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();
}
void jester::LeapMotionImpl::setFingerInJointData(Leap::Finger finger, Bone::BoneId bone) {
std::pair<Bone::JointId, Bone::JointId> joints = Bone::BoneToJointsMap.find(bone)->second;
glm::vec3 fingerTip(finger.tipPosition()[0], finger.tipPosition()[1], finger.tipPosition()[2]);
glm::vec3 fingerDir(finger.direction()[0], finger.direction()[1], finger.direction()[2]);
float fingerLength = finger.length();
JointFusionData fingerStartData;
JointFusionData fingerEndData;
fingerDir = glm::normalize(fingerDir);
glm::vec3 fingerStart = fingerTip - fingerLength * fingerDir;
glm::vec3 boneStart = glm::vec3(fingerStart / LeapMeasurmentScalingFactor);
glm::vec3 boneEnd = glm::vec3(fingerTip / LeapMeasurmentScalingFactor);
fingerStartData.position = boneStart;
fingerEndData.position = boneEnd;
fingerStartData.id = joints.first;
fingerEndData.id = joints.second;
fingerStartData.confidence = fingerEndData.confidence = LeapConfidence;
kJointData.insert(std::pair<Bone::JointId, JointFusionData>(joints.first, fingerStartData));
kJointData.insert(std::pair<Bone::JointId, JointFusionData>(joints.second, fingerEndData));
}
// 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;
}
}
bool right_hand_finger_x_coordinate_comparator (Leap::Finger a, Leap::Finger b) { return a.tipPosition()[0] < b.tipPosition()[0]; }
int main()
{
//Leap Motion Vairables
Leap::Controller controller;
Leap::Frame frame;
Leap::HandList hands;
Leap::Hand h1;
Leap::FingerList fingers;
Leap::Finger index;
Leap::Finger thumb;
Leap::PointableList pointables;
float indexX = 0, indexY = 0, indexZ = 0, thumbX = 0, thumbY = 0, thumbZ = 0, sum = 0;
unsigned long cycles = 0;
// TCP Variables
WSADATA wsaData;
SOCKET connectSocket = INVALID_SOCKET;
struct addrinfo* result = NULL;
struct addrinfo* ptr = NULL;
struct addrinfo hints;
char cSendBuf[512][512];
char sSendBuf[512];
int iResult;
int recvBufLen = DEFAULT_BUFLEN;
int i = 0;
iResult = WSAStartup(MAKEWORD(2, 2), &wsaData);
if (iResult != 0) {
printf("WSAStartup failed with error: %d\n", iResult);
return 1;
}
// Initialize all address info to 0 to start.
SecureZeroMemory(&hints, sizeof(hints));
hints.ai_family = AF_UNSPEC; // Doesn't matter if we use IPV4 or IPV6
hints.ai_socktype = SOCK_STREAM; // TCP Stream sockets
hints.ai_protocol = IPPROTO_TCP;
// Resolve the server address and port
iResult = getaddrinfo("127.0.0.1", DEFAULT_PORT, &hints, &result);
if (iResult != 0) {
printf("getaddrinfo failed with error: %d\n", iResult);
WSACleanup();
return 1;
}
// Attempt to connect to an address until one succeeds
for (ptr = result; ptr != NULL; ptr = ptr->ai_next) {
// create a socket for connecting to the server
connectSocket = socket(ptr->ai_family, ptr->ai_socktype, ptr->ai_protocol);
if (connectSocket == INVALID_SOCKET) {
printf("socket failed with error: %ld\n", WSAGetLastError());
WSACleanup();
return 1;
}
// Connect to the server
iResult = connect(connectSocket, ptr->ai_addr, (int)ptr->ai_addrlen);
if (iResult == SOCKET_ERROR) {
closesocket(connectSocket);
connectSocket = INVALID_SOCKET;
continue;
}
break;
}
// Deallocate the address info
freeaddrinfo(result);
if (connectSocket == INVALID_SOCKET) {
printf("Unable to connect to server!\n");
WSACleanup();
return 1;
}
// Setup serial port connection and needed variables.
