll");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().roll());
sprintf(buff,"/hand/rightmost/palm/velocity/x");
oleap_bundleMessage(bundle,buff,rightmost.palmVelocity().x);
sprintf(buff,"/hand/rightmost/palm/velocity/y");
oleap_bundleMessage(bundle,buff,rightmost.palmVelocity().y);
sprintf(buff,"/hand/rightmost/palm/velocity/z");
oleap_bundleMessage(bundle,buff,rightmost.palmVelocity().z);
sprintf(buff,"/hand/rightmost/palm/sphere/center/x");
oleap_bundleMessage(bundle,buff,rightmost.sphereCenter().x);
sprintf(buff,"/hand/rightmost/palm/sphere/center/y");
oleap_bundleMessage(bundle,buff,rightmost.sphereCenter().y);
sprintf(buff,"/hand/rightmost/palm/sphere/center/z");
oleap_bundleMessage(bundle,buff,rightmost.sphereCenter().z);
sprintf(buff,"/hand/rightmost/palm/sphere/radius");
oleap_bundleMessage(bundle,buff,rightmost.sphereRadius());
sprintf(buff,"/hand/rightmost/palm/normal/x");
oleap_bundleMessage(bundle,buff,rightmost.palmNormal().x);
sprintf(buff,"/hand/rightmost/palm/normal/y");
oleap_bundleMessage(bundle,buff,rightmost.palmNormal().y);
sprintf(buff,"/hand/rightmost/palm/normal/z");
oleap_bundleMessage(bundle,buff,rightmost.palmNormal().z);
sprintf(buff,"/hand/rightmost/distance/from/leftmost");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().angleTo(leftmost.palmPosition()));
const Leap::FingerList &rightMostfingers = rightmost.fingers();
const size_t rightMostnNumFingers = fingers.count();
for(size_t j = 0; j < rightMostnNumFingers; j++)
{
const Leap::Finger &finger = rightMostfingers[j];
const int32_t finger_id = finger.id();
//const Leap::Ray& tip = finger.tip();
const Leap::Vector direction = finger.direction();
const Leap::Vector position = finger.tipPosition();
const Leap::Vector velocity = finger.tipVelocity();
const double width = finger.width();
const double length = finger.length();
const bool isTool = finger.isTool();
sprintf(buff,"/hand/rightmost/finger/%d/hand_id",j+1);
oleap_bundleMessage(bundle,buff,rightmost.id());
sprintf(buff,"/hand/rightmost/finger/%d/finger_id",j+1);
oleap_bundleMessage(bundle,buff,finger.id());
sprintf(buff,"/hand/rightmost/finger/%d/position/x",j+1);
oleap_bundleMessage(bundle,buff,position.x);
sprintf(buff,"/hand/rightmost/finger/%d/position/y",j+1);
oleap_bundleMessage(bundle,buff,position.y);
sprintf(buff,"/hand/rightmost/finger/%d/position/z",j+1);
oleap_bundleMessage(bundle,buff,position.z);
sprintf(buff,"/hand/rightmost/finger/%d/direction/x",j+1);
oleap_bundleMessage(bundle,buff,direction.x);
sprintf(buff,"/hand/rightmost/finger/%d/direction/y",j+1);
oleap_bundleMessage(bundle,buff,direction.y);
sprintf(buff,"/hand/rightmost/finger/%d/direction/z",j+1);
oleap_bundleMessage(bundle,buff,direction.z);
sprintf(buff,"/hand/rightmost/finger/%d/velocity/x",j+1);
oleap_bundleMessage(bundle,buff,velocity.x);
sprintf(buff,"/hand/rightmost/finger/%d/velocity/y",j+1);
oleap_bundleMessage(bundle,buff,velocity.y);
sprintf(buff,"/hand/rightmost/finger/%d/velocity/z",j+1);
oleap_bundleMessage(bundle,buff,velocity.z);
sprintf(buff,"/hand/rightmost/finger/%d/direction/normalized/x",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().x);
sprintf(buff,"/hand/rightmost/finger/%d/direction/normalized/y",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().y);
sprintf(buff,"/hand/rightmost/finger/%d/direction/normalized/z",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().z);
sprintf(buff,"/hand/rightmost/finger/%d/pitch/normalized/",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().pitch());
sprintf(buff,"/hand/rightmost/finger/%d/yaw/normalized/",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().yaw());
sprintf(buff,"/hand/rightmost/finger/%d/roll/normalized/",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().roll());
sprintf(buff,"/hand/rightmost/finger/%d/width",j+1);
oleap_bundleMessage(bundle,buff,width);
