void LeapHands::onFrame(const Controller& controller)
{
//Game::Instance()->PrintFloat("Hand children: ", childrenMap.size());
std::map<string, BoneData> tempBoneData;
HandList hands = controller.frame().hands();
int handId = 0;
hands[0].fingers()[(int) Finger::Type::TYPE_THUMB];
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Hand hand = *hl;
// Get fingers
const FingerList fingers = hand.fingers();
int fingerId = 0;
bool firstFinger = true;
Finger previousFinger;
stringstream ass;
ass << "Arm: 0 Hand: " << handId;
tempBoneData[ass.str()] = BoneData(ass.str(), LeapToGlVec3(hand.arm().wristPosition()), LeapToGlVec3(hand.arm().elbowPosition()), true);
ass.clear();
glm::vec3 thumbBone = LeapToGlVec3(hand.fingers()[Finger::Type::TYPE_THUMB].bone(Bone::Type::TYPE_DISTAL).nextJoint());
glm::vec3 indexBone = LeapToGlVec3(hand.fingers()[Finger::Type::TYPE_INDEX].bone(Bone::Type::TYPE_DISTAL).nextJoint());
pinchDist = glm::length(thumbBone - indexBone);
if (pinchDist < 5.0f)
{
pinch = true;
}
else
{
pinch = false;
}
for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Finger finger = *fl;
// Get finger bones
for (int b = 0; b < 4; ++b) {
Bone::Type boneType = static_cast<Bone::Type>(b);
Bone bone = finger.bone(boneType);
stringstream ss;
ss << "Hand: " << handId << " Finger: " << fingerId << " Bone: " << b;
tempBoneData[ss.str()] = BoneData(ss.str(), LeapToGlVec3(bone.prevJoint()), LeapToGlVec3(bone.nextJoint()), true);
}
// Draw some other bits of the hand
if (!firstFinger)
{
for (int b = 0; b < 2; ++b)
{
stringstream ss;
ss << "Hand: " << handId << "Finger: " << (fingerId - 1) << "Finger: " << (fingerId) << " Bone: " << b;
Bone startBone = previousFinger.bone(static_cast<Bone::Type>(b));
Bone endBone = finger.bone(static_cast<Bone::Type>(b));
if ((b == 1) && (fingerId == 1))
{
tempBoneData[ss.str()] = BoneData(ss.str(), LeapToGlVec3(startBone.nextJoint()), LeapToGlVec3(endBone.prevJoint()), false);
}
else
{
tempBoneData[ss.str()] = BoneData(ss.str(), LeapToGlVec3(startBone.prevJoint()), LeapToGlVec3(endBone.prevJoint()), false);
}
}
}
const GestureList gestures = controller.frame().gestures();
for (int g = 0; g < gestures.count(); ++g)
{
Gesture gesture = gestures[g];
switch (gesture.type())
{
case Gesture::TYPE_CIRCLE:
{
CircleGesture circle = gesture;
if (gesture.durationSeconds() > 1)
{
if (circle.pointable().direction().angleTo(circle.normal()) <= PI / 2) {
spawn = vehicle;
}
else {
spawn = model;
}
}
}
}
}
previousFinger = finger;
firstFinger = false;
++fingerId;
}
++handId;
}
EnterCriticalSection(&criticalSection);
trackedHands = handId;
map<string, BoneData>::iterator it = tempBoneData.begin();
boneData = tempBoneData;
LeaveCriticalSection(&criticalSection);
}
//--------------------------------------------------------------
void testApp::recordArmXML (Hand & hand){
if (bRecordingThisFrame){
Arm arm = hand.arm();
if (arm.isValid()){
float armWidth = arm.width();
XML.setValue("AW", armWidth, lastTagNumber);
ofPoint palmPt = leap.getofPoint ( hand.palmPosition());
ofPoint wristPt = leap.getofPoint ( arm.wristPosition());
ofPoint elbowPt = leap.getofPoint ( arm.elbowPosition());
ofPoint palmNorm = leap.getofPoint ( hand.palmNormal());
int palmPtTagNum = XML.addTag("PM");
XML.setValue("PM:X", palmPt.x, palmPtTagNum);
