void ScrollListener::onFrame(const Controller& controller) {
const Frame frame = controller.frame();
if(!frame.hands().empty()){
const Hand hand = frame.hands()[0];
float pitch = hand.direction().pitch()*RAD_TO_DEG;
// float roll = hand.palmNormal().roll()*RAD_TO_DEG;
// float yaw = hand.palmNormal().yaw()*RAD_TO_DEG + 180;
emit window->getXSlider()->valueChanged(pitch*52);
// emit window->getYSlider()->valueChanged(roll*52);
// emit window->getZSlider()->valueChanged(yaw*16);
}
}
void MyListener::onFrame(const Controller& controller)
{
const Frame frame = controller.frame();
const GestureList gestures = frame.gestures();
HandList hands = frame.hands();
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
const Hand hand = *hl;
// Smoothing and stabilization is performed in order to make this
// value more suitable for interaction with 2D content. The stabilized
// position lags behind the palm position by a variable amount,
// depending primarily on the speed of movement.
Vector position = hand.stabilizedPalmPosition();
if (m_positionChanged)
m_positionChanged(position[0], position[1], position[2],
frame.fingers().extended().count(),
hand.direction(),
hand.palmVelocity());
if (m_pinch)
m_pinch(hand.pinchStrength());
if (m_grab)
m_grab(hand.grabStrength());
}
for (int g = 0; g < gestures.count(); ++g) {
Gesture gesture = gestures[g];
switch (gesture.type()) {
case Gesture::TYPE_KEY_TAP:
case Gesture::TYPE_SCREEN_TAP:
if (m_tapped)
m_tapped();
break;
case Gesture::TYPE_SWIPE:
break;
}
}
}
void LeapMotion_Listener::onFrame(const Controller& controller) {
boolean debug = false;
//std::cin.get();
const float min_roll_left = 15.0f, max_roll_left = std::numeric_limits<float>::max();
const float min_roll_right = std::numeric_limits<float>::lowest(), max_roll_right = -15.0f;
const float min_pitch_up = 25.0f, max_pitch_up = std::numeric_limits<float>::max();
const float min_pitch_down = std::numeric_limits<float>::lowest(), max_pitch_down = -5.0f;
const float min_y_down = 0.0f, max_y_down = 70.0f;
const float min_y_up = 190.0f, max_y_up = std::numeric_limits<float>::max();
const float min_x_left = std::numeric_limits<float>::lowest(), max_x_left = -90.0f;
const float min_x_right = 90.0f, max_x_right = std::numeric_limits<float>::max();
//const float min_yaw_left_finger = std::numeric_limits<float>::lowest(), max_yaw_left_finger = -45.0f;
//const float min_yaw_right_finger = 10.0f, max_yaw_right_finger = std::numeric_limits<float>::max();
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
if (!frame.hands().isEmpty())
{
const Hand hand = frame.hands()[0];
const Leap::Vector normal = hand.palmNormal();
const Leap::Vector direction = hand.direction();
const float pitch = direction.pitch() * RAD_TO_DEG;
const float roll = normal.roll() * RAD_TO_DEG;
const float yaw = direction.yaw() * RAD_TO_DEG;
const float y_palm = hand.palmPosition().y;
const float x_palm = hand.palmPosition().x;
float x_drone = 0.0f, y_drone = 0.0f, z_drone = 0.0f, turn_drone = 0.0f;
if(y_palm>min_y_down && y_palm<max_y_down)
y_drone = -1.0f;
else if(y_palm>min_y_up && y_palm<max_y_up)
y_drone = 1.0f;
if(x_palm>min_x_left && x_palm<max_x_left)
turn_drone = -1.0f;
else if(x_palm>min_x_right && x_palm<max_x_right)
turn_drone = 1.0f;
if(pitch>min_pitch_up && pitch<max_pitch_up)
z_drone = 1.0f;
else if(pitch>min_pitch_down && pitch<max_pitch_down)
z_drone = -1.0f;
if(roll>min_roll_right && roll< max_roll_right)
x_drone = 1.0f;
else if(roll>min_roll_left && roll< max_roll_left)
x_drone = -1.0f;
/*if(roll>min_yaw_left_finger && roll<max_yaw_left_finger)
std::cout<<"turn_left";
else if(roll>min_yaw_right_finger && roll<max_yaw_right_finger)
std::cout<<"turn_right";
*/
if(x_drone != 0.0f || y_drone != 0.0f || z_drone != 0.0f || turn_drone != 0.0f)
{
int _speed_drone = 10;
At_Command _command;
if(x_drone !=0.0f && z_drone != 0.0f)
{
float margin = 0.25f;
(x_drone < 0)? x_drone += margin : x_drone -= margin;
(z_drone < 0)? z_drone += margin : z_drone -= margin;
}
if(y_drone != 0.0f)
_command = At_Command(0, y_drone, 0, 0, Point(_speed_drone, 100), _input_type);
else if(turn_drone != 0.0f)
_command = At_Command(0, 0, 0, turn_drone, Point(_speed_drone, 100), _input_type);
else
_command = At_Command(x_drone, y_drone, z_drone, turn_drone, Point(_speed_drone, 100), _input_type);
_multiple_Input_Devices->prepare_to_send(_command);
if(debug)
{
if(x_drone < 0.0f)
cout<<"Go_Left ";
else if(x_drone > 0.0f)
cout<<"Go_Right ";
if(y_drone > 0.0f)
cout<<"UP ";
else if(y_drone < 0.0f)
cout<<"DOWN ";
if(z_drone > 0.0f)
cout<<"FW ";
else if(z_drone < 0.0f)
cout<<"BW ";
if(turn_drone > 0.0f)
cout<<"turn_Right ";
else if(turn_drone < 0.0f)
cout<<"Turn_Left ";
std::cout<<std::endl;
}
}
}
}
void Window::paintGL()
{
// Clear
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//LeapMotion
bool drawflag = true;
bool drawflag2 = true;
if( m_controller.isConnected()) //controller is a Controller object
{
Frame frame = m_controller.frame(); //The latest frame
if (!frame.hands().isEmpty())
{
Leap::HandList hands = frame.hands();
Hand firstHand = hands[0];
Leap::Vector handCenter = firstHand.palmPosition();
m_transform.setToIdentity();
//m_transform.rotate(180,QVector3D(0,0,-1));
m_transform.translate(QVector3D(-handCenter.x,handCenter.y,handCenter.z));
float yaw = firstHand.direction().yaw();
m_transform.rotate(-(yaw/3.14)*180,QVector3D(0,-1,0));
float roll = firstHand.palmNormal().roll();
m_transform.rotate((roll/3.14)*180,QVector3D(0,0,-1));
//Frame previous = controller.frame(1); //The previous frame
if (firstHand.grabStrength()>0.5) {
drawflag = false;
}