SerialPort.Open(PORT_NUM, BAUD);
Controller[20].value = 9; //Verification Byte sent to make sure everything else ends up in the right location
FillByteSize();
while (true)
{
cycles++;
UpdateControllerState(); //Updates all values on the controller
WORD wButtons = g_Controllers[CONTROLLER1].state.Gamepad.wButtons;
//Stores all of the values from the controller into the controller structure
Controller[0].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRX;
Controller[1].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRY;
Controller[2].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLX;
Controller[3].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLY;
Controller[4].value = (g_Controllers[CONTROLLER1].state.Gamepad.bRightTrigger);
Controller[5].value = (g_Controllers[CONTROLLER1].state.Gamepad.bLeftTrigger);
Controller[6].value = (wButtons & XINPUT_GAMEPAD_RIGHT_THUMB);
Controller[7].value = (wButtons & XINPUT_GAMEPAD_LEFT_THUMB);
Controller[8].value = (wButtons & XINPUT_GAMEPAD_RIGHT_SHOULDER);
Controller[9].value = (wButtons & XINPUT_GAMEPAD_LEFT_SHOULDER);
Controller[10].value = (wButtons & XINPUT_GAMEPAD_DPAD_UP);
Controller[11].value = (wButtons & XINPUT_GAMEPAD_DPAD_DOWN);
Controller[12].value = (wButtons & XINPUT_GAMEPAD_DPAD_LEFT);
Controller[13].value = (wButtons & XINPUT_GAMEPAD_DPAD_RIGHT);
Controller[14].value = (wButtons & XINPUT_GAMEPAD_A);
Controller[15].value = (wButtons & XINPUT_GAMEPAD_B);
Controller[16].value = (wButtons & XINPUT_GAMEPAD_Y);
Controller[17].value = (wButtons & XINPUT_GAMEPAD_X);
Controller[18].value = (wButtons & XINPUT_GAMEPAD_START);
Controller[19].value = (wButtons & XINPUT_GAMEPAD_BACK);
CheckDeadZone();
if (controller.isConnected() == true)
{
sum = 0;
frame = controller.frame();
hands = frame.hands();
h1 = hands[0];
fingers = frame.fingers();
thumb = fingers[0];
index = fingers[1];
pointables = frame.pointables();
Leapvalues[0].value = h1.palmVelocity().x;
Leapvalues[1].value = h1.palmVelocity().y;
Leapvalues[2].value = h1.palmVelocity().z;
Leapvalues[3].value = h1.direction().pitch()*Leap::RAD_TO_DEG;
Leapvalues[4].value = h1.direction().yaw()*Leap::RAD_TO_DEG;
Leapvalues[5].value = h1.direction().roll()*Leap::RAD_TO_DEG;
indexX = index.tipPosition().x;
indexY = index.tipPosition().y;
indexZ = index.tipPosition().z;
thumbX = thumb.tipPosition().x;
thumbY = thumb.tipPosition().y;
thumbZ = thumb.tipPosition().z;
Leapvalues[6].value = sqrt(pow((indexX - thumbX), 2) + pow((indexY - thumbY), 2) + pow((indexZ - thumbZ), 2));
leapConnected = true;
CheckLeapDeadZone();
}
for (i = 6; i < NUMBER_OF_BUTTONS; i++) //DO NOT SET TO <= NUMBER_OF_BUTTONS, NOT A MISTAKE. Verification bit should always keep its value
{
{
