Example #1
0
void HandController::drawHands() {
  glPushMatrix();
  glTranslatef(translation_);
  glScalef(scale_, scale_, scale_);
  
  Leap::Frame frame = controller_.frame();
  for (int h = 0; h < frame.hands().count(); ++h) {
    Leap::Hand hand = frame.hands()[h];
    
    for (int f = 0; f < hand.fingers().count(); ++f) {
      Leap::Finger finger = hand.fingers()[f];
      
      // Draw first joint inside hand.
      Leap::Bone mcp = finger.bone(Leap::Bone::Type::TYPE_METACARPAL);
      drawJoint(mcp.prevJoint());
      
      for (int b = 0; b < 4; ++b) {
        Leap::Bone bone = finger.bone(static_cast<Leap::Bone::Type>(b));
        drawJoint(bone.nextJoint());
        drawBone(bone);
      }
    }
  }
  
  glPopMatrix();
}
Example #2
0
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);
            }
        }
    }
}
Example #3
0
void Quickstart::onFrame(const Leap::Controller &controller) {
    // returns the most recent frame. older frames can be accessed by passing in 
    // a "history" parameter to retrieve an older frame, up to about 60
    // (exact number subject to change)
    const Leap::Frame frame = controller.frame();

    // do nothing unless hands are detected
    if (frame.hands().empty())
        return;
    
    // first detected hand
    const Leap::Hand firstHand = frame.hands()[0];
    // first pointable object (finger or tool)
    const Leap::PointableList pointables = firstHand.pointables();
    if (pointables.empty()) return;
    const Leap::Pointable firstPointable = pointables[0];
    
    // print velocity on the X axis
    cout << "Pointable X velocity: " << firstPointable.tipVelocity()[0] << endl;
    
    const Leap::FingerList fingers = firstHand.fingers();
    if (fingers.empty()) return;
    
    for (int i = 0; i < fingers.count(); i++) {
        const Leap::Finger finger = fingers[i];
        
        std::cout << "Detected finger " << i << " at position (" <<
            finger.tipPosition().x << ", " <<
            finger.tipPosition().y << ", " <<
            finger.tipPosition().z << ")" << std::endl;
    }
}
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;
}
// 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
}
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();
}
Example #7
0
void MenuController::leapMenuClosed(const Leap::Controller& controller, const Leap::Frame& frame)
{
	Leap::GestureList gestures = frame.gestures();
	for (const Leap::Gesture& g : gestures) {
		if (g.type() == Leap::Gesture::TYPE_CIRCLE) {
			Leap::CircleGesture circle(g);

			bool xyPlane = abs(circle.normal().dot(Leap::Vector(0, 0, 1))) > 0.8f;
			if (circle.progress() > 1.0f && xyPlane && circle.radius() > 35.0f) {


				Leap::Hand hand = circle.hands().frontmost();
				Leap::FingerList fingers = hand.fingers();

				if (fingers[1].isValid()) {
					pointer_ = fingers[1];
				} else if (fingers[2].isValid()) {
					pointer_ = fingers[2];
				}

				
				bool main = pointer_.isValid() && fingers.extended().count() <= 2;

				bool secondary = fingers[Leap::Finger::TYPE_INDEX].isExtended() &&
					fingers[Leap::Finger::TYPE_THUMB].isExtended() &&
					fingers[Leap::Finger::TYPE_MIDDLE].isExtended() && fingers.extended().count() == 3;

				if (main) {
					leap_state_ = LeapState::triggered_main;
				} else if (secondary && MainController::getInstance().focusLayer() && MainController::getInstance().focusLayer()->contextMenu()) {
					leap_state_ = LeapState::triggered_context;
				}
			}
		}
	}
}
Example #8
0
void SampleListener::onFrame(const Leap::Controller& controller) {
  // Get the most recent frame and report some basic information
  const Leap::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;

  Leap::HandList hands = frame.hands();
  for (Leap::HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
    // Get the first hand
    const Leap::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 Leap::Vector normal = hand.palmNormal();
    const Leap::Vector direction = hand.direction();

    // Calculate the hand's pitch, roll, and yaw angles
    std::cout << std::string(2, ' ') <<  "pitch: " << direction.pitch() * Leap::RAD_TO_DEG << " degrees, "
              << "roll: " << normal.roll() * Leap::RAD_TO_DEG << " degrees, "
              << "yaw: " << direction.yaw() * Leap::RAD_TO_DEG << " degrees" << std::endl;

    // Get the Arm bone
    Leap::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 Leap::FingerList fingers = hand.fingers();
    for (Leap::FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
      const Leap::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) {
        Leap::Bone::Type boneType = static_cast<Leap::Bone::Type>(b);
        Leap::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 Leap::ToolList tools = frame.tools();
  for (Leap::ToolList::const_iterator tl = tools.begin(); tl != tools.end(); ++tl) {
    const Leap::Tool tool = *tl;
    std::cout << std::string(2, ' ') <<  "Tool, id: " << tool.id()
              << ", position: " << tool.tipPosition()
              << ", direction: " << tool.direction() << std::endl;
  }

  // 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;

        if (circle.pointable().direction().angleTo(circle.normal()) <= Leap::PI/2) {
          clockwiseness = "clockwise";
        } else {
          clockwiseness = "counterclockwise";
        }

        // 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;
        }
        std::cout << std::string(2, ' ')
                  << "Circle id: " << gesture.id()
                  << ", state: " << stateNames[gesture.state()]
                  << ", progress: " << circle.progress()
                  << ", radius: " << circle.radius()
                  << ", angle " << sweptAngle * Leap::RAD_TO_DEG
                  <<  ", " << clockwiseness << std::endl;
        break;
      }
      case Leap::Gesture::TYPE_SWIPE:
      {
        Leap::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 Leap::Gesture::TYPE_KEY_TAP:
      {
        Leap::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 Leap::Gesture::TYPE_SCREEN_TAP:
      {
        Leap::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;
  }