Hand secondHand = hands[1];
Leap::Vector handCenter2 = secondHand.palmPosition();
m_righthandtransform.setToIdentity();
//m_transform.rotate(180,QVector3D(0,0,-1));
m_righthandtransform.translate(QVector3D(-handCenter2.x,handCenter2.y,handCenter2.z));
float yaw2 = secondHand.direction().yaw();
m_righthandtransform.rotate(-(yaw2/3.14)*180,QVector3D(0,-1,0));
float roll2 = secondHand.palmNormal().roll();
m_righthandtransform.rotate((roll2/3.14)*180,QVector3D(0,0,-1));
//Frame previous = controller.frame(1); //The previous frame
if (secondHand.grabStrength()>0.5) {
drawflag2 = false;
}
}
else
{
m_transform.rotate(2,QVector3D(1,1,0));
m_transform.rotate(2,QVector3D(0,1,0));
m_transform.setTranslation(QVector3D(40,150,0));
//m_transform.setScale(QVector3D(5,5,5));
m_righthandtransform.rotate(2,QVector3D(0,1,0));
m_righthandtransform.setTranslation(QVector3D(-30,150,0));
//m_righthandtransform.setScale(QVector3D(250,250,250));
}
}
else
{
m_transform.setTranslation(QVector3D(0,150,0));
}
//create dynamic enviroment mapping
calcuSSBB(m_transform.getMatrix(),m_modelview,m_projection);
//opencv
Mat opencv_image = cvQueryFrame(capture);
Mat dest;
cvtColor(opencv_image, dest,CV_BGR2RGB);
QImage image((uchar*)dest.data, dest.cols, dest.rows,QImage::Format_RGB888);
//m_backTexture->bind(0);
//m_backTexture->setData(image,QOpenGLTexture::DontGenerateMipMaps);
//glActiveTexture(GL_TEXTURE0);
//generate FBO
// bind a framebuffer object
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, m_backfbo);
//glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
// Set Drawing buffers
GLuint attachments[1] = {GL_COLOR_ATTACHMENT0};
glDrawBuffers(1, attachments);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glViewport(0,0,1280,720);
//glViewport(0,0,1280*2,720*2);
m_backTexture->bind();
m_backTexture->load(image);
m_backprogram->bind();
m_backprogram->setUniformValue("ourTexture", 0);
m_backprogram->setUniformValue(u_worldToCameraFloor, m_camera.getMatrix());
m_backprogram->setUniformValue(u_cameraToViewFloor, m_backgroundProjection);
if(m_back!= NULL)
{
m_back->draw();
}
m_backprogram->release();
m_backTexture->unbind();
if(drawflag2){
m_noise->bind();
//glEnable(GL_TEXTURE_3D);
m_righthandprogram->bind();
//m_program->setUniformValue(u_worldToCamera, m_camera.getMatrix());
m_righthandprogram->setUniformValue(u_worldToCamera, m_modelview);
m_righthandprogram->setUniformValue(u_cameraToView, m_projection);
m_righthandprogram->setUniformValue(u_modelToWorld, m_righthandtransform.getMatrix());
m_righthandprogram->setUniformValue("noise", 0);
m_bunny->draw();
m_righthandprogram->release();
m_noise->unbind();}
//m_environment->unbind();
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, m_fbo);
//glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
GLuint attachments1[1] = {GL_COLOR_ATTACHMENT0};
glDrawBuffers(1, attachments1);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glViewport(0,0,512,512);
//+X
//m_backTexture->bind();
//m_backTexture->load(image);
glBindTexture(GL_TEXTURE_2D, backFBO);
m_cubefaceprogram->bind();
m_cubeface->create(
m_ssbb[2],m_ssbb[3],
m_ssbb[2] + ( ( 1.0f - m_ssbb[2] ) / 2.0f ) ,m_ssbb[3] + ( ( 1.0f - m_ssbb[3] ) / 2.0f ),
m_ssbb[2] + ( ( 1.0f - m_ssbb[2] ) / 2.0f ) ,m_ssbb[1] / 2.0f,
m_ssbb[2],m_ssbb[1]
);
m_cubefaceprogram->setUniformValue("screenTexture", 0);
m_cubeface->draw();
m_cubefaceprogram->release();
//m_backTexture->unbind();
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_CUBE_MAP_NEGATIVE_X, texFBO, 0);
//-X
//m_backTexture->bind();
//m_backTexture->load(image);
glBindTexture(GL_TEXTURE_2D, backFBO);
m_cubefaceprogram->bind();
m_cubeface->create(
m_ssbb[0] / 2.0f,m_ssbb[3] + ( ( 1.0f - m_ssbb[3] ) / 2.0f ),
m_ssbb[0],m_ssbb[3],
m_ssbb[0],m_ssbb[1],
m_ssbb[0]/2.0f,m_ssbb[1] / 2.0f
);
m_cubefaceprogram->setUniformValue("screenTexture", 0);
m_cubeface->draw();
m_cubefaceprogram->release();
//m_backTexture->unbind();
// //+Y
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_CUBE_MAP_POSITIVE_Y, texFBO, 0);
//m_backTexture->bind();
//m_backTexture->load(image);
glBindTexture(GL_TEXTURE_2D, backFBO);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
m_cubefaceprogram->bind();
m_cubeface->create(
m_ssbb[2] + ( ( 1.0f - m_ssbb[2] ) / 2.0f ),m_ssbb[3] + ( ( 1.0f - m_ssbb[3] ) / 2.0f ),
m_ssbb[0] / 2.0f,m_ssbb[3] + ( ( 1.0f - m_ssbb[3] ) / 2.0f ),
m_ssbb[0],m_ssbb[3],
m_ssbb[2],m_ssbb[3]
);
m_cubefaceprogram->setUniformValue("screenTexture", 0);
m_cubeface->draw();
m_cubefaceprogram->release();
// m_backTexture->unbind();
//
// //-Y
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_CUBE_MAP_NEGATIVE_Y, texFBO, 0);
//m_backTexture->bind();
//m_backTexture->load(image);
glBindTexture(GL_TEXTURE_2D, backFBO);
m_cubefaceprogram->bind();
m_cubeface->create(
m_ssbb[2],m_ssbb[1],
m_ssbb[0],m_ssbb[1],
m_ssbb[0]/2.0f,m_ssbb[1] / 2.0f,
m_ssbb[2] + ( ( 1.0f - m_ssbb[2] ) / 2.0f ) ,( m_ssbb[1] / 2.0f )
);
m_cubefaceprogram->setUniformValue("screenTexture", 0);
m_cubeface->draw();
m_cubefaceprogram->release();
m_backTexture->unbind();
//+Z
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_CUBE_MAP_POSITIVE_Z, texFBO, 0);
//m_backTexture->bind();
//m_backTexture->load(image);
glBindTexture(GL_TEXTURE_2D, backFBO);
m_cubefaceprogram->bind();
m_cubeface->create( m_ssbb[0],m_ssbb[3],
m_ssbb[2],m_ssbb[3],
m_ssbb[2],m_ssbb[1],
m_ssbb[0],m_ssbb[1]);
m_cubefaceprogram->setUniformValue("screenTexture", 0);
m_cubeface->draw();
m_cubefaceprogram->release();
//m_backTexture->unbind();
// //-Z
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_CUBE_MAP_NEGATIVE_Z, texFBO, 0);
