void convertPointableRotation(const Leap::Pointable& pointable, MatrixF& outRotation)
{
// We need to convert from Motion coordinates to
// Torque coordinates. The conversion is:
//
// Motion Torque
// a b c a b c a -c b
// d e f --> -g -h -i --> -g i -h
// g h i d e f d -f e
Leap::Vector pointableFront = -pointable.direction();
Leap::Vector pointableRight = Leap::Vector::up().cross(pointableFront);
Leap::Vector pointableUp = pointableFront.cross(pointableRight);
outRotation.setColumn(0, Point4F( pointableRight.x, -pointableRight.z, pointableRight.y, 0.0f));
outRotation.setColumn(1, Point4F( -pointableFront.x, pointableFront.z, -pointableFront.y, 0.0f));
outRotation.setColumn(2, Point4F( pointableUp.x, -pointableUp.z, pointableUp.y, 0.0f));
outRotation.setPosition(Point3F::Zero);
}
void convertHandRotation(const Leap::Hand& hand, MatrixF& outRotation)
{
// We need to convert from Motion coordinates to
// Torque coordinates. The conversion is:
//
// Motion Torque
// a b c a b c a -c b
// d e f --> -g -h -i --> -g i -h
// g h i d e f d -f e
const Leap::Vector& handToFingers = hand.direction();
Leap::Vector handFront = -handToFingers;
const Leap::Vector& handDown = hand.palmNormal();
Leap::Vector handUp = -handDown;
Leap::Vector handRight = handUp.cross(handFront);
outRotation.setColumn(0, Point4F( handRight.x, -handRight.z, handRight.y, 0.0f));
outRotation.setColumn(1, Point4F( -handFront.x, handFront.z, -handFront.y, 0.0f));
outRotation.setColumn(2, Point4F( handUp.x, -handUp.z, handUp.y, 0.0f));
outRotation.setPosition(Point3F::Zero);
}