Bone::Bone( const Vector4 &position, const _NUI_SKELETON_BONE_ORIENTATION &bone )
{
mAbsRotQuat = toQuatf( bone.absoluteRotation.rotationQuaternion );
mAbsRotMat = toMatrix44f( bone.absoluteRotation.rotationMatrix );
mJointEnd = bone.endJoint;
mJointStart = bone.startJoint;
mPosition = toVec3f( position );
mRotQuat = toQuatf( bone.hierarchicalRotation.rotationQuaternion );
mRotMat = toMatrix44f( bone.hierarchicalRotation.rotationMatrix );
}
void Listener::onFrame( const Leap::Controller& controller )
{
lock_guard<mutex> lock( *mMutex );
if ( !mNewFrame ) {
const Leap::Frame& controllerFrame = controller.frame();
const Leap::HandList& hands = controllerFrame.hands();
HandMap handMap;
for ( const Leap::Hand& hand : hands ) {
FingerMap fingerMap;
ToolMap toolMap;
const Leap::PointableList& pointables = hand.pointables();
for ( const Leap::Pointable& pt : pointables ) {
if ( pt.isValid() ) {
Pointable pointable( pt );
if ( pt.isFinger() ) {
fingerMap[ pt.id() ] = Finger( pointable );
} else if ( pt.isTool() ) {
toolMap[ pt.id() ] = Tool( pointable );
}
}
}
float rotAngle = (float)hand.rotationAngle( mFirstFrame.mFrame );
Vec3f rotAxis = toVec3f( hand.rotationAxis( mFirstFrame.mFrame ) );
Matrix44f rotMatrix = toMatrix44f( hand.rotationMatrix( mFirstFrame.mFrame ) );
float scale = (float)hand.scaleFactor( mFirstFrame.mFrame );
Vec3f translation = toVec3f( hand.translation( mFirstFrame.mFrame ) );
handMap[ hand.id() ] = Hand( hand, fingerMap, toolMap, rotAngle, rotAxis,
rotMatrix, scale, translation );
}
mFrame = Frame( controllerFrame, handMap );
if ( !mFirstFrameReceived ) {
mFirstFrame = Frame( controllerFrame, handMap );
mFirstFrameReceived = true;
}
mNewFrame = true;
}
}
Matrix44f Hand::getRotationMatrix( const Frame& frame ) const
{
return toMatrix44f( mHand.rotationMatrix( frame.mFrame ) );
}