m_backTexture->bind();
m_backTexture->load(image);
glBindTexture(GL_TEXTURE_2D, backFBO);
m_cubefaceprogram->bind();
m_cubeface->create(
m_ssbb[0] / 2.0f,m_ssbb[3] + ( ( 1.0f - m_ssbb[3] ) / 2.0f ),
m_ssbb[0],m_ssbb[3],
m_ssbb[0],m_ssbb[1],
m_ssbb[0]/2.0f,m_ssbb[1] / 2.0f
);
m_cubefaceprogram->setUniformValue("screenTexture", 0);
m_cubeface->draw();
m_cubefaceprogram->release();
m_backTexture->unbind();
//
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
glViewport(0,0,1280,720);
m_backTexture->bind();
m_backTexture->load(image);
//glBindTexture(GL_TEXTURE_2D, backFBO);
m_backprogram->bind();
m_backprogram->setUniformValue("ourTexture", 0);
m_backprogram->setUniformValue(u_worldToCameraFloor, m_camera.getMatrix());
m_backprogram->setUniformValue(u_cameraToViewFloor, m_backgroundProjection);
if(m_back!= NULL)
{
m_back->draw();
}
m_backprogram->release();
m_backTexture->unbind();
//m_environment->bind();
glBindTexture(GL_TEXTURE_CUBE_MAP, texFBO);
//glEnable(GL_TEXTURE_2D);
m_program->bind();
//m_program->setUniformValue(u_worldToCamera, m_camera.getMatrix());
m_program->setUniformValue(u_worldToCamera, m_modelview);
m_program->setUniformValue(u_cameraToView, m_projection);
m_program->setUniformValue(u_modelToWorld, m_transform.getMatrix());
m_program->setUniformValue("envTex", 0);
if(drawflag)
m_model->draw();
m_program->release();
//m_environment->unbind();
m_noise->bind();
m_righthandprogram->bind();
m_righthandprogram->setUniformValue(u_worldToCamera, m_modelview);
m_righthandprogram->setUniformValue(u_cameraToView, m_projection);
m_righthandprogram->setUniformValue(u_modelToWorld, m_righthandtransform.getMatrix());
m_righthandprogram->setUniformValue("noise", 0);
if(drawflag2)
m_bunny->draw();
m_righthandprogram->release();
m_noise->unbind();
//m_environment->unbind();
}
void LeapListener::onFrame(const Controller & controller) {
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
std::cout << "Frame id: " << frame.id()
<< ", timestamp: " << frame.timestamp()
<< ", hands: " << frame.hands().count()
<< ", extended fingers: " << frame.fingers().extended().count()
<< ", tools: " << frame.tools().count()
<< ", gestures: " << frame.gestures().count() << std::endl;
HandList hands = frame.hands();
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Hand hand = *hl;
std::string handType = hand.isLeft() ? "Left hand" : "Right hand";
std::cout << std::string(2, ' ') << handType << ", id: " << hand.id()
<< ", palm position: " << hand.palmPosition() << std::endl;
// Get the hand's normal vector and direction
const Vector normal = hand.palmNormal();
const Vector direction = hand.direction();
// Calculate the hand's pitch, roll, and yaw angles
std::cout << std::string(2, ' ') << "pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
<< "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
<< "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << std::endl;
// Get the Arm bone
Arm arm = hand.arm();
std::cout << std::string(2, ' ') << "Arm direction: " << arm.direction()
<< " wrist position: " << arm.wristPosition()
<< " elbow position: " << arm.elbowPosition() << std::endl;
// Get fingers
const FingerList fingers = hand.fingers();
for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Finger finger = *fl;
std::cout << std::string(4, ' ') << fingerNames[finger.type()]
<< " finger, id: " << finger.id()
<< ", length: " << finger.length()
<< "mm, width: " << finger.width() << std::endl;
// Get finger bones
for (int b = 0; b < 4; ++b) {
Bone::Type boneType = static_cast<Bone::Type>(b);
Bone bone = finger.bone(boneType);
std::cout << std::string(6, ' ') << boneNames[boneType]
<< " bone, start: " << bone.prevJoint()
<< ", end: " << bone.nextJoint()
<< ", direction: " << bone.direction() << std::endl;
}
}
}
// Get tools
const ToolList tools = frame.tools();
for (ToolList::const_iterator tl = tools.begin(); tl != tools.end(); ++tl) {
const Tool tool = *tl;
std::cout << std::string(2, ' ') << "Tool, id: " << tool.id()
<< ", position: " << tool.tipPosition()
<< ", direction: " << tool.direction() << std::endl;
}
// Get gestures
const GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Gesture gesture = gestures[g];
switch (gesture.type()) {
case Gesture::TYPE_CIRCLE: {
CircleGesture circle = gesture;
std::string clockwiseness;
if (circle.pointable().direction().angleTo(circle.normal()) <= PI/2) {
clockwiseness = "clockwise";
} else {
clockwiseness = "counterclockwise";
}
// Calculate angle swept since last frame
float sweptAngle = 0;
if (circle.state() != Gesture::STATE_START) {
CircleGesture previousUpdate = CircleGesture(controller.frame(1).gesture(circle.id()));
sweptAngle = (circle.progress() - previousUpdate.progress()) * 2 * PI;
}
std::cout << std::string(2, ' ')
<< "Circle id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", progress: " << circle.progress()
<< ", radius: " << circle.radius()
<< ", angle " << sweptAngle * RAD_TO_DEG
<< ", " << clockwiseness << std::endl;
break;
}
case Gesture::TYPE_SWIPE: {
SwipeGesture swipe = gesture;
std::cout << std::string(2, ' ')
<< "Swipe id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", direction: " << swipe.direction()
<< ", speed: " << swipe.speed() << std::endl;
break;
}
case Gesture::TYPE_KEY_TAP: {
KeyTapGesture tap = gesture;
std::cout << std::string(2, ' ')
<< "Key Tap id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", position: " << tap.position()
<< ", direction: " << tap.direction()<< std::endl;
break;
}
case Gesture::TYPE_SCREEN_TAP: {
ScreenTapGesture screentap = gesture;
std::cout << std::string(2, ' ')
