void ALeapMotionHandActor::UpdateBones(float DeltaSeconds)
{
if (BoneActors.Num() == 0) { return; }
float CombinedScale = GetCombinedScale();
FLeapMotionDevice* Device = FLeapMotionControllerPlugin::GetLeapDeviceSafe();
if (Device && Device->IsConnected())
{
int BoneArrayIndex = 0;
for (ELeapBone LeapBone = bShowArm ? ELeapBone::Forearm : ELeapBone::Palm; LeapBone <= ELeapBone::Finger4Tip; ((int8&)LeapBone)++)
{
FVector TargetPosition;
FRotator TargetOrientation;
bool Success = Device->GetBonePostionAndOrientation(HandId, LeapBone, TargetPosition, TargetOrientation);
if (Success)
{
// Offset target position & rotation by the SpawnReference actor's transform
FQuat RefQuat = GetRootComponent()->GetComponentRotation().Quaternion();
TargetPosition = RefQuat * TargetPosition * CombinedScale + GetRootComponent()->GetComponentLocation();
TargetOrientation = (RefQuat * TargetOrientation.Quaternion()).Rotator();
// Get current position & rotation
ALeapMotionBoneActor* BoneActor = BoneActors[BoneArrayIndex++];
UPrimitiveComponent* PrimitiveComponent = Cast<UPrimitiveComponent>(BoneActor->GetRootComponent());
if (PrimitiveComponent && PrimitiveComponent->IsSimulatingPhysics())
{
FVector CurrentPositon = PrimitiveComponent->GetComponentLocation();
FRotator CurrentRotation = PrimitiveComponent->GetComponentRotation();
// Compute linear velocity
FVector LinearVelocity = (TargetPosition - CurrentPositon) / DeltaSeconds;
// Compute angular velocity
FVector Axis;
float Angle;
ConvertDeltaRotationsToAxisAngle(CurrentRotation, TargetOrientation, Axis, Angle);
if (Angle > PI) { Angle -= 2 * PI; }
FVector AngularVelcity = Axis * (Angle / DeltaSeconds);
// Apply velocities
PrimitiveComponent->SetPhysicsLinearVelocity(LinearVelocity);
PrimitiveComponent->SetAllPhysicsAngularVelocity(AngularVelcity * 180.0f / PI);
}
}
}
}
}
bool ULeapMotionFunctionLibrary::GetBonePostionAndOrientation(int32 HandId, ELeapBone LeapBone, FVector& OutPosition, FRotator& OutOrientation)
{
OutPosition = FVector::ZeroVector;
OutOrientation = FRotator::ZeroRotator;
FLeapMotionDevice* LeapDevice = FLeapMotionControllerPlugin::GetLeapDeviceSafe();
if (LeapDevice)
{
LeapDevice->SetReferenceFrameOncePerTick();
return LeapDevice->GetBonePostionAndOrientation(HandId, LeapBone, OutPosition, OutOrientation);
}
return false;
}
void ALeapMotionHandActor::CreateBones(const TSubclassOf<class ALeapMotionBoneActor>& BoneBlueprint)
{
FActorSpawnParameters SpawnParams;
SpawnParams.Owner = GetOwner();
SpawnParams.Instigator = GetInstigator();
float CombinedScale = GetCombinedScale();
FLeapMotionDevice* Device = FLeapMotionControllerPlugin::GetLeapDeviceSafe();
if (Device && Device->IsConnected())
{
for (ELeapBone LeapBone = bShowArm ? ELeapBone::Forearm : ELeapBone::Palm; LeapBone <= ELeapBone::Finger4Tip; ((int8&)LeapBone)++)
{
FVector Position;
FRotator Orientation;
float Width;
float Length;
bool Success = Device->GetBonePostionAndOrientation(HandId, LeapBone, Position, Orientation);
Success &= Device->GetBoneWidthAndLength(HandId, LeapBone, Width, Length);
if (Success)
{
FQuat RefQuat = GetRootComponent()->GetComponentRotation().Quaternion();
Position = RefQuat * Position * CombinedScale + GetRootComponent()->GetComponentLocation();
Orientation = (RefQuat * Orientation.Quaternion()).Rotator();
ALeapMotionBoneActor* BoneActor = GWorld->SpawnActor<ALeapMotionBoneActor>(BoneBlueprint ? BoneBlueprint : ALeapMotionBoneActor::StaticClass(), Position, Orientation, SpawnParams);
if (BoneActor)
{
BoneActors.Add(BoneActor);
# if WITH_EDITOR
BoneActor->SetActorLabel(*FString::Printf(TEXT("LeapBone:%s"), ANSI_TO_TCHAR(LEAP_GET_BONE_NAME(LeapBone))));
# endif
BoneActor->AttachRootComponentToActor(this, NAME_None, EAttachLocation::KeepWorldPosition, true);
BoneActor->Init(LeapBone, CombinedScale, Width, Length, bShowCollider, bShowMesh);
}
}
}
}
}