sprintf(buff,"/hand/rightmost/finger/%d/length",j+1);
oleap_bundleMessage(bundle,buff,length);
sprintf(buff,"/hand/rightmost/isTool",j+1);
oleap_bundleMessage(bundle,buff,isTool);
for(size_t i = j+1; i < numFingers; i++)
{
sprintf(buff,"/hand/rightmost/finger/%d/distance/to/finger/%d",j+1,i+1);
oleap_bundleMessage(bundle,buff,fingers[j].direction().distanceTo(fingers[i].direction()));
sprintf(buff,"/hand/rightmost/finger/%d/angle/to/finger/%d",j+1,i+1);
oleap_bundleMessage(bundle,buff,fingers[j].direction().angleTo((fingers[i].direction())));
}
}
//////////////////////////
for(size_t i = 0; i < numHands; i++)
{
// Hand
const Leap::Hand &hand = hands[i];
const int32_t hand_id = hand.id();
const Leap::FingerList &fingers = hand.fingers();
const size_t numFingers = fingers.count();
float pitch = hand.direction().pitch();
float yaw = hand.direction().yaw();
float roll = hand.palmNormal().roll();
//Leap::Hand leftmost = ;
//t_osc_bundle_u *bundle, string address, float datum
sprintf(buff,"/hand/%d/id",i+1);
oleap_bundleMessage(bundle,buff,hand_id);
sprintf(buff,"/hand/%d/fingers",i+1);
oleap_bundleMessage(bundle,buff,numFingers);
sprintf(buff,"/hand/%d/pitch",i+1);
oleap_bundleMessage(bundle,buff,pitch);
sprintf(buff,"/hand/%d/yaw",i+1);
oleap_bundleMessage(bundle,buff,yaw);
sprintf(buff,"/hand/%d/roll",i+1);
oleap_bundleMessage(bundle,buff,roll);
for(size_t j = 0; j < numFingers; j++)
{
// Finger
const Leap::Finger &finger = fingers[j];
const int32_t finger_id = finger.id();
//const Leap::Ray& tip = finger.tip();
const Leap::Vector direction = finger.direction();
const Leap::Vector position = finger.tipPosition();
const Leap::Vector velocity = finger.tipVelocity();
const double width = finger.width();
const double length = finger.length();
const bool isTool = finger.isTool();
/*
string names [14]= {“xpos”,”ypos”,”zpos”,”xdir”,”ydir”,”zdir”,”xvel”,”yvel”,”zvel,finger_length”,”istool_mes”};
for(LOOP OVER FINGERS “J”)
{
t_osc_message_u *handdata[14];
for(int i=0;i<14;i++)
{
handdata[i]=osc_message_u_alloc();
osc_message_u_setAddress(handdata[i], “/”+j.toString()+ ”/” +names[i]);
}
}
*/
sprintf(buff,"/hand/%d/finger/%d/hand_id",i+1,j+1);
oleap_bundleMessage(bundle,buff,hand_id);
sprintf(buff,"/hand/%d/finger/%d/finger_id",i+1,j+1);
oleap_bundleMessage(bundle,buff,finger_id);
sprintf(buff,"/hand/%d/finger/%d/position/x",i+1,j+1);
oleap_bundleMessage(bundle,buff,position.x);
sprintf(buff,"/hand/%d/finger/%d/position/y",i+1,j+1);
oleap_bundleMessage(bundle,buff,position.y);
sprintf(buff,"/hand/%d/finger/%d/position/z",i+1,j+1);
oleap_bundleMessage(bundle,buff,position.z);
sprintf(buff,"/hand/%d/finger/%d/direction/x",i+1,j+1);
oleap_bundleMessage(bundle,buff,direction.x);
sprintf(buff,"/hand/%d/finger/%d/direction/y",i+1,j+1);
oleap_bundleMessage(bundle,buff,direction.y);
sprintf(buff,"/hand/%d/finger/%d/direction/z",i+1,j+1);
oleap_bundleMessage(bundle,buff,direction.z);
sprintf(buff,"/hand/%d/finger/%d/velocity/x",i+1,j+1);
oleap_bundleMessage(bundle,buff,velocity.x);
sprintf(buff,"/hand/%d/finger/%d/velocity/y",i+1,j+1);
oleap_bundleMessage(bundle,buff,velocity.y);
sprintf(buff,"/hand/%d/finger/%d/velocity/z",i+1,j+1);
oleap_bundleMessage(bundle,buff,velocity.z);
sprintf(buff,"/hand/%d/finger/%d/width",i+1,j+1);
oleap_bundleMessage(bundle,buff,width);
sprintf(buff,"/hand/%d/finger/%d/length",i+1,j+1);
oleap_bundleMessage(bundle,buff,length);
sprintf(buff,"/hand/%d/tool",i+1,j+1);
oleap_bundleMessage(bundle,buff,isTool);
}
const Leap::Vector position = hand.palmPosition();
const Leap::Vector direction = hand.direction();
const Leap::Vector velocity = hand.palmVelocity();
const Leap::Vector normal = hand.palmNormal();
const Leap::Vector sphereCenter = hand.sphereCenter();
const double sphereRadius = hand.sphereRadius();
///////////////////////////Palm Data!!!
