TestHandFactory.cs
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/******************************************************************************
* Copyright (C) Leap Motion, Inc. 2011-2017. *
* Leap Motion proprietary and confidential. *
* *
* Use subject to the terms of the Leap Motion SDK Agreement available at *
* https://developer.leapmotion.com/sdk_agreement, or another agreement *
* between Leap Motion and you, your company or other organization. *
******************************************************************************/
namespace Leap {
using System;
using System.Collections.Generic;
using Leap.Unity;
using UnityEngine;
public class TestHandFactory {
public static Frame MakeTestFrame(int frameId, bool leftHandIncluded, bool rightHandIncluded) {
Frame testFrame = new Frame(frameId, 0, 120.0f, new InteractionBox(), new List<Hand>());
if (leftHandIncluded)
testFrame.Hands.Add(MakeTestHand(frameId, 10, true));
if (rightHandIncluded)
testFrame.Hands.Add(MakeTestHand(frameId, 20, false));
return testFrame;
}
public static Hand MakeTestHand(bool isLeft, int frameId = 0, int handId = 0) {
return MakeTestHand(frameId, handId, isLeft);
}
/// <summary>
/// Returns a test Leap Hand object transformed by the leftHandTransform argument. If the Leap hand is
/// a right hand, the position and rotation of the Hand will be mirrored along the X axis (so you can provide
/// LeapTransform to construct both left and right hands.
/// </summary>
public static Hand MakeTestHand(bool isLeft, LeapTransform leftHandTransform, int frameId = 0, int handId = 0) {
if (!isLeft) {
leftHandTransform.translation = new Vector(-leftHandTransform.translation.x, leftHandTransform.translation.y, leftHandTransform.translation.z);
leftHandTransform.rotation = new LeapQuaternion(-leftHandTransform.rotation.x,
leftHandTransform.rotation.y,
leftHandTransform.rotation.z,
-leftHandTransform.rotation.w);
leftHandTransform.MirrorX();
}
return MakeTestHand(frameId, handId, isLeft).Transform(leftHandTransform);
}
/// <summary>
/// Returns a test Leap Hand object in the argument pose position and rotation from the hand controller.
/// </summary>
public static Hand MakeTestHand(bool isLeft, TestHandPose pose, int frameId = 0, int handId = 0) {
return MakeTestHand(isLeft, GetTestPoseLeftHandTransform(pose), frameId, handId);
}
public enum TestHandPose {
PoseA,
PoseB
}
public static LeapTransform GetTestPoseLeftHandTransform(TestHandPose pose) {
LeapTransform transform = LeapTransform.Identity;
switch (pose) {
case TestHandPose.PoseA:
transform.rotation = AngleAxis(180 * Constants.DEG_TO_RAD, Vector.Forward);
transform.translation = new Vector(80f, 120f, 0f);
break;
case TestHandPose.PoseB:
transform.rotation = Quaternion.Euler(30F, -10F, -20F).ToLeapQuaternion();
transform.translation = new Vector(220f, 270f, 130f);
break;
}
return transform;
}
public static Hand MakeTestHand(int frameId, int handId, bool isLeft) {
List<Finger> fingers = new List<Finger>(5);
fingers.Add(MakeThumb(frameId, handId, isLeft));
fingers.Add(MakeIndexFinger(frameId, handId, isLeft));
fingers.Add(MakeMiddleFinger(frameId, handId, isLeft));
fingers.Add(MakeRingFinger(frameId, handId, isLeft));
fingers.Add(MakePinky(frameId, handId, isLeft));
Vector armWrist = new Vector(-7.05809944059f, 4.0f, 50.0f);
Vector elbow = armWrist + 250f * Vector.Backward;
// Adrian: The previous "armBasis" used "elbow" as a translation component.