<< "Screen Tap id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", position: " << screentap.position()
<< ", direction: " << screentap.direction() << std::endl;
break;
}
default:
std::cout << std::string(2, ' ') << "Unknown gesture type." << std::endl;
break;
}
}
if (!frame.hands().isEmpty() || !gestures.isEmpty())
std::cout << std::endl;
}
void SampleListener::onFrame(const Controller& controller) {
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
std::cout << "Frame id: " << frame.id()
<< ", timestamp: " << frame.timestamp()
<< ", hands: " << frame.hands().count()
<< ", fingers: " << frame.fingers().count()
<< ", tools: " << frame.tools().count()
<< ", gestures: " << frame.gestures().count() << std::endl;
if (!frame.hands().isEmpty()) {
// Get the first hand
const Hand hand = frame.hands()[0];
// Check if the hand has any fingers
const FingerList fingers = hand.fingers();
if (!fingers.isEmpty()) {
// Calculate the hand's average finger tip position
// Vector avgPos;
for (int i = 0; i < fingers.count(); ++i) {
avgPos += fingers[i].tipPosition();
}
avgPos /= (float)fingers.count();
std::cout << "Hand has " << fingers.count()
<< " fingers, average finger tip position" << avgPos << std::endl;
}
// Get the hand's sphere radius and palm position
std::cout << "Hand sphere radius: " << hand.sphereRadius()
<< " mm, palm position: " << hand.palmPosition() << std::endl;
// Get the hand's normal vector and direction
const Vector normal = hand.palmNormal();
const Vector direction = hand.direction();
// Calculate the hand's pitch, roll, and yaw angles
std::cout << "Hand pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
<< "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
<< "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << std::endl;
}
// Get gestures
const GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Gesture gesture = gestures[g];
switch (gesture.type()) {
case Gesture::TYPE_CIRCLE:
{
CircleGesture circle = gesture;
std::string clockwiseness;
if (circle.pointable().direction().angleTo(circle.normal()) <= PI/4) {
clockwiseness = "clockwise";
} else {
clockwiseness = "counterclockwise";
}
// Calculate angle swept since last frame
float sweptAngle = 0;
if (circle.state() != Gesture::STATE_START) {
CircleGesture previousUpdate = CircleGesture(controller.frame(1).gesture(circle.id()));
sweptAngle = (circle.progress() - previousUpdate.progress()) * 2 * PI;
}
std::cout << "Circle id: " << gesture.id()
<< ", state: " << gesture.state()
<< ", progress: " << circle.progress()
<< ", radius: " << circle.radius()
<< ", angle " << sweptAngle * RAD_TO_DEG
<< ", " << clockwiseness << std::endl;
break;
}
case Gesture::TYPE_SWIPE:
{
SwipeGesture swipe = gesture;
std::cout << "Swipe id: " << gesture.id()
<< ", state: " << gesture.state()
<< ", direction: " << swipe.direction()
<< ", speed: " << swipe.speed() << std::endl;
break;
}
case Gesture::TYPE_KEY_TAP:
{
KeyTapGesture tap = gesture;
std::cout << "Key Tap id: " << gesture.id()
<< ", state: " << gesture.state()
<< ", position: " << tap.position()
<< ", direction: " << tap.direction()<< std::endl;
break;
}
case Gesture::TYPE_SCREEN_TAP:
{
ScreenTapGesture screentap = gesture;
std::cout << "Screen Tap id: " << gesture.id()
<< ", state: " << gesture.state()
<< ", position: " << screentap.position()
<< ", direction: " << screentap.direction()<< std::endl;
break;
}
default:
std::cout << "Unknown gesture type." << std::endl;
break;
}
}
if (!frame.hands().isEmpty() || !gestures.isEmpty()) {
std::cout << std::endl;
}
}
void m_bang()
{
Frame frame;
t_atom generalInfo[6];
int num_hands, num_tools, num_gestures;
frame = dispatcher.frame;
num_hands = frame.hands().count();
num_tools = frame.tools().count();
num_gestures = frame.gestures().count();
if(general_flag){
SETFLOAT(&generalInfo[0], (float)frame.id());
SETFLOAT(&generalInfo[1], (float)frame.timestamp());
SETFLOAT(&generalInfo[2], (float)num_hands);
SETFLOAT(&generalInfo[3], (float)frame.fingers().count());
SETFLOAT(&generalInfo[4], (float)frame.tools().count());
SETFLOAT(&generalInfo[5], (float)frame.gestures().count());
ToOutList(0, 6, generalInfo);
}
// tools
for(int i = 0; i<num_tools; i++){
Tool tool;
tool = frame.tools()[i];
t_atom toolInfo[5];
if(tools_position_flag) {
SETFLOAT(&toolInfo[0], i);
SETSYMBOL(&toolInfo[1], gensym("direction"));
SETFLOAT(&toolInfo[2], tool.direction().x);
SETFLOAT(&toolInfo[3], tool.direction().y);
SETFLOAT(&toolInfo[4], tool.direction().z);
ToOutAnything(1, gensym("tool"), 5, toolInfo);
}
if(tools_position_flag) {
SETFLOAT(&toolInfo[0], i);
SETSYMBOL(&toolInfo[1], gensym("position"));
SETFLOAT(&toolInfo[2], tool.tipPosition().x);
SETFLOAT(&toolInfo[3], tool.tipPosition().y);
SETFLOAT(&toolInfo[4], tool.tipPosition().z);
ToOutAnything(1, gensym("tool"), 5, toolInfo);
}
if(tools_velocity_flag){
SETFLOAT(&toolInfo[0], i);
SETSYMBOL(&toolInfo[1], gensym("velocity"));
SETFLOAT(&toolInfo[2], tool.tipVelocity().x);
SETFLOAT(&toolInfo[3], tool.tipVelocity().y);
SETFLOAT(&toolInfo[4], tool.tipVelocity().z);
ToOutAnything(1, gensym("tool"), 5, toolInfo);
}
if(tools_size_flag){
SETFLOAT(&toolInfo[0], i);
SETSYMBOL(&toolInfo[1], gensym("size"));
SETFLOAT(&toolInfo[2], tool.width());
SETFLOAT(&toolInfo[3], tool.length());
ToOutAnything(1, gensym("tool"), 4, toolInfo);
}
}
// hands and fingers
for(int i = 0; i<num_hands; i++){
Hand hand;
hand = frame.hands()[i];
int num_fingers = hand.fingers().count();
int num_tools = hand.tools().count();
t_atom handInfo[5];
if(hands_direction_flag){
// direction
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("direction"));