}
// 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
	}
}
Example #12
0
bool finger_count_comparator (Leap::Hand a, Leap::Hand b) { return a.fingers().count() > b.fingers().count(); }
Example #13
0
void jester::LeapMotionImpl::processFingers(Leap::Hand hand, Bone::BoneId fingerOne, LeapHand whichHand) {
	Leap::FingerList fingerList = hand.fingers();
	std::vector<Leap::Finger> fingers;
	FingerData *fingerIds = (whichHand == LeapHand::LEFT ? kLeftFingerIds : kRightFingerIds);
	bool fingersFound[] = {false, false, false, false, false};

	//project finger tip positions onto palm plane and calculate angle
	for (Leap::FingerList::const_iterator fingerIter = fingerList.begin(); fingerIter != fingerList.end(); fingerIter++) {
		fingers.push_back(*fingerIter);
	}

	//if this is the first time we've seen the full hand, calibrate the finger lengths
	if (fingerIds[0].id == -1 && fingers.size() == 5) {
		if (whichHand == LeapHand::LEFT)
			std::sort(fingers.begin(), fingers.end(), left_hand_finger_x_coordinate_comparator);
		else if (whichHand == LeapHand::RIGHT)
			std::sort(fingers.begin(), fingers.end(), right_hand_finger_x_coordinate_comparator);
		else
			return;
		fingersFound[0] = fingersFound[1] = fingersFound[2] = fingersFound[3] = fingersFound[4] = true;

		for (int i = 0; i < 5; i++) {
			fingerIds[i].id = fingers[i].id();
			fingerIds[i].length = fingers[i].length();
		}
	} else if (fingerIds[0].id == -1)
		return;

	//search for all of the known finger ids
	for (unsigned int i = 0; i < 5; i++) {
		for (unsigned int j = 0; j < fingers.size(); j++) {
			if (fingers[j].id() == fingerIds[i].id) {
				fingersFound[i] = true;
				setFingerInJointData(fingers[j], static_cast<Bone::BoneId>(fingerOne + i));
				fingers.erase(fingers.begin() + j);
			}
		}
	}

	//match all unclaimed fingers based on closest size
	for (unsigned int i = 0; i < fingers.size(); i++) {
		float closestLengthDelta = FLT_MAX;
		int closestFingerIx = -1;

		for (int j = 0; j < 5; j++) {
			if (!fingersFound[j]) {
				float lengthDelta = abs(fingerIds[j].length - fingers[i].length());

				if (lengthDelta < closestLengthDelta) {
					closestLengthDelta = lengthDelta;
					closestFingerIx = j;
				}
			}
		}
		if (closestFingerIx >= 0) {
			fingersFound[closestFingerIx] = true;
			fingerIds[closestFingerIx].id = fingers[i].id();
			setFingerInJointData(fingers[i], static_cast<Bone::BoneId>(fingerOne + closestFingerIx));
		}
	}
}
Example #14
0
void LeapManager::nextFrame(Avatar& avatar) {
    // Apply the frame data directly to the avatar.
    Hand& hand = avatar.getHand();
    
    // If we actually get valid Leap data, this will be set to true;
    bool gotRealData = false;

    if (controllersExist()) {
        _listener->onFrame(*_controller);
    }

#ifndef LEAP_STUBS
    if (controllersExist()) {
        gotRealData = true;
        // First, see which palms and fingers are still valid.
        Leap::Frame& frame = _listener->lastFrame;
        
        // Note that this is O(n^2) at worst, but n is very small.

        // After this many frames of no data, assume the digit is lost.
        const int assumeLostAfterFrameCount = 10;

        // Increment our frame data counters
        for (size_t i = 0; i < hand.getNumPalms(); ++i) {
            PalmData& palm = hand.getPalms()[i];
            palm.incrementFramesWithoutData();
            if (palm.getFramesWithoutData() > assumeLostAfterFrameCount) {
                palm.setActive(false);
            }
            for (size_t f = 0; f < palm.getNumFingers(); ++f) {
                FingerData& finger = palm.getFingers()[f];
                finger.incrementFramesWithoutData();
                if (finger.getFramesWithoutData() > assumeLostAfterFrameCount) {
                    finger.setActive(false);
                }
            }
        }

        size_t numLeapHands = frame.hands().count();
        std::vector<PalmData*> palmAssignment(numLeapHands);
        
        // Look for matches
        for (size_t index = 0; index < numLeapHands; ++index) {
            PalmData* takeoverCandidate = NULL;
            palmAssignment[index] = NULL;
            Leap::Hand leapHand = frame.hands()[index];
            int id = leapHand.id();
            if (leapHand.isValid()) {
                for (size_t i = 0; i < hand.getNumPalms() && palmAssignment[index] == NULL; ++i) {
                    PalmData& palm = hand.getPalms()[i];
                    if (palm.getLeapID() == id) {
                        // Found hand with the same ID. We're set!
                        palmAssignment[index] = &palm;
                        palm.resetFramesWithoutData();
                    }
                    else if (palm.getFramesWithoutData() > assumeLostAfterFrameCount) {
                        takeoverCandidate = &palm;
                    }
                }
                if (palmAssignment[index] == NULL) {
                    palmAssignment[index] = takeoverCandidate;
                }
                if (palmAssignment[index] == NULL) {
                    palmAssignment[index] = &hand.addNewPalm();
                }
            }
        }
        
        // Apply the assignments
        for (size_t index = 0; index < numLeapHands; ++index) {
            if (palmAssignment[index]) {
                Leap::Hand leapHand = frame.hands()[index];
                PalmData& palm = *(palmAssignment[index]);

                palm.resetFramesWithoutData();
                palm.setLeapID(leapHand.id());
                palm.setActive(true);
                const Leap::Vector pos = leapHand.palmPosition();
                const Leap::Vector normal = leapHand.palmNormal();
                palm.setRawPosition(glm::vec3(pos.x, pos.y, pos.z));
                palm.setRawNormal(glm::vec3(normal.x, normal.y, normal.z));
            }
        }