XML.setValue("PM:Y", palmPt.y, palmPtTagNum);
XML.setValue("PM:Z", palmPt.z, palmPtTagNum);
int wristPtTagNum = XML.addTag("W");
XML.setValue("W:X", wristPt.x, wristPtTagNum);
XML.setValue("W:Y", wristPt.y, wristPtTagNum);
XML.setValue("W:Z", wristPt.z, wristPtTagNum);
int elbowPtTagNum = XML.addTag("E");
XML.setValue("E:X", elbowPt.x, elbowPtTagNum);
XML.setValue("E:Y", elbowPt.y, elbowPtTagNum);
XML.setValue("E:Z", elbowPt.z, elbowPtTagNum);
int palmNormTagNum = XML.addTag("PN");
XML.setValue("PN:X", palmNorm.x, palmNormTagNum);
XML.setValue("PN:Y", palmNorm.y, palmNormTagNum);
XML.setValue("PN:Z", palmNorm.z, palmNormTagNum);
//---------------
// Export the hand basis matrix
Leap::Matrix handMatrix = hand.basis();
ofPoint handBasisX = leap.getofPoint( handMatrix.xBasis);
ofPoint handBasisY = leap.getofPoint( handMatrix.yBasis);
ofPoint handBasisZ = leap.getofPoint( handMatrix.zBasis);
int handMatrixTagNum = XML.addTag("HM");
if( XML.pushTag("HM", handMatrixTagNum) ){
XML.setValue("XX", handBasisX.x, handMatrixTagNum);
XML.setValue("XY", handBasisX.y, handMatrixTagNum);
XML.setValue("XZ", handBasisX.z, handMatrixTagNum);
XML.setValue("YX", handBasisY.x, handMatrixTagNum);
XML.setValue("YY", handBasisY.y, handMatrixTagNum);
XML.setValue("YZ", handBasisY.z, handMatrixTagNum);
XML.setValue("ZX", handBasisZ.x, handMatrixTagNum);
XML.setValue("ZY", handBasisZ.y, handMatrixTagNum);
XML.setValue("ZZ", handBasisZ.z, handMatrixTagNum);
XML.popTag(); // pop HM (Hand Matrix)
}
//---------------
// Export the arm basis matrix
Leap::Matrix armMatrix = arm.basis();
ofPoint armBasisX = leap.getofPoint( armMatrix.xBasis);
ofPoint armBasisY = leap.getofPoint( armMatrix.yBasis);
ofPoint armBasisZ = leap.getofPoint( armMatrix.zBasis);
int armMatrixTagNum = XML.addTag("AM");
if( XML.pushTag("AM", armMatrixTagNum) ){
XML.setValue("XX", armBasisX.x, armMatrixTagNum);
XML.setValue("XY", armBasisX.y, armMatrixTagNum);
XML.setValue("XZ", armBasisX.z, armMatrixTagNum);
XML.setValue("YX", armBasisY.x, armMatrixTagNum);
XML.setValue("YY", armBasisY.y, armMatrixTagNum);
XML.setValue("YZ", armBasisY.z, armMatrixTagNum);
XML.setValue("ZX", armBasisZ.x, armMatrixTagNum);
XML.setValue("ZY", armBasisZ.y, armMatrixTagNum);
XML.setValue("ZZ", armBasisZ.z, armMatrixTagNum);
XML.popTag(); // pop AM (Arm Matrix)
}
}
}
}
void LeapListener::onFrame(const Controller & controller) {
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
std::cout << "Frame id: " << frame.id()
<< ", timestamp: " << frame.timestamp()
<< ", hands: " << frame.hands().count()
<< ", extended fingers: " << frame.fingers().extended().count()
<< ", tools: " << frame.tools().count()
<< ", gestures: " << frame.gestures().count() << std::endl;
HandList hands = frame.hands();
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Hand hand = *hl;
std::string handType = hand.isLeft() ? "Left hand" : "Right hand";
std::cout << std::string(2, ' ') << handType << ", id: " << hand.id()
<< ", palm position: " << hand.palmPosition() << std::endl;
// Get the hand's normal vector and direction
const Vector normal = hand.palmNormal();
const Vector direction = hand.direction();
// Calculate the hand's pitch, roll, and yaw angles
std::cout << std::string(2, ' ') << "pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