Controller[i].value = AnalogToDigital(Controller[i].value); //converts all of the button presses on the controller to a binary value
}
}
//turns all of the numerical values into buffers that can be passed to the arduino
for (i = 0; i <= NUMBER_OF_BUTTONS; i++)
{
_itoa_s(Controller[i].value, Controller[i].passedValue, 10);
}
/*
for (i = 0; i < NUMBER_OF_BUTTONS; i++) {
_itoa_s(Controller[i].value, cSendBuf[i], 10);
cSendBuf[i][strlen(cSendBuf[i])] = '\0';
iResult = send(connectSocket, cSendBuf[0], (int)strlen(cSendBuf[0]), 0);
printf("String sent: %s\n", cSendBuf[0]);
// Check for errors
if (iResult == SOCKET_ERROR) {
printf("send failed with error: %d\n", WSAGetLastError());
closesocket(connectSocket);
WSACleanup();
return 1;
}
}
// Try to send the packet
iResult = send(connectSocket, "\n", (int)strlen("\n"), 0);
//printf("String sent: %s\n", sendBuf);
// Check for errors
if (iResult == SOCKET_ERROR) {
printf("send failed with error: %d\n", WSAGetLastError());
closesocket(connectSocket);
WSACleanup();
return 1;
}*/
if (leapConnected = true)
{
for (i = 0; i < NUMBER_OF_LEAP_INPUTS; i++)
{
_itoa_s(Leapvalues[i].value, Leapvalues[i].passedValue, 10);
}
}
/*Values recieved in this order:
0) YAW
1) PITCH
2) ROLL
3) ACCELERATION ON X AXIS
4) ACCELERATION ON Y AXIS
5) ACCELERATION ON Z AXIS
6) SONAR SENSOR DISTANCE (IN METERS)
*/
if (SendData() == 1)
{
for (i = 0; i < 7; i++)
{
while (SerialPort.ReadDataWaiting() < 3)
{
}
if (i > 2 && i < 6)
SerialPort.ReadData(received[i], 5);
else
SerialPort.ReadData(received[i], 4);
std::cout << received[i] << ' ';
// Added this 6.25.14
strcpy(sSendBuf, received[i]);
sSendBuf[strlen(sSendBuf)] = '\0';
iResult = send(connectSocket, sSendBuf, (int)strlen(sSendBuf), 0);
printf("String sent: %s\n", sSendBuf);
// Check for errors
if (iResult == SOCKET_ERROR) {
printf("send failed with error: %d\n", WSAGetLastError());
closesocket(connectSocket);
WSACleanup();
return 1;
}
// Try to send the packet
iResult = send(connectSocket, "\n", (int)strlen("\n"), 0);
//printf("String sent: %s\n", sendBuf);
// Check for errors
if (iResult == SOCKET_ERROR) {
printf("send failed with error: %d\n", WSAGetLastError());
closesocket(connectSocket);
WSACleanup();
return 1;
}
}
}
//std::cout << recieved[0];
printf("\t%d", cycles);
printf("\n");
//Sleep(500); <<'\t' << recieved[1]
}
closesocket(connectSocket);
WSACleanup();
return 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();
}
int main()
{
Leap::Controller controller;
Leap::Frame frame;
Leap::HandList hands;
Leap::Hand h1;
Leap::FingerList fingers;
Leap::Finger index;
Leap::Finger thumb;
Leap::PointableList pointables;
float indexX = 0, indexY = 0, indexZ = 0, thumbX = 0, thumbY = 0, thumbZ = 0, sum = 0, supersample[20];
int i = 0;
// Setup serial port connection and needed variables.