SETFLOAT(&handInfo[2], hand.direction().x);
SETFLOAT(&handInfo[3], hand.direction().y);
SETFLOAT(&handInfo[4], hand.direction().z);
ToOutAnything(1, gensym("hand"), 5, handInfo);
}
if(hands_palm_position_flag){
// position
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("palm_position"));
SETFLOAT(&handInfo[2], hand.palmPosition().x);
SETFLOAT(&handInfo[3], hand.palmPosition().y);
SETFLOAT(&handInfo[4], hand.palmPosition().z);
ToOutAnything(1, gensym("hand"), 5, handInfo);
}
if(hands_palm_velocity_flag){
// velocity
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("palm_velocity"));
SETFLOAT(&handInfo[2], hand.palmVelocity().x);
SETFLOAT(&handInfo[3], hand.palmVelocity().y);
SETFLOAT(&handInfo[4], hand.palmVelocity().z);
ToOutAnything(1, gensym("hand"), 5, handInfo);
}
if(hands_palm_normal_flag){
// normal
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("palm_normal"));
SETFLOAT(&handInfo[2], hand.palmNormal().x);
SETFLOAT(&handInfo[3], hand.palmNormal().y);
SETFLOAT(&handInfo[4], hand.palmNormal().z);
ToOutAnything(1, gensym("hand"), 5, handInfo);
}
if(hands_sphere_radius_flag){
// sphere radius
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("sphere_radius"));
SETFLOAT(&handInfo[2], hand.sphereRadius());
ToOutAnything(1, gensym("hand"), 3, handInfo);
}
if(hands_sphere_center_flag){
// sphere center
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("sphere_center"));
SETFLOAT(&handInfo[2], hand.sphereCenter().x);
SETFLOAT(&handInfo[3], hand.sphereCenter().y);
SETFLOAT(&handInfo[4], hand.sphereCenter().z);
ToOutAnything(1, gensym("hand"), 5, handInfo);
}
if(hands_finger_count_flag){
// finger count
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("finger_count"));
SETFLOAT(&handInfo[2], num_fingers);
ToOutAnything(1, gensym("hand"), 3, handInfo);
}
if(hands_tool_count_flag){
// tool count
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("tool_count"));
SETFLOAT(&handInfo[2], num_tools);
ToOutAnything(1, gensym("hand"), 3, handInfo);
}
for(int j = 0; j<num_fingers; j++){
Finger finger;
finger = hand.fingers()[j];
t_atom fingerInfo[7];
if(fingers_direction_flag){
SETFLOAT(&fingerInfo[0], i); // index
SETSYMBOL(&fingerInfo[1], gensym("fingers"));
SETFLOAT(&fingerInfo[2], j);
SETSYMBOL(&fingerInfo[3], gensym("direction"));
SETFLOAT(&fingerInfo[4], finger.direction().x);
SETFLOAT(&fingerInfo[5], finger.direction().y);
SETFLOAT(&fingerInfo[6], finger.direction().z);
ToOutAnything(1, gensym("hand"), 7, fingerInfo);
}
if(fingers_position_flag){
SETFLOAT(&fingerInfo[0], i); // index
SETSYMBOL(&fingerInfo[1], gensym("fingers"));
SETFLOAT(&fingerInfo[2], j);
SETSYMBOL(&fingerInfo[3], gensym("position"));
SETFLOAT(&fingerInfo[4], finger.tipPosition().x);
SETFLOAT(&fingerInfo[5], finger.tipPosition().y);
SETFLOAT(&fingerInfo[6], finger.tipPosition().z);
ToOutAnything(1, gensym("hand"), 7, fingerInfo);
}
if(fingers_velocity_flag){
SETFLOAT(&fingerInfo[0], i); // index
SETSYMBOL(&fingerInfo[1], gensym("fingers"));
SETFLOAT(&fingerInfo[2], j);
SETSYMBOL(&fingerInfo[3], gensym("velocity"));
SETFLOAT(&fingerInfo[4], finger.tipVelocity().x);
SETFLOAT(&fingerInfo[5], finger.tipVelocity().y);
SETFLOAT(&fingerInfo[6], finger.tipVelocity().z);
ToOutAnything(1, gensym("hand"), 7, fingerInfo);
}
if(fingers_size_flag){
SETFLOAT(&fingerInfo[0], i); // index
SETSYMBOL(&fingerInfo[1], gensym("fingers"));
SETFLOAT(&fingerInfo[2], j);
SETSYMBOL(&fingerInfo[3], gensym("size"));
SETFLOAT(&fingerInfo[4], finger.width());
SETFLOAT(&fingerInfo[5], finger.length());
ToOutAnything(1, gensym("hand"), 6, fingerInfo);
}
}
}
t_atom gestureCountInfo[1];
for(int i = 0;i < num_gestures; i++){
Gesture gesture;
gesture = frame.gestures()[i];
//type
t_atom gestureTypeInfo[3];
SETFLOAT(&gestureTypeInfo[0], i);
SETSYMBOL(&gestureTypeInfo[1], gensym("type"));
switch(gesture.type())
{
case Gesture::TYPE_INVALID:
SETSYMBOL(&gestureTypeInfo[2], gensym("TYPE_INVALID"));
break;
case Gesture::TYPE_SWIPE:
SETSYMBOL(&gestureTypeInfo[2], gensym("TYPE_SWIPE"));
break;
case Gesture::TYPE_CIRCLE:
SETSYMBOL(&gestureTypeInfo[2], gensym("TYPE_CIRCLE"));
break;
case Gesture::TYPE_SCREEN_TAP:
SETSYMBOL(&gestureTypeInfo[2], gensym("TYPE_SCREEN_TAP"));
break;
case Gesture::TYPE_KEY_TAP:
SETSYMBOL(&gestureTypeInfo[2], gensym("TYPE_KEY_TAP"));
break;
}
ToOutList(2, 3, gestureTypeInfo);
//state
t_atom gestureStateInfo[3];
SETFLOAT(&gestureStateInfo[0], i);
SETSYMBOL(&gestureStateInfo[1], gensym("state"));
switch(gesture.state())
{
case Gesture::STATE_INVALID:
SETSYMBOL(&gestureStateInfo[2], gensym("STATE_INVALID"));
break;
case Gesture::STATE_START:
SETSYMBOL(&gestureStateInfo[2], gensym("TYPE_START"));
break;
case Gesture::STATE_UPDATE:
SETSYMBOL(&gestureStateInfo[2], gensym("STATE_UPDATE"));
break;
case Gesture::STATE_STOP:
SETSYMBOL(&gestureStateInfo[2], gensym("TYPE_STOP"));
break;
}
ToOutList(2, 3, gestureStateInfo);
t_atom gestureDurationInfo[3];
SETFLOAT(&gestureDurationInfo[0], i);
SETSYMBOL(&gestureDurationInfo[1], gensym("duration"));
SETFLOAT(&gestureDurationInfo[2], gesture.duration());
ToOutList(2, 3, gestureDurationInfo);
t_atom gestureIdInfo[3];
SETFLOAT(&gestureIdInfo[0], i);
SETSYMBOL(&gestureIdInfo[1], gensym("id"));
SETFLOAT(&gestureIdInfo[2], gesture.id());
ToOutList(2, 3, gestureIdInfo);
}
}
void update(double p, double q, LeapHandMessage &message, const Hand &hand)
{
average(p,q,message.at,(1/25.4),hand.palmPosition());
average(p,q,message.point,1,hand.direction());
average(p,q,message.down,1,hand.palmNormal());
}
FREObject LNLeapDevice::getFrame() {
Frame frame = controller->frame();
// TODO: Only continue with valid Frame?