<< "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
<< "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << std::endl;
// Get the Arm bone
Arm arm = hand.arm();
std::cout << std::string(2, ' ') << "Arm direction: " << arm.direction()
<< " wrist position: " << arm.wristPosition()
<< " elbow position: " << arm.elbowPosition() << std::endl;
// Get fingers
const FingerList fingers = hand.fingers();
for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Finger finger = *fl;
std::cout << std::string(4, ' ') << fingerNames[finger.type()]
<< " finger, id: " << finger.id()
<< ", length: " << finger.length()
<< "mm, width: " << finger.width() << std::endl;
// Get finger bones
for (int b = 0; b < 4; ++b) {
Bone::Type boneType = static_cast<Bone::Type>(b);
Bone bone = finger.bone(boneType);
std::cout << std::string(6, ' ') << boneNames[boneType]
<< " bone, start: " << bone.prevJoint()
<< ", end: " << bone.nextJoint()
<< ", direction: " << bone.direction() << std::endl;
}
}
}
// Get tools
const ToolList tools = frame.tools();
for (ToolList::const_iterator tl = tools.begin(); tl != tools.end(); ++tl) {
const Tool tool = *tl;
std::cout << std::string(2, ' ') << "Tool, id: " << tool.id()
<< ", position: " << tool.tipPosition()
<< ", direction: " << tool.direction() << std::endl;
}
// Get gestures
const GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Gesture gesture = gestures[g];
switch (gesture.type()) {
case Gesture::TYPE_CIRCLE: {
CircleGesture circle = gesture;
std::string clockwiseness;
if (circle.pointable().direction().angleTo(circle.normal()) <= PI/2) {
clockwiseness = "clockwise";
} else {
clockwiseness = "counterclockwise";
}
// Calculate angle swept since last frame
float sweptAngle = 0;
if (circle.state() != Gesture::STATE_START) {
CircleGesture previousUpdate = CircleGesture(controller.frame(1).gesture(circle.id()));
sweptAngle = (circle.progress() - previousUpdate.progress()) * 2 * PI;
}
std::cout << std::string(2, ' ')
<< "Circle id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", progress: " << circle.progress()
<< ", radius: " << circle.radius()
<< ", angle " << sweptAngle * RAD_TO_DEG
<< ", " << clockwiseness << std::endl;
break;
}
case Gesture::TYPE_SWIPE: {
SwipeGesture swipe = gesture;
std::cout << std::string(2, ' ')
<< "Swipe id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", direction: " << swipe.direction()
<< ", speed: " << swipe.speed() << std::endl;
break;
}
case Gesture::TYPE_KEY_TAP: {
KeyTapGesture tap = gesture;
std::cout << std::string(2, ' ')
<< "Key Tap id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", position: " << tap.position()
<< ", direction: " << tap.direction()<< std::endl;
break;
}
case Gesture::TYPE_SCREEN_TAP: {
ScreenTapGesture screentap = gesture;
std::cout << std::string(2, ' ')
<< "Screen Tap id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", position: " << screentap.position()
<< ", direction: " << screentap.direction() << std::endl;
break;
}
default:
std::cout << std::string(2, ' ') << "Unknown gesture type." << std::endl;
break;
}
}
if (!frame.hands().isEmpty() || !gestures.isEmpty())
std::cout << std::endl;
}
//--------------------------------------------------------------
void LeapVisualizer::drawArm (Hand & hand,ofxLeapMotion & leap){
// Draw the wrist and elbow points.