sprintf(buff,"/hand/%d/palm/hand_id",i+1);
oleap_bundleMessage(bundle,buff,hand_id);
sprintf(buff,"/hand/%d/palm/frame_id",i+1);
oleap_bundleMessage(bundle,buff,frame_id);
sprintf(buff,"/hand/%d/palm/position/x",i+1);
oleap_bundleMessage(bundle,buff,position.x);
sprintf(buff,"/hand/%d/palm/position/y",i+1);
oleap_bundleMessage(bundle,buff,position.y);
sprintf(buff,"/hand/%d/palm/position/z",i+1);
oleap_bundleMessage(bundle,buff,position.z);
sprintf(buff,"/hand/%d/palm/direction/x",i+1);
oleap_bundleMessage(bundle,buff,direction.x);
sprintf(buff,"/hand/%d/palm/direction/y",i+1);
oleap_bundleMessage(bundle,buff,direction.y);
sprintf(buff,"/hand/%d/palm/direction/z",i+1);
oleap_bundleMessage(bundle,buff,direction.z);
sprintf(buff,"/hand/%d/palm/velocity/x",i+1);
oleap_bundleMessage(bundle,buff,velocity.x);
sprintf(buff,"/hand/%d/palm/velocity/x",i+1);
oleap_bundleMessage(bundle,buff,velocity.y);
sprintf(buff,"/hand/%d/palm/velocity/z",i+1);
oleap_bundleMessage(bundle,buff,velocity.z);
sprintf(buff,"/hand/%d/palm/normal/x",i+1);
oleap_bundleMessage(bundle,buff,normal.x);
sprintf(buff,"/hand/%d/palm/normal/y",i+1);
oleap_bundleMessage(bundle,buff,normal.y);
sprintf(buff,"/hand/%d/palm/normal/z",i+1);
oleap_bundleMessage(bundle,buff,normal.z);
sprintf(buff,"/hand/%d/sphere/id",i);
oleap_bundleMessage(bundle,buff,hand_id);
sprintf(buff,"/hand/%d/sphere/frame_id",i);
oleap_bundleMessage(bundle,buff,frame_id);
sprintf(buff,"/hand/%d/sphere/center/x",i+1);
oleap_bundleMessage(bundle,buff,sphereCenter.x);
sprintf(buff,"/hand/%d/sphere/center/y",i+1);
oleap_bundleMessage(bundle,buff,sphereCenter.y);
sprintf(buff,"/hand/%d/sphere/center/z",i+1);
oleap_bundleMessage(bundle,buff,sphereCenter.z);
sprintf(buff,"/hand/%d/sphere/radius",i+1);
oleap_bundleMessage(bundle,buff,sphereRadius);
const Leap::PointableList pointables = frame.pointables();
const int count = pointables.count();
for(size_t j = 0; j < count; j++){
sprintf(buff,"/hand/%d/pointable/%d/id",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).id());
sprintf(buff,"/hand/%d/pointable/%d/length",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).length());
sprintf(buff,"/hand/%d/pointable/%d/width",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).width());
sprintf(buff,"/hand/%d/pointable/%d/direction/x",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).direction().x);
sprintf(buff,"/hand/%d/pointable/%d/direction/y",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).direction().y);
sprintf(buff,"/hand/%d/pointable/%d/direction/z",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).direction().z);
sprintf(buff,"/hand/%d/pointable/%d/isFinger",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).isFinger());
sprintf(buff,"/hand/%d/pointable/%d/isTool",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).isTool());
sprintf(buff,"/hand/%d/pointable/%d/position/tip/x",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).tipPosition().x);
sprintf(buff,"/hand/%d/pointable/%d/position/tip/y",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).tipPosition().y);
sprintf(buff,"/hand/%d/pointable/%d/position/tip/z",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).tipPosition().z);
sprintf(buff,"/hand/%d/pointable/%d/velocity/tip/x",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).tipVelocity().x);
sprintf(buff,"/hand/%d/pointable/%d/velocity/tip/y",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).tipVelocity().y);
