void HandController::drawBone(const Leap::Bone& bone) {
static const ColorA bone_color(CM_HSV, 0.5f, 0.0f, 1.0f, 0.5f);
Leap::Vector midpoint = (bone.prevJoint() + bone.prevJoint()) / 2.0;
glPushMatrix();
glTranslatef(midpoint.x, midpoint.y, midpoint.z);
glMultMatrixf(GetBoneMatrix(bone));
glRotatef(90, -1, 0, 0);
glMaterialfv(GL_FRONT, GL_DIFFUSE, bone_color);
gl::drawCylinder(HAND_CYLINDER_RADIUS, HAND_CYLINDER_RADIUS, bone.length(), 12, 1);
glPopMatrix();
}
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();
}
void LeapMotionPlugin::processFrame(const Leap::Frame& frame) {
// Default to uncontrolled.
for (int i = 0; i < _joints.size(); i++) {
_joints[i].position = glm::vec3();
}
auto hands = frame.hands();
const int MAX_NUMBER_OF_HANDS = 2;
for (int i = 0; i < hands.count() && i < MAX_NUMBER_OF_HANDS; i++) {
auto hand = hands[i];
int sideSign = hand.isLeft() ? LEFT_SIDE_SIGN : RIGHT_SIDE_SIGN;
int jointIndex = hand.isLeft() ? LeapMotionJointIndex::LeftHand : LeapMotionJointIndex::RightHand;
// Hand.
_joints[jointIndex].position = LeapVectorToVec3(hand.wristPosition());
_joints[jointIndex].orientation = LeapBasisToQuat(sideSign, hand.basis());
// Fingers.
// Leap Motion SDK guarantees full set of fingers and finger joints so can straightforwardly process them all.
Leap::FingerList fingers = hand.fingers();
for (int j = Leap::Finger::Type::TYPE_THUMB; j <= Leap::Finger::Type::TYPE_PINKY; j++) {
Leap::Finger finger;
finger = fingers[j];
Leap::Bone bone;
bone = finger.bone(Leap::Bone::Type::TYPE_PROXIMAL);
jointIndex++;
_joints[jointIndex].position = LeapVectorToVec3(bone.prevJoint());
_joints[jointIndex].orientation = LeapBasisToQuat(sideSign, bone.basis());
bone = finger.bone(Leap::Bone::Type::TYPE_INTERMEDIATE);
jointIndex++;
_joints[jointIndex].position = LeapVectorToVec3(bone.prevJoint());
_joints[jointIndex].orientation = LeapBasisToQuat(sideSign, bone.basis());
bone = finger.bone(Leap::Bone::Type::TYPE_DISTAL);
jointIndex++;
_joints[jointIndex].position = LeapVectorToVec3(bone.prevJoint());
_joints[jointIndex].orientation = LeapBasisToQuat(sideSign, bone.basis());
jointIndex++;
_joints[jointIndex].position = LeapVectorToVec3(bone.nextJoint());
_joints[jointIndex].orientation = LeapBasisToQuat(sideSign, bone.basis());
}
}
}
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;
}
}