Arm arm = hand.arm();
if (arm.isValid()){
ofPoint handPt = leap.getofPoint ( hand.palmPosition());
ofPoint handNorm = leap.getofPoint ( hand.palmNormal());
ofPoint wristPt = leap.getofPoint ( arm.wristPosition());
ofPoint elbowPt = leap.getofPoint ( arm.elbowPosition());
float basisLen = 50.0;
if (bDrawSimple){
ofSetColor(ofColor::white);
ofDrawSphere(handPt, 8.0);
ofDrawSphere(wristPt, 8.0);
ofDrawSphere(elbowPt, 8.0);
ofLine(handPt, wristPt);
ofLine(wristPt, elbowPt);
ofLine(handPt, handPt+ basisLen*handNorm);
ofDrawSphere(handPt+ basisLen*handNorm, 2.0);
// draw the rotation vectors of the hand.
{
Leap::Matrix handMatrix = hand.basis();
ofPoint handBasisX = leap.getofPoint( handMatrix.xBasis);
ofPoint handBasisY = leap.getofPoint( handMatrix.yBasis);
ofPoint handBasisZ = leap.getofPoint( handMatrix.zBasis);
glLineWidth(2.0);
ofSetColor(ofColor::red ); ofLine(handPt, handPt + basisLen*handBasisX);
ofSetColor(ofColor::green); ofLine(handPt, handPt + basisLen*handBasisY);
ofSetColor(ofColor::blue ); ofLine(handPt, handPt + basisLen*handBasisZ);
glLineWidth(1.0);
// draw the identity of the hand (left or right)
string whichHandString = "RIGHT";
if (hand.isLeft()){
whichHandString = "LEFT";
}
// float handConfidence = hand.confidence();
// whichHandString += " " + ofToString(handConfidence);
ofSetColor(ofColor::white);
ofDrawBitmapString(whichHandString, (handPt + (basisLen*1.2)*handBasisY));
}
// draw the rotation vectors of the arm.
{
Leap::Matrix armMatrix = arm.basis();
ofPoint armBasisX = leap.getofPoint( armMatrix.xBasis);
ofPoint armBasisY = leap.getofPoint( armMatrix.yBasis);
ofPoint armBasisZ = leap.getofPoint( armMatrix.zBasis);
glLineWidth(2.0);
ofSetColor(ofColor::red ); ofLine(wristPt, wristPt + basisLen*armBasisX);
ofSetColor(ofColor::green); ofLine(wristPt, wristPt + basisLen*armBasisY);
ofSetColor(ofColor::blue ); ofLine(wristPt, wristPt + basisLen*armBasisZ);
glLineWidth(1.0);
}
} else {
// Draw a cylinder between two points, properly oriented in space.
float armWidth = arm.width();
float dx = wristPt.x - elbowPt.x;
float dy = wristPt.y - elbowPt.y;
float dz = wristPt.z - elbowPt.z;
float dh = sqrt(dx*dx + dy*dy + dz*dz);
ofPushMatrix();
{
ofTranslate( (elbowPt.x+wristPt.x)/2, (elbowPt.y+wristPt.y)/2, (elbowPt.z+wristPt.z)/2 );
float theta = 90 - RAD_TO_DEG * asin(dz/dh);
float phi = RAD_TO_DEG * atan2(dy,dx);
ofRotate(phi, 0,0,1);
ofRotate(theta, 0,1,0);
ofRotate(90, 1,0,0);
// Get the arm Matrix, which provides its orthogonal basis vectors.
Leap::Matrix armMatrix = arm.basis();
ofPoint armBasisY = leap.getofPoint( armMatrix.yBasis);
float ax = armBasisY.x;
float ay = armBasisY.y;
float az = armBasisY.z;
// Compute the longitudinal rotation of the arm.