        // Look for fingers per palm
        for (size_t i = 0; i < hand.getNumPalms(); ++i) {
            PalmData& palm = hand.getPalms()[i];
            if (palm.isActive()) {
                Leap::Hand leapHand = frame.hand(palm.getLeapID());
                if (leapHand.isValid()) {
                    int numLeapFingers = leapHand.fingers().count();
                    std::vector<FingerData*> fingerAssignment(numLeapFingers);

                    
                    // Look for matches
                    for (size_t index = 0; index < numLeapFingers; ++index) {
                        FingerData* takeoverCandidate = NULL;
                        fingerAssignment[index] = NULL;
                        Leap::Finger leapFinger = leapHand.fingers()[index];
                        int id = leapFinger.id();
                        if (leapFinger.isValid()) {
                            for (size_t f = 0; f < palm.getNumFingers() && fingerAssignment[index] == NULL; ++f) {
                                FingerData& finger = palm.getFingers()[f];
                                if (finger.getLeapID() == id) {
                                    // Found hand with the same ID. We're set!
                                    fingerAssignment[index] = &finger;
                                }
                                else if (finger.getFramesWithoutData() > assumeLostAfterFrameCount) {
                                    takeoverCandidate = &finger;
                                }
                            }
                            // If we didn't find a match, but we found an unused finger, us it.
                            if (fingerAssignment[index] == NULL) {
                                fingerAssignment[index] = takeoverCandidate;
                            }
                        }
                    }

                    // Apply the assignments
                    for (size_t index = 0; index < numLeapFingers; ++index) {
                        if (fingerAssignment[index]) {
                            Leap::Finger leapFinger = leapHand.fingers()[index];
                            FingerData& finger = *(fingerAssignment[index]);
                            
                            finger.resetFramesWithoutData();
                            finger.setLeapID(leapFinger.id());
                            finger.setActive(true);
#ifdef USE_STABILIZED_DATA
                            const Leap::Vector tip = leapFinger.stabilizedTipPosition();
#else
                            const Leap::Vector tip = leapFinger.tipPosition();
#endif
                            const Leap::Vector root = tip - leapFinger.direction() * leapFinger.length();
                            finger.setRawTipPosition(glm::vec3(tip.x, tip.y, tip.z));
                            finger.setRawRootPosition(glm::vec3(root.x, root.y, root.z));
                        }
                    }
                }
            }
        }
    }
#endif
    if (!gotRealData) {
        if (_doFakeFingers) {
            // There's no real Leap data and we need to fake it.
            for (size_t i = 0; i < hand.getNumPalms(); ++i) {
                static const glm::vec3 fakeHandOffsets[] = {
                    glm::vec3( -500.0f, 50.0f, 50.0f),
                    glm::vec3(    0.0f, 50.0f, 50.0f)
                };
                static const glm::vec3 fakeHandFingerMirrors[] = {
                    glm::vec3( -1.0f, 1.0f, 1.0f),
                    glm::vec3(  1.0f, 1.0f, 1.0f)
                };
                static const glm::vec3 fakeFingerPositions[] = {
                    glm::vec3( -60.0f, 0.0f, -40.0f),
                    glm::vec3( -20.0f, 0.0f, -60.0f),
                    glm::vec3(  20.0f, 0.0f, -60.0f),
                    glm::vec3(  60.0f, 0.0f, -40.0f),
                    glm::vec3( -50.0f, 0.0f,  30.0f)
                };

                PalmData& palm = hand.getPalms()[i];
                palm.setActive(true);
                // Simulated data
                
                palm.setRawPosition(glm::vec3( 0.0f, 0.0f, 0.0f) + fakeHandOffsets[i]);
                palm.setRawNormal(glm::vec3(0.0f, 1.0f, 0.0f));

                for (size_t f = 0; f < palm.getNumFingers(); ++f) {
                    FingerData& finger = palm.getFingers()[f];
                    finger.setActive(true);
                    const float tipScale = 1.5f;
                    const float rootScale = 0.75f;
                    glm::vec3 fingerPos = fakeFingerPositions[f] * fakeHandFingerMirrors[i];
                    finger.setRawTipPosition(fingerPos * tipScale + fakeHandOffsets[i]);
                    finger.setRawRootPosition(fingerPos * rootScale + fakeHandOffsets[i]);
                }
            }
        }
        else {
            // Just deactivate everything.
            for (size_t i = 0; i < hand.getNumPalms(); ++i) {
                PalmData& palm = hand.getPalms()[i];
                palm.setActive(false);
                for (size_t f = 0; f < palm.getNumFingers(); ++f) {
                    FingerData& finger = palm.getFingers()[f];
                    finger.setActive(false);
                }
            }
        }
    }
    hand.updateFingerTrails();
}
Example #15
0
//Main Event driven tick
void ULeapController::InterfaceEventTick(float DeltaTime)
{
	//This is our tick event that is forwarded from the delegate, check validity
	if (!_private->interfaceDelegate) return;

	//Pointers
	Leap::Frame frame = _private->leap.frame();
	Leap::Frame pastFrame = _private->leap.frame(1);

	//-Hands-

	//Hand Count
	int handCount = frame.hands().count();

	if (_private->pastState.handCount != handCount)
	{
		ILeapEventInterface::Execute_HandCountChanged(_private->interfaceDelegate, handCount);
		
		//Zero our input mapping orientations (akin to letting go of a joystick)
		if (handCount == 0)
		{
			EmitAnalogInputEventForKey(EKeysLeap::LeapLeftPalmPitch, 0, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapLeftPalmYaw, 0, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapLeftPalmRoll, 0, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapRightPalmPitch, 0, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapRightPalmYaw, 0, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapRightPalmRoll, 0, 0, 0);
		}
	}