FREObject freCurrentFrame;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.Frame", 0, NULL, &freCurrentFrame, NULL);
FREObject freFrameId;
FRENewObjectFromInt32((int32_t) frame.id(), &freFrameId);
FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "id", freFrameId, NULL);
const Vector frameTranslation = frame.translation(lastFrame);
FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "translationVector", createVector3(frameTranslation.x, frameTranslation.y, frameTranslation.z), NULL);
const Matrix frameRotation = frame.rotationMatrix(lastFrame);
FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "rotation", createMatrix(
createVector3(frameRotation.xBasis[0], frameRotation.xBasis[1], frameRotation.xBasis[2]),
createVector3(frameRotation.yBasis[0], frameRotation.yBasis[1], frameRotation.yBasis[2]),
createVector3(frameRotation.zBasis[0], frameRotation.zBasis[1], frameRotation.zBasis[2]),
createVector3(frameRotation.origin[0], frameRotation.origin[1], frameRotation.origin[2])
), NULL);
FREObject freFrameScaleFactor;
FRENewObjectFromDouble(frame.scaleFactor(lastFrame), &freFrameScaleFactor);
FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "scaleFactorNumber", freFrameScaleFactor, NULL);
FREObject freTimestamp;
FRENewObjectFromInt32((int32_t) frame.timestamp(), &freTimestamp);
FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "timestamp", freTimestamp, NULL);
std::map<int, FREObject> freHandsMap;
if (!frame.hands().empty()) {
FREObject freHands;
FREGetObjectProperty(freCurrentFrame, (const uint8_t*) "hands", &freHands, NULL);
for(int i = 0; i < frame.hands().count(); i++) {
const Hand hand = frame.hands()[i];
FREObject freHand;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.Hand", 0, NULL, &freHand, NULL);
FRESetObjectProperty(freHand, (const uint8_t*) "frame", freCurrentFrame, NULL);
FRESetObjectProperty(freHand, (const uint8_t*) "direction", createVector3(hand.direction()[0], hand.direction()[1], hand.direction()[2]), NULL);
FREObject freHandId;
FRENewObjectFromInt32(hand.id(), &freHandId);
FRESetObjectProperty(freHand, (const uint8_t*) "id", freHandId, NULL);
FRESetObjectProperty(freHand, (const uint8_t*) "palmNormal", createVector3(hand.palmNormal()[0], hand.palmNormal()[1], hand.palmNormal()[2]), NULL);
FRESetObjectProperty(freHand, (const uint8_t*) "palmPosition", createVector3(hand.palmPosition()[0], hand.palmPosition()[1], hand.palmPosition()[2]), NULL);
FRESetObjectProperty(freHand, (const uint8_t*) "palmVelocity", createVector3(hand.palmVelocity()[0], hand.palmVelocity()[1], hand.palmVelocity()[2]), NULL);
const Matrix rotation = hand.rotationMatrix(lastFrame);
FRESetObjectProperty(freHand, (const uint8_t*) "rotation", createMatrix(
createVector3(rotation.xBasis[0], rotation.xBasis[1], rotation.xBasis[2]),
createVector3(rotation.yBasis[0], rotation.yBasis[1], rotation.yBasis[2]),
createVector3(rotation.zBasis[0], rotation.zBasis[1], rotation.zBasis[2]),
createVector3(rotation.origin[0], rotation.origin[1], rotation.origin[2])
), NULL);
FREObject freScaleFactor;
FRENewObjectFromDouble(hand.scaleFactor(lastFrame), &freScaleFactor);
FRESetObjectProperty(freHand, (const uint8_t*) "scaleFactorNumber", freScaleFactor, NULL);
FRESetObjectProperty(freHand, (const uint8_t*) "sphereCenter", createVector3(hand.sphereCenter()[0], hand.sphereCenter()[1], hand.sphereCenter()[2]), NULL);
FREObject freSphereRadius;
FRENewObjectFromDouble(hand.sphereRadius(), &freSphereRadius);
FRESetObjectProperty(freHand, (const uint8_t*) "sphereRadius", freSphereRadius, NULL);
const Vector translation = hand.translation(lastFrame);
FRESetObjectProperty(freHand, (const uint8_t*) "translationVector", createVector3(translation.x, translation.y, translation.z), NULL);
FRESetArrayElementAt(freHands, i, freHand);
freHandsMap[hand.id()] = freHand;
}
}
std::map<int, FREObject> frePointablesMap;
if(!frame.pointables().empty()) {
FREObject frePointables;
FREGetObjectProperty(freCurrentFrame, (const uint8_t*) "pointables", &frePointables, NULL);
for(int i = 0; i < frame.pointables().count(); i++) {
const Pointable pointable = frame.pointables()[i];
FREObject frePointable;
if(pointable.isTool()) {
FRENewObject( (const uint8_t*) "com.leapmotion.leap.Tool", 0, NULL, &frePointable, NULL);
} else {
FRENewObject( (const uint8_t*) "com.leapmotion.leap.Finger", 0, NULL, &frePointable, NULL);
}
FRESetObjectProperty(frePointable, (const uint8_t*) "frame", freCurrentFrame, NULL);
FREObject frePointableId;
FRENewObjectFromInt32(pointable.id(), &frePointableId);
FRESetObjectProperty(frePointable, (const uint8_t*) "id", frePointableId, NULL);
FREObject frePointableLength;
FRENewObjectFromDouble(pointable.length(), &frePointableLength);
FRESetObjectProperty(frePointable, (const uint8_t*) "length", frePointableLength, NULL);
FREObject frePointableWidth;
FRENewObjectFromDouble(pointable.width(), &frePointableWidth);
FRESetObjectProperty(frePointable, (const uint8_t*) "width", frePointableWidth, NULL);
FRESetObjectProperty(frePointable, (const uint8_t*) "direction", createVector3(pointable.direction().x, pointable.direction().y, pointable.direction().z), NULL);
FRESetObjectProperty(frePointable, (const uint8_t*) "tipPosition", createVector3(pointable.tipPosition().x, pointable.tipPosition().y, pointable.tipPosition().z), NULL);
FRESetObjectProperty(frePointable, (const uint8_t*) "tipVelocity", createVector3(pointable.tipVelocity().x, pointable.tipVelocity().y, pointable.tipVelocity().z), NULL);
//map to hand & back
if(pointable.hand().isValid()) {
FREObject freHand = freHandsMap[pointable.hand().id()];
FRESetObjectProperty(frePointable, (const uint8_t*) "hand", freHand, NULL);
FREObject frePointables;
FREGetObjectProperty(freHand, (const uint8_t*) "pointables", &frePointables, NULL);
uint32_t numPointables;
FREGetArrayLength(frePointables, &numPointables);
FRESetArrayElementAt(frePointables, numPointables, frePointable);