// Sheesh, I really need to learn 3D matrix math.
ofNode armBasisYNode;
armBasisYNode.setPosition(armBasisY);
armBasisYNode.rotateAround(0- phi, ofVec3f(0,0,1), ofVec3f(0,0,0));
armBasisYNode.rotateAround(0- theta, ofVec3f(0,1,0), ofVec3f(0,0,0));
armBasisYNode.rotateAround(0- 90, ofVec3f(1,0,0), ofVec3f(0,0,0));
ofPoint newArmBasisY = armBasisYNode.getPosition();
float armRotation = RAD_TO_DEG * atan2f(newArmBasisY.z, newArmBasisY.x);
ofPushMatrix();
{
ofRotate(armRotation, 0,-1,0);
float armThicknessRatio = 0.6;
glScalef(armThicknessRatio, 1.0, 1.0);
ofSetColor(ofColor::magenta);
// Oblate arm cylinder
ofDrawCylinder (armWidth/2.0, dh);
// Wrist endcap
ofPushMatrix();
ofTranslate(ofPoint(0, dh/2,0));
glScalef(1.0, armThicknessRatio, 1.0);
ofDrawSphere(armWidth/2.0);
ofPopMatrix();
// Elbow endcap
ofPushMatrix();
ofTranslate(ofPoint(0, -dh/2,0));
glScalef(1.0, armThicknessRatio, 1.0);
ofDrawSphere(armWidth/2.0);
ofPopMatrix();
} // Close popMatrix
ofPopMatrix();
} // Close popMatrix
ofPopMatrix();
} // Close if !drawSimple
} // Close if arm isValid
}
void QTVS_Leap::HandLogic()
{
//TODO: Fix this
if (hands.count() == 1)
{
int iHandToFingerShift = hand.isLeft() ? 5 : 0;
for (int iFingerCounter = iHandToFingerShift;
iFingerCounter <= iHandToFingerShift + 4;
iFingerCounter ++)
QCoreApplication::postEvent(fingerTraces.at(iFingerCounter), new QHideEvent());
iHandToFingerShift = hand.isLeft() ? 0 : 5;
if(ui.checkBox_ShowFingers->isChecked())
{
for (int iFingerCounter = iHandToFingerShift;
iFingerCounter <= iHandToFingerShift + 4;
iFingerCounter ++)
QCoreApplication::postEvent(fingerTraces.at(iFingerCounter), new QShowEvent());
}
}
else if (hands.isEmpty())
{
foreach (FingerTraceWindow * fTrace, fingerTraces)
QCoreApplication::postEvent(fTrace, new QHideEvent());
// QCoreApplication::postEvent(thumbTrace, new QHideEvent());
// QCoreApplication::postEvent(indexTrace, new QHideEvent());
// QCoreApplication::postEvent(middleTrace, new QHideEvent());
// QCoreApplication::postEvent(ringTrace, new QHideEvent());
// QCoreApplication::postEvent(pinkieTrace, new QHideEvent());
}
else
{
if(ui.checkBox_ShowFingers->isChecked())
{
foreach (FingerTraceWindow * fTrace, fingerTraces)
QCoreApplication::postEvent(fTrace, new QShowEvent());
}
// QCoreApplication::postEvent(thumbTrace, new QShowEvent());
// QCoreApplication::postEvent(indexTrace, new QShowEvent());
// QCoreApplication::postEvent(middleTrace, new QShowEvent());
// QCoreApplication::postEvent(ringTrace, new QShowEvent());
// QCoreApplication::postEvent(pinkieTrace, new QShowEvent());
}
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
hand = *hl;
//TODO: Perhaps move this to gestures?
if (ui.checkBox_Crunch->isChecked())
{
if (hands.count() == 2)
{
// we check if one hand's dragging and the other's closed
if (hand.isLeft())
{
// if this hand is left, and the other hand (right) is dragging something..
if (debugWindowDrag_Right.left != -1)
{
debugDisplayString = QString::number(hand.grabStrength());
//pretty much closed
if (hand.grabStrength() >= 0.7)
{
SendMessage(debugWindowHWND_Right, WM_SYSCOMMAND, SC_CLOSE, 0);
// DestroyWindow();
}
}
}
else
{
// if this hand is left, and the other hand (right) is dragging something..