	//Cycle through each hand
	for (int i = 0; i < handCount; i++)
	{
		Leap::Hand hand = frame.hands()[i];
		LeapHandStateData pastHandState = _private->pastState.stateForId(hand.id());		//we use a custom class to hold reliable state tracking based on id's

		//Make a ULeapHand
		if (_private->eventHand == NULL)
		{
			_private->eventHand = NewObject<ULeapHand>(this);
			_private->eventHand->SetFlags(RF_RootSet);
		}
		_private->eventHand->setHand(hand);

		//Emit hand
		ILeapEventInterface::Execute_LeapHandMoved(_private->interfaceDelegate, _private->eventHand);

		//Left/Right hand forwarding
		if (hand.isRight())
		{
			ILeapEventInterface::Execute_LeapRightHandMoved(_private->interfaceDelegate, _private->eventHand);
			//Input Mapping
			FRotator palmOrientation = _private->eventHand->PalmOrientation;
			EmitAnalogInputEventForKey(EKeysLeap::LeapRightPalmPitch, palmOrientation.Pitch * LEAP_IM_SCALE, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapRightPalmYaw, palmOrientation.Yaw * LEAP_IM_SCALE, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapRightPalmRoll, palmOrientation.Roll * LEAP_IM_SCALE, 0, 0);
		} else if (hand.isLeft())
		{
			ILeapEventInterface::Execute_LeapLeftHandMoved(_private->interfaceDelegate, _private->eventHand);
			//Input Mapping
			FRotator palmOrientation = _private->eventHand->PalmOrientation;
			EmitAnalogInputEventForKey(EKeysLeap::LeapLeftPalmPitch, palmOrientation.Pitch * LEAP_IM_SCALE, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapLeftPalmYaw, palmOrientation.Yaw * LEAP_IM_SCALE, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapLeftPalmRoll, palmOrientation.Roll * LEAP_IM_SCALE, 0, 0);
		}

		//Grabbing
		float grabStrength = hand.grabStrength();
		bool grabbed = handClosed(grabStrength);

		if (grabbed)
			ILeapEventInterface::Execute_LeapHandGrabbing(_private->interfaceDelegate, grabStrength, _private->eventHand);

		if (grabbed && !pastHandState.grabbed)
		{
			ILeapEventInterface::Execute_LeapHandGrabbed(_private->interfaceDelegate, grabStrength, _private->eventHand);
			
			//input mapping
			if (_private->eventHand->HandType == LeapHandType::HAND_LEFT)
				EmitKeyDownEventForKey(EKeysLeap::LeapLeftGrab, 0, 0);
			else
				EmitKeyDownEventForKey(EKeysLeap::LeapRightGrab, 0, 0);
		}else if (!grabbed && pastHandState.grabbed)
		{
			ILeapEventInterface::Execute_LeapHandReleased(_private->interfaceDelegate, grabStrength, _private->eventHand);

			//input mapping
			if (_private->eventHand->HandType == LeapHandType::HAND_LEFT)
				EmitKeyUpEventForKey(EKeysLeap::LeapLeftGrab, 0, 0);
			else
				EmitKeyUpEventForKey(EKeysLeap::LeapRightGrab, 0, 0);
		}

		//Pinching
		float pinchStrength = hand.pinchStrength();
		bool pinched = handPinched(pinchStrength);

		//While grabbing disable pinching detection, this helps to reduce spam as pose confidence plummets
		if (grabbed) pinched = pastHandState.pinched;
		else
		{
			if (pinched)
				ILeapEventInterface::Execute_LeapHandPinching(_private->interfaceDelegate, pinchStrength, _private->eventHand);

			if (pinched && !pastHandState.pinched)
			{
				ILeapEventInterface::Execute_LeapHandPinched(_private->interfaceDelegate, pinchStrength, _private->eventHand);
				//input mapping
				if (_private->eventHand->HandType == LeapHandType::HAND_LEFT)
					EmitKeyDownEventForKey(EKeysLeap::LeapLeftPinch, 0, 0);
				else
					EmitKeyDownEventForKey(EKeysLeap::LeapRightPinch, 0, 0);
			}
			else if (!pinched && pastHandState.pinched)
			{
				ILeapEventInterface::Execute_LeapHandUnpinched(_private->interfaceDelegate, pinchStrength, _private->eventHand);
				//input mapping
				if (_private->eventHand->HandType == LeapHandType::HAND_LEFT)
					EmitKeyUpEventForKey(EKeysLeap::LeapLeftPinch, 0, 0);
				else
					EmitKeyUpEventForKey(EKeysLeap::LeapRightPinch, 0, 0);
			}
		}

		//-Fingers-
		Leap::FingerList fingers = hand.fingers();

		//Count
		int fingerCount = fingers.count();
		if ((pastHandState.fingerCount != fingerCount))
			ILeapEventInterface::Execute_FingerCountChanged(_private->interfaceDelegate, fingerCount);

		if (_private->eventFinger == NULL)
		{
			_private->eventFinger = NewObject<ULeapFinger>(this);
			_private->eventFinger->SetFlags(RF_RootSet);
		}

		Leap::Finger finger;

		//Cycle through each finger
		for (int j = 0; j < fingerCount; j++)
		{
			finger = fingers[j];
			_private->eventFinger->setFinger(finger);

			//Finger Moved
			if (finger.isValid())
				ILeapEventInterface::Execute_LeapFingerMoved(_private->interfaceDelegate, _private->eventFinger);
		}

		//Do these last so we can easily override debug shapes

		//Leftmost
		finger = fingers.leftmost();
		_private->eventFinger->setFinger(finger);
		ILeapEventInterface::Execute_LeapLeftMostFingerMoved(_private->interfaceDelegate, _private->eventFinger);