FREObject freSpecificHandPointables;
if(pointable.isTool()) {
FREGetObjectProperty(freHand, (const uint8_t*) "tools", &freSpecificHandPointables, NULL);
} else {
FREGetObjectProperty(freHand, (const uint8_t*) "fingers", &freSpecificHandPointables, NULL);
}
uint32_t numSpecificHandTools;
FREGetArrayLength(freSpecificHandPointables, &numSpecificHandTools);
FRESetArrayElementAt(freSpecificHandPointables, numSpecificHandTools, frePointable);
}
//push it in current frame
FRESetArrayElementAt(frePointables, i, frePointable);
//specific
FREObject freSpecificPointables;
if(pointable.isTool()) {
FREGetObjectProperty(freCurrentFrame, (const uint8_t*) "tools", &freSpecificPointables, NULL);
} else {
FREGetObjectProperty(freCurrentFrame, (const uint8_t*) "fingers", &freSpecificPointables, NULL);
}
uint32_t numSpecificTools;
FREGetArrayLength(freSpecificPointables, &numSpecificTools);
FRESetArrayElementAt(freSpecificPointables, numSpecificTools, frePointable);
frePointablesMap[pointable.id()] = frePointable;
}
}
if(!frame.gestures().empty()) {
FREObject freGestures;
FREGetObjectProperty(freCurrentFrame, (const uint8_t*) "gesturesVector", &freGestures, NULL);
for(int i = 0; i < frame.gestures().count(); i++) {
const Gesture gesture = frame.gestures()[i];
int state;
switch (gesture.state()) {
case Gesture::STATE_INVALID:
state = 0;
break;
case Gesture::STATE_START:
state = 1;
break;
case Gesture::STATE_UPDATE:
state = 2;
break;
case Gesture::STATE_STOP:
state = 3;
break;
default:
break;
}
int type;
FREObject freGesture;
switch (gesture.type()) {
case Gesture::TYPE_SWIPE:
{
type = 5;
SwipeGesture swipe = gesture;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.SwipeGesture", 0, NULL, &freGesture, NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "direction", createVector3(swipe.direction().x, swipe.direction().y, swipe.direction().z), NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "position", createVector3(swipe.position().x, swipe.position().y, swipe.position().z), NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "startPosition", createVector3(swipe.startPosition().x, swipe.startPosition().y, swipe.startPosition().z), NULL);
FREObject freSwipeGestureSpeed;
FRENewObjectFromDouble(swipe.speed(), &freSwipeGestureSpeed);
FRESetObjectProperty(freGesture, (const uint8_t*) "speed", freSwipeGestureSpeed, NULL);
break;
}
case Gesture::TYPE_CIRCLE:
{
type = 6;
CircleGesture circle = gesture;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.CircleGesture", 0, NULL, &freGesture, NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "center", createVector3(circle.center().x, circle.center().y, circle.center().z), NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "normal", createVector3(circle.normal().x, circle.normal().y, circle.normal().z), NULL);
FREObject freCircleGestureProgress;
FRENewObjectFromDouble(circle.progress(), &freCircleGestureProgress);
FRESetObjectProperty(freGesture, (const uint8_t*) "progress", freCircleGestureProgress, NULL);
FREObject freCircleGestureRadius;
FRENewObjectFromDouble(circle.radius(), &freCircleGestureRadius);
FRESetObjectProperty(freGesture, (const uint8_t*) "radius", freCircleGestureRadius, NULL);
FREObject frePointable = frePointablesMap[circle.pointable().id()];
if(frePointable != NULL)
{
FRESetObjectProperty(freGesture, (const uint8_t*) "pointable", frePointable, NULL);
}
break;
}
case Gesture::TYPE_SCREEN_TAP:
{
type = 7;
ScreenTapGesture screentap = gesture;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.ScreenTapGesture", 0, NULL, &freGesture, NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "direction", createVector3(screentap.direction().x, screentap.direction().y, screentap.direction().z), NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "position", createVector3(screentap.position().x, screentap.position().y, screentap.position().z), NULL);
break;
}
case Gesture::TYPE_KEY_TAP:
{
type = 8;
KeyTapGesture tap = gesture;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.KeyTapGesture", 0, NULL, &freGesture, NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "direction", createVector3(tap.direction().x, tap.direction().y, tap.direction().z), NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "position", createVector3(tap.position().x, tap.position().y, tap.position().z), NULL);
break;
}
default:
{
type = 4;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.Gesture", 0, NULL, &freGesture, NULL);
break;
}
}
FREObject freGestureState;
FRENewObjectFromInt32(state, &freGestureState);
FRESetObjectProperty(freGesture, (const uint8_t*) "state", freGestureState, NULL);
FREObject freGestureType;
FRENewObjectFromInt32(type, &freGestureType);
FRESetObjectProperty(freGesture, (const uint8_t*) "type", freGestureType, NULL);
FREObject freGestureDuration;
FRENewObjectFromInt32((int32_t) gesture.duration(), &freGestureDuration);
FRESetObjectProperty(freGesture, (const uint8_t*) "duration", freGestureDuration, NULL);
FREObject freGestureDurationSeconds;
FRENewObjectFromDouble(gesture.durationSeconds(), &freGestureDurationSeconds);
FRESetObjectProperty(freGesture, (const uint8_t*) "durationSeconds", freGestureDurationSeconds, NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "frame", freCurrentFrame, NULL);
FREObject freGestureId;
FRENewObjectFromInt32(gesture.id(), &freGestureId);
FRESetObjectProperty(freGesture, (const uint8_t*) "id", freGestureId, NULL);
if (!gesture.hands().empty()) {
FREObject freGestureHands;
FREGetObjectProperty(freGesture, (const uint8_t*) "hands", &freGestureHands, NULL);
for(int i = 0; i < gesture.hands().count(); i++) {
const Hand hand = gesture.hands()[i];
FREObject freHand = freHandsMap[hand.id()];
FRESetArrayElementAt(freGestureHands, i, freHand);
}
}
if (!gesture.pointables().empty()) {
FREObject freGesturePointables;
FREGetObjectProperty(freGesture, (const uint8_t*) "pointables", &freGesturePointables, NULL);
for(int i = 0; i < gesture.pointables().count(); i++) {