if (debugWindowDrag_Left.left != -1)
{
//pretty much closed
if (hand.grabStrength() >= 0.7)
{
// DestroyWindow(debugWindowHWND_Left);
SendMessage(debugWindowHWND_Left, WM_SYSCOMMAND, SC_CLOSE, 0);
}
}
}
}
}
// std::string handType = hand.isLeft() ? "Left hand" : "Right hand";
// std::cout << std::string(2, ' ') << handType << ", id: " << hand.id()
// << ", palm position: " << hand.palmPosition() << std::endl;
// Get the hand's normal vector and direction
const Vector normal = hand.palmNormal();
const Vector direction = hand.direction();
// Calculate the hand's pitch, roll, and yaw angles
// debugDisplayString = QString(", palm position: " + QString(hand.palmPosition().toString().data() ));
// debugDisplayString = QString::number(hand.palmPosition().x); //20
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(hand.palmPosition().y)); // 5
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(hand.palmPosition().z));
// debugDisplayString.append("\n");
// debugDisplayString.append("roll:" + QString::number(normal.roll()));
///--------------------------------------------------
if (debug_extendedFingerCounter != 0 && ui.checkBox_palmMouse->isChecked())
HandCursorPosition(hand.stabilizedPalmPosition());
if (ui.checkBox_HandRollDrag->isChecked())
{
if (bDebug_HandRollDrag)
{
if (normal.roll() > 0.7)
{
bDebug_HandRollDrag = false;
if (debug_extendedFingerCounter != 0)
MouseKeyboardEmulation::MouseLeftClickDown();
}
}
}
if (!bDebug_HandRollDrag)
{
if (normal.roll() < 0.5)
{
bDebug_HandRollDrag = true;
MouseKeyboardEmulation::MouseLeftClickUp();
}
}
///-----------------------------------------------
debug_extendedFingerCounter = 0;
foreach (Finger finger, fingers)
{
if (finger.isExtended())
debug_extendedFingerCounter++;
}
// Fist Scrolling
if (debug_extendedFingerCounter == 0 && ui.checkBox_palmScroll->isChecked())
{
if (fFistPositionY == 0)
fFistPositionY = hand.palmPosition().y;
if (hand.palmPosition().y > fFistPositionY + 10)
{
float fDifference = hand.palmPosition().y - fFistPositionY + 10;
fDifference /= 10;
MouseKeyboardEmulation::MouseWheelUp(fDifference);
}
else if (hand.palmPosition().y < fFistPositionY - 10)
{
float fDifference = abs(hand.palmPosition().y - fFistPositionY - 10);
fDifference /= 10;
MouseKeyboardEmulation::MouseWheelUp(-1 * fDifference);
}
// debugDisplayString = QString::number(ThumbMiddleDifference_X); //20
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(abs(middleFinger.stabilizedTipPosition().y - indexFinger.stabilizedTipPosition().y))); // 5
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(debug_extendedFingerCounter));
//works
// if(direction.pitch() * RAD_TO_DEG > 30)
// MouseKeyboardEmulation::MouseWheelUp((direction.pitch() * RAD_TO_DEG)/10);
// if(direction.pitch() * RAD_TO_DEG < 30)
// MouseKeyboardEmulation::MouseWheelDown(5);
}
else
{
if (fFistPositionY != 0)
fFistPositionY = 0;
}
// std::cout << std::string(2, ' ') << "pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
// << "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
// << "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << std::endl;
// Get the Arm bone
Arm arm = hand.arm();
// std::cout << std::string(2, ' ') << "Arm direction: " << arm.direction()
// << " wrist position: " << arm.wristPosition()
// << " elbow position: " << arm.elbowPosition() << std::endl;
// Get fingers
fingers = hand.fingers();
FingerLogic(hand.isLeft() ? handLeft : handRight);
}
}