		//Rightmost
		finger = fingers.rightmost();
		_private->eventFinger->setFinger(finger);
		ILeapEventInterface::Execute_LeapRightMostFingerMoved(_private->interfaceDelegate, _private->eventFinger);

		//Frontmost
		finger = fingers.frontmost();
		_private->eventFinger->setFinger(finger);
		ILeapEventInterface::Execute_LeapFrontMostFingerMoved(_private->interfaceDelegate, _private->eventFinger);

		//touch only for front-most finger, most common use case
		float touchDistance = finger.touchDistance();
		if (touchDistance <= 0.f)
			ILeapEventInterface::Execute_LeapFrontFingerTouch(_private->interfaceDelegate, _private->eventFinger);

		//Set the state data for next cycle
		pastHandState.grabbed = grabbed;
		pastHandState.pinched = pinched;
		pastHandState.fingerCount = fingerCount;

		_private->pastState.setStateForId(pastHandState, hand.id());
	}

	_private->pastState.handCount = handCount;

	//Gestures
	for (int i = 0; i < frame.gestures().count(); i++)
	{
		Leap::Gesture gesture = frame.gestures()[i];
		Leap::Gesture::Type type = gesture.type();

		switch (type)
		{
		case Leap::Gesture::TYPE_CIRCLE:
			if (_private->eventCircleGesture == NULL){
				_private->eventCircleGesture = NewObject<ULeapCircleGesture>(this);
				_private->eventCircleGesture->SetFlags(RF_RootSet);
			}
			_private->eventCircleGesture->setGesture(Leap::CircleGesture(gesture));
			ILeapEventInterface::Execute_CircleGestureDetected(_private->interfaceDelegate, _private->eventCircleGesture);
			_private->eventGesture = _private->eventCircleGesture;
			break;
		case Leap::Gesture::TYPE_KEY_TAP:
			if (_private->eventKeyTapGesture == NULL)
			{
				_private->eventKeyTapGesture = NewObject<ULeapKeyTapGesture>(this);
				_private->eventKeyTapGesture->SetFlags(RF_RootSet);
			}
			_private->eventKeyTapGesture->setGesture(Leap::KeyTapGesture(gesture));
			ILeapEventInterface::Execute_KeyTapGestureDetected(_private->interfaceDelegate, _private->eventKeyTapGesture);
			_private->eventGesture = _private->eventKeyTapGesture;
			break;
		case Leap::Gesture::TYPE_SCREEN_TAP:
			if (_private->eventScreenTapGesture == NULL)
			{
				_private->eventScreenTapGesture = NewObject<ULeapScreenTapGesture>(this);
				_private->eventScreenTapGesture->SetFlags(RF_RootSet);
			}
			_private->eventScreenTapGesture->setGesture(Leap::ScreenTapGesture(gesture));
			ILeapEventInterface::Execute_ScreenTapGestureDetected(_private->interfaceDelegate, _private->eventScreenTapGesture);
			_private->eventGesture = _private->eventScreenTapGesture;
			break;
		case Leap::Gesture::TYPE_SWIPE:
			if (_private->eventSwipeGesture == NULL)
			{
				_private->eventSwipeGesture = NewObject<ULeapSwipeGesture>(this);
				_private->eventSwipeGesture->SetFlags(RF_RootSet);
			}
			_private->eventSwipeGesture->setGesture(Leap::SwipeGesture(gesture));
			ILeapEventInterface::Execute_SwipeGestureDetected(_private->interfaceDelegate, _private->eventSwipeGesture);
			_private->eventGesture = _private->eventSwipeGesture;
			break;
		default:
			break;
		}

		//emit gesture
		if (type != Leap::Gesture::TYPE_INVALID)
		{
			ILeapEventInterface::Execute_GestureDetected(_private->interfaceDelegate, _private->eventGesture);
		}
	}

	//Image
	if (_private->allowImages && _private->imageEventsEnabled)
	{
		int imageCount = frame.images().count();
		for (int i = 0; i < imageCount; i++)
		{
			Leap::Image image = frame.images()[i];

			//Loop modification - Only emit 0 and 1, use two different pointers so we can get different images
			if (i == 0)
			{
				if (_private->eventImage1 == NULL)
				{
					_private->eventImage1 = NewObject<ULeapImage>(this);
					_private->eventImage1->SetFlags(RF_RootSet);
				}
				_private->eventImage1->setLeapImage(image);

				ILeapEventInterface::Execute_RawImageReceived(_private->interfaceDelegate, _private->eventImage1->Texture(), _private->eventImage1);
			}
			else if (i == 1)
			{
				if (_private->eventImage2 == NULL)
                {
					_private->eventImage2 = NewObject<ULeapImage>(this);
					_private->eventImage2->SetFlags(RF_RootSet);
				}
				_private->eventImage2->setLeapImage(image);

				ILeapEventInterface::Execute_RawImageReceived(_private->interfaceDelegate, _private->eventImage2->Texture(), _private->eventImage2);
			}
		}
	}
}
Example #16
0
//--------------------------------------------------------------
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();
    
    
}
//-------------------------------------------------------------------------------------
bool DigitalForensicsVisualisation::updateFrame(const Ogre::FrameEvent& evt)
{
	
	pointLight->setPosition(mCamera->getPosition());

	//leap
	const Frame frame = leapController.frame();
	Leap::Hand rightMost = frame.hands().rightmost();

	
#pragma region hand
	//
	//
	//if (!frame.hands().isEmpty() && !handOrientationFlag) 
	//{
	//		
	//	palmNode->resetOrientation();
	//	handOrientationFlag = true;	
	//}
	//else if (handOrientationFlag && frame.hands().isEmpty() )
	//{
	//	handOrientationFlag = false;
	//}

#pragma endregion hand


	if (!frame.hands().isEmpty())
	{
		
		

		Leap::Hand rightMost = frame.hands().rightmost();
		


		float pitchValue = rightMost.direction().pitch() * RAD_TO_DEG;
		float rollValue = rightMost.palmNormal().roll() * RAD_TO_DEG;
		float yawValue = rightMost.direction().yaw() * RAD_TO_DEG;