sprintf(buff,"/hand/%d/pointable/%d/velocity/tip/z",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).tipVelocity().z);
sprintf(buff,"/hand/%d/pointable/%d/position/stabilized/x",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).stabilizedTipPosition().x);
sprintf(buff,"/hand/%d/pointable/%d/position/stabilized/y",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).stabilizedTipPosition().y);
sprintf(buff,"/hand/%d/pointable/%d/position/stabilized/z",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).stabilizedTipPosition().z);
sprintf(buff,"/hand/%d/pointable/%d/touchZone/distance",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).touchDistance());
sprintf(buff,"/hand/%d/pointable/%d/touchZone",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).touchZone());
sprintf(buff,"/hand/%d/pointable/%d/touchZone/touching",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).ZONE_TOUCHING);
sprintf(buff,"/hand/%d/pointable/%d/touchZone/hovering",i+1,j+1);
oleap_bundleMessage(bundle,buff,pointables.operator[](j).ZONE_HOVERING);
}
const Leap::InteractionBox box = frame.interactionBox();
const Leap::Vector center = box.center();
const Leap::Vector normalizedPosition = box.normalizePoint(position);
sprintf(buff,"/hand/%d/interactionBox/depth",i+1);
oleap_bundleMessage(bundle,buff,box.depth());
sprintf(buff,"/hand/%d/interactionBox/center/x",i+1);
oleap_bundleMessage(bundle,buff,center.x);
sprintf(buff,"/hand/%d/interactionBox/center/y",i+1);
oleap_bundleMessage(bundle,buff,center.y);
sprintf(buff,"/hand/%d/interactionBox/center/z",i+1);
oleap_bundleMessage(bundle,buff,center.z);
sprintf(buff,"/hand/%d/interactionBox/position/normalized/x",i+1);
oleap_bundleMessage(bundle,buff,normalizedPosition.x);
sprintf(buff,"/hand/%d/interactionBox/position/normalized/y",i+1);
oleap_bundleMessage(bundle,buff,normalizedPosition.y);
sprintf(buff,"/hand/%d/interactionBox/position/normalized/z",i+1);
oleap_bundleMessage(bundle,buff,normalizedPosition.z);
sprintf(buff,"/hand/%d/interactionBox/width",i+1);
oleap_bundleMessage(bundle,buff,box.width());
sprintf(buff,"/hand/%d/interactionBox/height",i+1);
oleap_bundleMessage(bundle,buff,box.height());
}
long bytes = 0;//length of byte array
char* pointer = NULL;
osc_bundle_u_serialize(bundle, &bytes, &pointer);//& is address of the variable
//post("%ld %p", bytes,pointer);
t_atom out[2];
atom_setlong(out, bytes);
atom_setlong(out+1, (long)pointer);
outlet_anything(x->outlet, gensym("FullPacket"), 2, out);
osc_bundle_u_free(bundle);//get rid of stuff in osc message
osc_mem_free(pointer);//marks pointer address as being free (clear if you want to keep using same)
}
// This controller mode is used to fly around with the camera
void LLLMImpl::modeFlycam(Leap::HandList& hands)
{
static bool old_joystick_enabled=false;
S32 numHands=hands.count();
if(numHands!=1)
{
if(mOverrideCamera)
{
mOverrideCamera=false;
gSavedSettings.setBOOL("JoystickEnabled",old_joystick_enabled);
gSavedSettings.setBOOL("JoystickFlycamEnabled",false);
LLPanelStandStopFlying::clearStandStopFlyingMode(LLPanelStandStopFlying::SSFM_FLYCAM);
// make sure to keep the camera where we left it when we switch off flycam
LLViewerJoystick::instance().setCameraNeedsUpdate(false);
}
}
else
{
// Get the first hand
Leap::Hand hand=hands[0];
// Check if the hand has at least 3 fingers
Leap::FingerList finger_list=hand.fingers();
S32 num_fingers=finger_list.count();
static F32 y_rot=0.0f;
static F32 z_rot=0.0f;
if(!mOverrideCamera)
{
mOverrideCamera=true;
old_joystick_enabled=gSavedSettings.getBOOL("JoystickEnabled");