const Pointable pointable = gesture.pointables()[i];
FREObject frePointable = frePointablesMap[pointable.id()];
FRESetArrayElementAt(freGesturePointables, i, frePointable);
}
}
//push it in current gesture vector
FRESetArrayElementAt(freGestures, i, freGesture);
}
}
lastFrame = frame;
return freCurrentFrame;
}
void QTVS_Leap::HandLogic()
{
//TODO: Fix this
if (hands.count() == 1)
{
int iHandToFingerShift = hand.isLeft() ? 5 : 0;
for (int iFingerCounter = iHandToFingerShift;
iFingerCounter <= iHandToFingerShift + 4;
iFingerCounter ++)
QCoreApplication::postEvent(fingerTraces.at(iFingerCounter), new QHideEvent());
iHandToFingerShift = hand.isLeft() ? 0 : 5;
if(ui.checkBox_ShowFingers->isChecked())
{
for (int iFingerCounter = iHandToFingerShift;
iFingerCounter <= iHandToFingerShift + 4;
iFingerCounter ++)
QCoreApplication::postEvent(fingerTraces.at(iFingerCounter), new QShowEvent());
}
}
else if (hands.isEmpty())
{
foreach (FingerTraceWindow * fTrace, fingerTraces)
QCoreApplication::postEvent(fTrace, new QHideEvent());
// QCoreApplication::postEvent(thumbTrace, new QHideEvent());
// QCoreApplication::postEvent(indexTrace, new QHideEvent());
// QCoreApplication::postEvent(middleTrace, new QHideEvent());
// QCoreApplication::postEvent(ringTrace, new QHideEvent());
// QCoreApplication::postEvent(pinkieTrace, new QHideEvent());
}
else
{
if(ui.checkBox_ShowFingers->isChecked())
{
foreach (FingerTraceWindow * fTrace, fingerTraces)
QCoreApplication::postEvent(fTrace, new QShowEvent());
}
// QCoreApplication::postEvent(thumbTrace, new QShowEvent());
// QCoreApplication::postEvent(indexTrace, new QShowEvent());
// QCoreApplication::postEvent(middleTrace, new QShowEvent());
// QCoreApplication::postEvent(ringTrace, new QShowEvent());
// QCoreApplication::postEvent(pinkieTrace, new QShowEvent());
}
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
hand = *hl;
//TODO: Perhaps move this to gestures?
if (ui.checkBox_Crunch->isChecked())
{
if (hands.count() == 2)
{
// we check if one hand's dragging and the other's closed
if (hand.isLeft())
{
// if this hand is left, and the other hand (right) is dragging something..
if (debugWindowDrag_Right.left != -1)
{
debugDisplayString = QString::number(hand.grabStrength());
//pretty much closed
if (hand.grabStrength() >= 0.7)
{
SendMessage(debugWindowHWND_Right, WM_SYSCOMMAND, SC_CLOSE, 0);
// DestroyWindow();
}
}
}
else
{
// if this hand is left, and the other hand (right) is dragging something..
if (debugWindowDrag_Left.left != -1)
{
//pretty much closed
if (hand.grabStrength() >= 0.7)
{
// DestroyWindow(debugWindowHWND_Left);
SendMessage(debugWindowHWND_Left, WM_SYSCOMMAND, SC_CLOSE, 0);
}
}
}
}
}
// std::string handType = hand.isLeft() ? "Left hand" : "Right hand";
// std::cout << std::string(2, ' ') << handType << ", id: " << hand.id()
// << ", palm position: " << hand.palmPosition() << std::endl;
// Get the hand's normal vector and direction
const Vector normal = hand.palmNormal();
const Vector direction = hand.direction();
// Calculate the hand's pitch, roll, and yaw angles
// debugDisplayString = QString(", palm position: " + QString(hand.palmPosition().toString().data() ));
// debugDisplayString = QString::number(hand.palmPosition().x); //20
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(hand.palmPosition().y)); // 5
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(hand.palmPosition().z));
// debugDisplayString.append("\n");
// debugDisplayString.append("roll:" + QString::number(normal.roll()));
///--------------------------------------------------
if (debug_extendedFingerCounter != 0 && ui.checkBox_palmMouse->isChecked())
HandCursorPosition(hand.stabilizedPalmPosition());
if (ui.checkBox_HandRollDrag->isChecked())
{
if (bDebug_HandRollDrag)
{
if (normal.roll() > 0.7)
{
bDebug_HandRollDrag = false;
if (debug_extendedFingerCounter != 0)
MouseKeyboardEmulation::MouseLeftClickDown();
}
}
}
if (!bDebug_HandRollDrag)
{
if (normal.roll() < 0.5)
{
bDebug_HandRollDrag = true;
MouseKeyboardEmulation::MouseLeftClickUp();
}
}
///-----------------------------------------------
debug_extendedFingerCounter = 0;
foreach (Finger finger, fingers)
{
if (finger.isExtended())
debug_extendedFingerCounter++;
}
// Fist Scrolling
if (debug_extendedFingerCounter == 0 && ui.checkBox_palmScroll->isChecked())
{
if (fFistPositionY == 0)
fFistPositionY = hand.palmPosition().y;
if (hand.palmPosition().y > fFistPositionY + 10)
{
float fDifference = hand.palmPosition().y - fFistPositionY + 10;
fDifference /= 10;
MouseKeyboardEmulation::MouseWheelUp(fDifference);
}
else if (hand.palmPosition().y < fFistPositionY - 10)
{
float fDifference = abs(hand.palmPosition().y - fFistPositionY - 10);
fDifference /= 10;
MouseKeyboardEmulation::MouseWheelUp(-1 * fDifference);
}
// debugDisplayString = QString::number(ThumbMiddleDifference_X); //20
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(abs(middleFinger.stabilizedTipPosition().y - indexFinger.stabilizedTipPosition().y))); // 5
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(debug_extendedFingerCounter));
//works
// if(direction.pitch() * RAD_TO_DEG > 30)
// MouseKeyboardEmulation::MouseWheelUp((direction.pitch() * RAD_TO_DEG)/10);
// if(direction.pitch() * RAD_TO_DEG < 30)
// MouseKeyboardEmulation::MouseWheelDown(5);
}
else
{
if (fFistPositionY != 0)
fFistPositionY = 0;
}
// std::cout << std::string(2, ' ') << "pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
// << "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
// << "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << std::endl;
// Get the Arm bone
Arm arm = hand.arm();
// std::cout << std::string(2, ' ') << "Arm direction: " << arm.direction()
// << " wrist position: " << arm.wristPosition()
// << " elbow position: " << arm.elbowPosition() << std::endl;
// Get fingers
fingers = hand.fingers();
FingerLogic(hand.isLeft() ? handLeft : handRight);
}
}