		// to detect open and closed hand
		Ogre::Vector3 indexTip = toVector(rightMost.fingers()[1].tipPosition());
		Ogre::Vector3 pinkyTip = toVector(rightMost.fingers()[3].tipPosition());

	
		float angle = std::abs(indexTip.x - pinkyTip.x);
		angle /= rightMost.fingers()[1].length(); // to normalise 

		if (rightMost.grabStrength() == 1)
		{
			if (mCamera->getOrientation().getPitch() + (Ogre::Radian) (rightMost.palmPosition().y - previousPosition.y) / 80 < (Ogre::Radian) 0.17 && mCamera->getOrientation().getPitch() + (Ogre::Radian) (rightMost.palmPosition().y - previousPosition.y) / 80 > (Ogre::Radian) -1.4)
				mCamera->pitch((Ogre::Radian) (rightMost.palmPosition().y - previousPosition.y) / 80);
			//mCamera->yaw((Ogre::Radian) (rightMost.palmPosition().x - previousPosition.x) / -80);
			//mCamera->roll((Ogre::Radian) (rollValue - previousFrameRoll) / 30);
			
		}
		else if (angle > 0.65)
		{
			
			//palmNode->setPosition(toVector(frame.hands().rightmost().palmPosition())); // between 100 and 250	
			if ((mCamera->getPosition().y + (frame.hands().rightmost().palmPosition().y - previousPosition.y)*2 ) > -290)
				mCamera->setPosition(mCamera->getPosition() + (toVector(frame.hands().rightmost().palmPosition()) - previousPosition)*2 );

			
		}
		//else
		//{
		//	mCamera->yaw((Ogre::Radian) (yawValue - previousFrameYaw) / -10);
		//}

		previousPosition = toVector(frame.hands().rightmost().palmPosition());
		

#pragma region hand
		//palmNode->pitch((Ogre::Radian) (pitchValue - previousFramePitch) );

		//
		//palmNode->roll((Ogre::Radian) (rollValue - previousFrameRoll) );

		//
		//palmNode->yaw((Ogre::Radian) (yawValue - previousFrameYaw) );

		//previousFramePitch = rightMost.direction().pitch() * RAD_TO_DEG;
		//previousFrameYaw = rightMost.direction().yaw() * RAD_TO_DEG;
		//previousFrameRoll = rightMost.palmNormal().roll() * RAD_TO_DEG;

		// Get fingers
		//FingerList fingers; 
		//fingers = rightMost.fingers();
		//int i = 0; //between 0 and 19 (finger bones)
		//
		//for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) 
		//{
		//	
		//	Finger finger;
		//	finger = *fl;
		//	
		//	
		//  /*char* dummy = (char*) malloc(128);
		//	sprintf (dummy, "finger id: %d, length: %f, width: %f\n", finger.id(), finger.length(), finger.width()); 
		//	OutputDebugString (dummy);
		//	free(dummy);*/

		//	// Get finger bones
		//	for (int b = 0; b < 4; ++b) 
		//	{
		//		Bone::Type boneType;
		//		boneType = static_cast<Bone::Type>(b);
		//		Bone bone;
		//		bone = finger.bone(boneType);
		//		bonesArr[i++]->setPosition(bone.center().x, bone.center().y, bone.center().z);

		//	}
		//}

		// to detect fist
		/*char* dummy = (char*) malloc(8);
		sprintf (dummy, "%f\n", rightMost.grabStrength()); 
		OutputDebugString(dummy);*/


		// to detect open and closed hand
		//Ogre::Vector3 indexTip = toVector(rightMost.fingers()[1].tipPosition());
		//Ogre::Vector3 pinkyTip = toVector(rightMost.fingers()[3].tipPosition());

	
		//float angle = std::abs(indexTip.x - pinkyTip.x);
		//angle /= rightMost.fingers()[1].length(); // to normalise 
		//
		//char* dummy = (char*) malloc(8);
		//sprintf (dummy, "%f\n", angle); 
		//OutputDebugString(dummy);
#pragma endregion hand
	}



 
   

    return true;
}
Example #18
0
void FLeapMotionInputDevice::ParseEvents()
{
	//Optimization: If we don't have any delegates, skip
	if (EventDelegates.Num() == 0)
	{
		return;
	}

	//Pointers
	Leap::Frame Frame = ControllerData.LeapController.frame();
	Leap::Frame PastFrame = ControllerData.LeapController.frame(1);

	//Calculate HMD Timewarp if valid
	if (GEngine->HMDDevice.IsValid() && ControllerData.bTimeWarpEnabled) {
		LeapHMDSnapshot ThenSnapshot = HMDSamples->HMDSampleClosestToTimestamp(Frame.timestamp());
		LeapHMDSnapshot NowSnapShot = HMDSamples->CurrentHMDSample();

		LeapHMDSnapshot HistorySnapshot = HMDSamples->LastHMDSample();	//reduce jitter
		//ControllerData.TimeWarpSnapshot = NowSnapShot.Difference(ThenSnapshot, ControllerData.TimeWarpFactor);// * ControllerData.TimeWarpFactor;

		FQuat WarpQuat = NowSnapShot.Orientation;//FQuat::Slerp(NowSnapShot.Orientation, HistorySnapshot.Orientation, ControllerData.TimeWarpTween);
		FQuat ThenTweened = FQuat::Slerp(ThenSnapshot.Orientation, HistorySnapshot.Orientation, ControllerData.TimeWarpTween);

		ControllerData.TimeWarpSnapshot.Orientation = (WarpQuat.Inverse() * ControllerData.TimeWarpFactor) * ThenTweened;

		ControllerData.TimeWarpAmountMs = (ControllerData.TimeWarpSnapshot.Timestamp) / 1000.f;
	}