HANDLE hSerial = CreateFile(L"COM6", GENERIC_WRITE | GENERIC_READ, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);
if (hSerial != INVALID_HANDLE_VALUE)
{
printf("Port opened! \n");
DCB dcbSerialParams;
GetCommState(hSerial, &dcbSerialParams);
dcbSerialParams.BaudRate = CBR_14400;
dcbSerialParams.ByteSize = 8;
dcbSerialParams.Parity = NOPARITY;
dcbSerialParams.StopBits = ONESTOPBIT;
SetCommState(hSerial, &dcbSerialParams);
Sleep(1000);
}
else
{
if (GetLastError() == ERROR_FILE_NOT_FOUND)
{
printf("Serial port doesn't exist! \n");
}
printf("Error while setting up serial port! \n");
}
Controller[20].value = 9; //Verification Byte sent to make sure everything else ends up in the right location
FillByteSize();
while (true)
{
UpdateControllerState(); //Updates all values on the controller
WORD wButtons = g_Controllers[CONTROLLER1].state.Gamepad.wButtons;
//Stores all of the values from the controller into the controller structure
Controller[0].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRX;
Controller[1].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRY;
Controller[2].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLX;
Controller[3].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLY;
Controller[4].value = (g_Controllers[CONTROLLER1].state.Gamepad.bRightTrigger);
Controller[5].value = (g_Controllers[CONTROLLER1].state.Gamepad.bLeftTrigger);
Controller[6].value = (wButtons & XINPUT_GAMEPAD_RIGHT_THUMB);
Controller[7].value = (wButtons & XINPUT_GAMEPAD_LEFT_THUMB);
Controller[8].value = (wButtons & XINPUT_GAMEPAD_RIGHT_SHOULDER);
Controller[9].value = (wButtons & XINPUT_GAMEPAD_LEFT_SHOULDER);
Controller[10].value = (wButtons & XINPUT_GAMEPAD_DPAD_UP);
Controller[11].value = (wButtons & XINPUT_GAMEPAD_DPAD_DOWN);
Controller[12].value = (wButtons & XINPUT_GAMEPAD_DPAD_LEFT);
Controller[13].value = (wButtons & XINPUT_GAMEPAD_DPAD_RIGHT);
Controller[14].value = (wButtons & XINPUT_GAMEPAD_A);
Controller[15].value = (wButtons & XINPUT_GAMEPAD_B);
Controller[16].value = (wButtons & XINPUT_GAMEPAD_Y);
Controller[17].value = (wButtons & XINPUT_GAMEPAD_X);
Controller[18].value = (wButtons & XINPUT_GAMEPAD_START);
Controller[19].value = (wButtons & XINPUT_GAMEPAD_BACK);
CheckDeadZone();
if (controller.isConnected() == true)
{
sum = 0;
frame = controller.frame();
hands = frame.hands();
h1 = hands[0];
fingers = frame.fingers();
thumb = fingers[0];
index = fingers[1];
pointables = frame.pointables();
Leapvalues[0].value = h1.palmVelocity().x;
Leapvalues[1].value = h1.palmVelocity().y;
Leapvalues[2].value = h1.palmVelocity().z;
Leapvalues[3].value = h1.direction().pitch()*Leap::RAD_TO_DEG;
Leapvalues[4].value = h1.direction().yaw()*Leap::RAD_TO_DEG;
indexX = index.tipPosition().x;
indexY = index.tipPosition().y;
indexZ = index.tipPosition().z;
thumbX = thumb.tipPosition().x;
thumbY = thumb.tipPosition().y;
thumbZ = thumb.tipPosition().z;
Leapvalues[5].value = sqrt(pow((indexX - thumbX), 2) + pow((indexY - thumbY), 2) + pow((indexZ - thumbZ), 2));
leapConnected = true;
CheckLeapDeadZone();
}
for (i = 6; i < NUMBER_OF_BUTTONS; i++) //DO NOT SET TO <= NUMBER_OF_BUTTONS, NOT A MISTAKE. Verification bit should always keep its value
{
{
Controller[i].value = AnalogToDigital(Controller[i].value); //converts all of the button presses on the controller to a binary value
}
}
//turns all of the numerical values into buffers that can be passed to the arduino
for (i = 0; i <= NUMBER_OF_BUTTONS; i++)
{
_itoa_s(Controller[i].value, Controller[i].passedValue, 10);
}
for (i = 0; i < NUMBER_OF_LEAP_INPUTS; i++)
{
_itoa_s(Leapvalues[i].value, Leapvalues[i].passedValue, 10);
}
SendData(hSerial);
std::cout << Controller[8].value << std::endl;
}
return 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();
}