gSavedSettings.setBOOL("JoystickEnabled",true);
gSavedSettings.setBOOL("JoystickFlycamEnabled",true);
mFlycamPos=LLViewerCamera::instance().getOrigin();
mFlycamDelta=LLVector3::zero;
mFlycamFeatheredDelta=LLVector3::zero;
mFlycamInitialRot=LLViewerCamera::instance().getQuaternion();
mFlycamRot=LLVector3::zero;
mFlycamFeatheredRot=LLVector3::zero;
y_rot=0.0f;
z_rot=0.0f;
LLPanelStandStopFlying::setStandStopFlyingMode(LLPanelStandStopFlying::SSFM_FLYCAM);
}
Leap::Vector palm_pos=hand.palmPosition();
Leap::Vector palm_normal=hand.palmNormal();
if(num_fingers<3)
{
mFlycamDelta=LLVector3::zero;
mHandCenterPos=hand.palmPosition();
// auto leveling (not quite perfect yet)
mFlycamRot=LLVector3(0.0f,y_rot,z_rot);
}
else
{
F32 delta=palm_pos.z-mHandCenterPos.z;
if(fabsf(delta)>5.0f)
{
mFlycamDelta.mV[VX]=-delta*fabsf(delta)/1000.0f;
}
delta=palm_pos.y-mHandCenterPos.y;
if(fabsf(delta)>5.0f)
{
mFlycamDelta.mV[VZ]=delta*fabsf(delta)/1000.0f;
}
delta=palm_pos.x-mHandCenterPos.x;
if(fabsf(delta)>5.0f)
{
mFlycamDelta.mV[VY]=-delta*fabsf(delta)/1000.0f;
}
y_rot=palm_normal.z*150.0f;
if(fabsf(palm_normal.x)>0.2f)
{
z_rot+=(palm_normal.x*fabsf(palm_normal.x)*50.0f);
}
// palm_normal.z = pitch
// palm_normal.x = roll
mFlycamRot=LLVector3(-palm_normal.x*60.0f,y_rot,z_rot);
}
}
}
//function to get a frame and return it in the format acceptable to MATLAB
//ie mxArray
void loadFrame(mxArray *plhs[])
{
//get current frame
Leap::Frame frame = controller->frame();
//DEBUG: check if frame is valid
if(!frame.isValid()) mexErrMsgTxt("Frame returned was not valid");
//wait for frame to be valid
//while(!frame.isValid()) controller->frame();
Leap::HandList hands = frame.hands();
//import variables and create struct
//number of hands
int numHands = hands.count();
//if there are no hands return a null pointer
if(!numHands){
plhs[0] = mxCreateDoubleScalar(0);
return;
}
//fields returned to matlab in the struct:
int numHandFields = 4; //change number of fields here****
const char *hand_field_names[] =
{
"position",
"velocity",
"direction",
"pointables"
//add new hand fields here****
};
//pointable temp values for a given hand
int numPointables;
Leap::PointableList pointList;
int numPointFields = 3; //change number of pointable fields here****
const char *point_field_names[] =
{
"position",
"velocity",
"direction"
//add new pointable fields here****
};
mxArray *p;
//allocate the structure array to export to matlab
mxArray *h = mxCreateStructMatrix(1, numHands, numHandFields, hand_field_names);
//put vectors into structure array fields
int i,j; //iterators
for(i=0;i<numHands;i++){
//fill in hand information
mxSetFieldByNumber(h,i,0,makeVector(hands[i].palmPosition()));
mxSetFieldByNumber(h,i,1,makeVector(hands[i].palmVelocity()));
mxSetFieldByNumber(h,i,2,makeVector(hands[i].direction()));
// add new field information here****
//create pointable struct for this hand
pointList = hands[i].pointables(); //get list of pointables for this hand
numPointables = pointList.count(); //get number of pointables for this hand
//build list of pointables
p = mxCreateStructMatrix(1,numPointables,numPointFields,point_field_names);
for(j=0;j<numPointables;j++){
mxSetFieldByNumber(p,j,0,makeVector(pointList[j].tipPosition()));
mxSetFieldByNumber(p,j,1,makeVector(pointList[j].tipVelocity()));
mxSetFieldByNumber(p,j,2,makeVector(pointList[j].direction()));
//add new pointable fields here****
}
//put pointable list into hand struct
mxSetFieldByNumber(h,i,3,p);
}
plhs[0] = h; //set output
return;
}