	//-Hands-

	//Hand Count
	int HandCount = Frame.hands().count();

	if (PastState->HandCount != HandCount)
	{
		CallFunctionOnDelegates([&](UObject* EventDelegate)
		{
			ILeapEventInterface::Execute_HandCountChanged(EventDelegate, HandCount);
		});
		//Zero our input mapping orientations (akin to letting go of a joystick)
		if (HandCount == 0)
		{
			EmitAnalogInputEventForKey(EKeysLeap::LeapLeftPalmPitch, 0, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapLeftPalmYaw, 0, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapLeftPalmRoll, 0, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapRightPalmPitch, 0, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapRightPalmYaw, 0, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapRightPalmRoll, 0, 0, 0);
		}
	}

	//Cycle through each hand
	for (int i = 0; i < HandCount; i++)
	{
		Leap::Hand Hand = Frame.hands()[i];
		LeapHandStateData PastHandState = PastState->StateForId(Hand.id());		//we use a custom class to hold reliable state tracking based on id's

																				//Make a ULeapHand
		if (PEventHand == nullptr)
		{
			PEventHand = NewObject<ULeapHand>();
			PEventHand->AddToRoot();
		}
		PEventHand->SetHand(Hand);

		//Emit hand
		CallFunctionOnDelegates([&](UObject* EventDelegate)
		{
			ILeapEventInterface::Execute_LeapHandMoved(EventDelegate, PEventHand);
		});


		//Left/Right hand forwarding
		if (Hand.isRight())
		{
			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_LeapRightHandMoved(EventDelegate, PEventHand);
			});

			//Input Mapping
			FRotator PalmOrientation = PEventHand->PalmOrientation;
			EmitAnalogInputEventForKey(EKeysLeap::LeapRightPalmPitch, PalmOrientation.Pitch * LEAP_IM_SCALE, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapRightPalmYaw, PalmOrientation.Yaw * LEAP_IM_SCALE, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapRightPalmRoll, PalmOrientation.Roll * LEAP_IM_SCALE, 0, 0);
		}
		else if (Hand.isLeft())
		{
			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_LeapLeftHandMoved(EventDelegate, PEventHand);
			});

			//Input Mapping
			FRotator PalmOrientation = PEventHand->PalmOrientation;
			EmitAnalogInputEventForKey(EKeysLeap::LeapLeftPalmPitch, PalmOrientation.Pitch * LEAP_IM_SCALE, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapLeftPalmYaw, PalmOrientation.Yaw * LEAP_IM_SCALE, 0, 0);
			EmitAnalogInputEventForKey(EKeysLeap::LeapLeftPalmRoll, PalmOrientation.Roll * LEAP_IM_SCALE, 0, 0);
		}

		//Grabbing
		float GrabStrength = Hand.grabStrength();
		bool Grabbed = HandClosed(GrabStrength);

		if (Grabbed)
		{
			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_LeapHandGrabbing(EventDelegate, GrabStrength, PEventHand);
			});

		}

		if (Grabbed && !PastHandState.Grabbed)
		{
			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_LeapHandGrabbed(EventDelegate, GrabStrength, PEventHand);
			});

			//input mapping
			if (PEventHand->HandType == LeapHandType::HAND_LEFT)
			{
				EmitKeyDownEventForKey(EKeysLeap::LeapLeftGrab, 0, 0);
			}
			else
			{
				EmitKeyDownEventForKey(EKeysLeap::LeapRightGrab, 0, 0);
			}
		}
		else if (!Grabbed && PastHandState.Grabbed)
		{
			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_LeapHandReleased(EventDelegate, GrabStrength, PEventHand);
			});

			//input mapping
			if (PEventHand->HandType == LeapHandType::HAND_LEFT)
			{
				EmitKeyUpEventForKey(EKeysLeap::LeapLeftGrab, 0, 0);
			}
			else
			{
				EmitKeyUpEventForKey(EKeysLeap::LeapRightGrab, 0, 0);
			}
		}

		//Pinching
		float PinchStrength = Hand.pinchStrength();
		bool Pinched = HandPinched(PinchStrength);

		//While grabbing disable pinching detection, this helps to reduce spam as pose confidence plummets
		if (Grabbed)
		{
			Pinched = PastHandState.Pinched;
		}
		else
		{
			if (Pinched)
			{
				CallFunctionOnDelegates([&](UObject* EventDelegate)
				{
					ILeapEventInterface::Execute_LeapHandPinching(EventDelegate, PinchStrength, PEventHand);
				});
			}
			if (Pinched && !PastHandState.Pinched)
			{
				CallFunctionOnDelegates([&](UObject* EventDelegate)
				{
					ILeapEventInterface::Execute_LeapHandPinched(EventDelegate, PinchStrength, PEventHand);
				});
				//input mapping
				if (PEventHand->HandType == LeapHandType::HAND_LEFT)
				{
					EmitKeyDownEventForKey(EKeysLeap::LeapLeftPinch, 0, 0);
				}
				else
				{
					EmitKeyDownEventForKey(EKeysLeap::LeapRightPinch, 0, 0);
				}
			}
			else if (!Pinched && PastHandState.Pinched)
			{
				CallFunctionOnDelegates([&](UObject* EventDelegate)
				{
					ILeapEventInterface::Execute_LeapHandUnpinched(EventDelegate, PinchStrength, PEventHand);
				});
				//input mapping
				if (PEventHand->HandType == LeapHandType::HAND_LEFT)
				{
					EmitKeyUpEventForKey(EKeysLeap::LeapLeftPinch, 0, 0);
				}
				else
				{
					EmitKeyUpEventForKey(EKeysLeap::LeapRightPinch, 0, 0);
				}
			}
		}

		//-Fingers-
		Leap::FingerList Fingers = Hand.fingers();

		//Count
		int FingerCount = Fingers.count();
		if ((PastHandState.FingerCount != FingerCount))
		{
			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_FingerCountChanged(EventDelegate, FingerCount);
			});
		}
		if (PEventFinger == nullptr)
		{
			PEventFinger = NewObject<ULeapFinger>();
			PEventFinger->AddToRoot();
		}

		Leap::Finger Finger;

		//Cycle through each finger
		for (int j = 0; j < FingerCount; j++)
		{
			Finger = Fingers[j];
			PEventFinger->SetFinger(Finger);

			//Finger Moved
			if (Finger.isValid())
			{
				CallFunctionOnDelegates([&](UObject* EventDelegate)
				{
					ILeapEventInterface::Execute_LeapFingerMoved(EventDelegate, PEventFinger);
				});
			}
		}

		//Do these last so we can easily override debug shapes

		//Leftmost
		Finger = Fingers.leftmost();
		PEventFinger->SetFinger(Finger);
		CallFunctionOnDelegates([&](UObject* EventDelegate)
		{
			ILeapEventInterface::Execute_LeapLeftMostFingerMoved(EventDelegate, PEventFinger);
		});

		//Rightmost
		Finger = Fingers.rightmost();
		PEventFinger->SetFinger(Finger);
		CallFunctionOnDelegates([&](UObject* EventDelegate)
		{
			ILeapEventInterface::Execute_LeapRightMostFingerMoved(EventDelegate, PEventFinger);
		});

		//Frontmost
		Finger = Fingers.frontmost();
		PEventFinger->SetFinger(Finger);
		CallFunctionOnDelegates([&](UObject* EventDelegate)
		{
			ILeapEventInterface::Execute_LeapFrontMostFingerMoved(EventDelegate, PEventFinger);
		});

		//touch only for front-most finger, most common use case
		float touchDistance = Finger.touchDistance();
		if (touchDistance <= 0.f)
		{
			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_LeapFrontFingerTouch(EventDelegate, PEventFinger);
			});
		}

		//Set the state data for next cycle
		PastHandState.Grabbed = Grabbed;
		PastHandState.Pinched = Pinched;
		PastHandState.FingerCount = FingerCount;

		PastState->SetStateForId(PastHandState, Hand.id());
	}

	PastState->HandCount = HandCount;

	//Gestures
	for (int i = 0; i < Frame.gestures().count(); i++)
	{
		Leap::Gesture Gesture = Frame.gestures()[i];
		Leap::Gesture::Type Type = Gesture.type();

		switch (Type)
		{
		case Leap::Gesture::TYPE_CIRCLE:
			if (PEventCircleGesture == nullptr)
			{
				PEventCircleGesture = NewObject<ULeapCircleGesture>();
				PEventCircleGesture->AddToRoot();
			}
			PEventCircleGesture->SetGesture(Leap::CircleGesture(Gesture));
			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_CircleGestureDetected(EventDelegate, PEventCircleGesture);
			});
			PEventGesture = PEventCircleGesture;
			break;
		case Leap::Gesture::TYPE_KEY_TAP:
			if (PEventKeyTapGesture == nullptr)
			{
				PEventKeyTapGesture = NewObject<ULeapKeyTapGesture>();
				PEventKeyTapGesture->AddToRoot();
			}
			PEventKeyTapGesture->SetGesture(Leap::KeyTapGesture(Gesture));
			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_KeyTapGestureDetected(EventDelegate, PEventKeyTapGesture);
			});
			PEventGesture = PEventKeyTapGesture;
			break;
		case Leap::Gesture::TYPE_SCREEN_TAP:
			if (PEventScreenTapGesture == nullptr)
			{
				PEventScreenTapGesture = NewObject<ULeapScreenTapGesture>();
				PEventScreenTapGesture->AddToRoot();
			}
			PEventScreenTapGesture->SetGesture(Leap::ScreenTapGesture(Gesture));
			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_ScreenTapGestureDetected(EventDelegate, PEventScreenTapGesture);
			});
			PEventGesture = PEventScreenTapGesture;
			break;
		case Leap::Gesture::TYPE_SWIPE:
			if (PEventSwipeGesture == nullptr)
			{
				PEventSwipeGesture = NewObject<ULeapSwipeGesture>();
				PEventSwipeGesture->AddToRoot();
			}
			PEventSwipeGesture->SetGesture(Leap::SwipeGesture(Gesture));
			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_SwipeGestureDetected(EventDelegate, PEventSwipeGesture);
			});
			PEventGesture = PEventSwipeGesture;
			break;
		default:
			break;
		}

		//emit gesture
		if (Type != Leap::Gesture::TYPE_INVALID)
		{
			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_GestureDetected(EventDelegate, PEventGesture);
			});
		}
	}

	//Image
	if (ControllerData.bAllowImageEvents && ControllerData.bImageEventsEnabled)
	{
		int ImageCount = Frame.images().count();

		//We only support getting both images
		if (ImageCount >= 2)
		{
			Leap::Image Image1 = Frame.images()[0];
			if (PEventImage1 == nullptr)
			{
				PEventImage1 = NewObject<ULeapImage>();
				PEventImage1->AddToRoot();
			}
			PEventImage1->UseGammaCorrection = ControllerData.bUseGammaCorrection;
			PEventImage1->SetLeapImage(Image1);

			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_RawImageReceived(EventDelegate, PEventImage1->Texture(), PEventImage1);
			});

			Leap::Image Image2 = Frame.images()[1];
			if (PEventImage2 == nullptr)
			{
				PEventImage2 = NewObject<ULeapImage>();
				PEventImage2->AddToRoot();
			}
			PEventImage2->UseGammaCorrection = ControllerData.bUseGammaCorrection;
			PEventImage2->SetLeapImage(Image2);

			CallFunctionOnDelegates([&](UObject* EventDelegate)
			{
				ILeapEventInterface::Execute_RawImageReceived(EventDelegate, PEventImage2->Texture(), PEventImage2);
			});
		}
	}
}
Example #19
0
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)
    

}