Arm arm = new Arm(elbow, armWrist,(elbow + armWrist)/2, Vector.Forward, 250f, 41f, LeapQuaternion.Identity);
Hand testHand = new Hand(frameId,
handId,
1.0f,
0.0f,
0.0f,
0.0f,
0.0f,
85f,
isLeft,
0.0f,
arm,
fingers,
new Vector (0,0,0),
new Vector(0,0,0),
new Vector(0,0,0),
Vector.Down,
LeapQuaternion.Identity,
Vector.Forward,
new Vector(-4.36385750984f, 6.5f, 31.0111342526f));
return testHand;
}
static LeapQuaternion AngleAxis(float angle, Vector axis) {
if (!axis.MagnitudeSquared.NearlyEquals(1.0f)) {
throw new ArgumentException("Axis must be a unit vector.");
}
float sineHalfAngle = Mathf.Sin(angle/2.0f);
LeapQuaternion q = new LeapQuaternion(sineHalfAngle * axis.x,
sineHalfAngle * axis.y,
sineHalfAngle * axis.z,
Mathf.Cos(angle/2.0f));
return q.Normalized;
}
static LeapQuaternion RotationBetween(Vector fromDirection, Vector toDirection) {
float m = Mathf.Sqrt(2.0f + 2.0f * fromDirection.Dot(toDirection));
Vector w = (1.0f / m) * fromDirection.Cross(toDirection);
return new LeapQuaternion(w.x, w.y, w.z, 0.5f * m);
}
static Finger MakeThumb(int frameId, int handId, bool isLeft) {
//Thumb
Vector position = new Vector(19.3382610281f, -6.0f, 53.168484654f);
Vector forward = new Vector(0.636329113772f, -0.5f, -0.899787143982f);
Vector up = new Vector(0.804793943718f, 0.447213915513f, 0.390264553767f);
float[] jointLengths = {0.0f, 46.22f, 31.57f, 21.67f};
return MakeFinger(Finger.FingerType.TYPE_THUMB, position, forward, up, jointLengths, frameId, handId, handId + 0, isLeft);
}
static Finger MakeIndexFinger(int frameId, int handId, bool isLeft) {
//Index Finger
Vector position = new Vector(23.1812851873f, 2.0f, -23.1493459317f);
Vector forward = new Vector(0.166044313785f, -0.14834045293f, -0.974897120667f);
Vector up = new Vector(0.0249066470677f, 0.988936352868f, -0.1462345681f);
float[] jointLengths = {68.12f, 39.78f, 22.38f, 15.82f};
return MakeFinger(Finger.FingerType.TYPE_INDEX, position, forward, up, jointLengths, frameId, handId, handId + 1, isLeft);
}
static Finger MakeMiddleFinger(int frameId, int handId, bool isLeft) {
//Middle Finger
Vector position = new Vector(2.78877821918f, 4.0f, -23.252105626f);
Vector forward = new Vector(0.0295207858556f, -0.148340452932f, -0.988495641481f);
Vector up = new Vector(-0.145765270107f, 0.977715980076f, -0.151075968756f);
float[] jointLengths = {64.60f, 44.63f, 26.33f, 17.40f};
return MakeFinger(Finger.FingerType.TYPE_MIDDLE, position, forward, up, jointLengths, frameId, handId, handId + 2, isLeft);
}
static Finger MakeRingFinger(int frameId, int handId, bool isLeft) {
//Ring Finger
Vector position = new Vector(-17.447168266f, 4.0f, -17.2791440615f);
Vector forward = new Vector(-0.121317937368f, -0.148340347175f, -0.981466810174f);
Vector up = new Vector(-0.216910468316f, 0.968834928679f, -0.119619102602f);
float[] jointLengths = {58.00f, 41.37f, 25.65f, 17.30f};
return MakeFinger(Finger.FingerType.TYPE_RING, position, forward, up, jointLengths, frameId, handId, handId + 3, isLeft);
}
static Finger MakePinky(int frameId, int handId, bool isLeft) {
//Pinky Finger
Vector position = new Vector(-35.3374394559f, 0.0f, -9.72871382551f);
Vector forward = new Vector(-0.259328923438f, -0.105851224797f, -0.959970847306f);
Vector up = new Vector(-0.353350220937f, 0.935459475557f, -0.00769356576168f);
float[] jointLengths = {53.69f, 32.74f, 18.11f, 15.96f};
return MakeFinger(Finger.FingerType.TYPE_PINKY, position, forward, up, jointLengths, frameId, handId, handId + 4, isLeft);
}
static Finger MakeFinger(Finger.FingerType name, Vector position, Vector forward, Vector up, float[] jointLengths,
int frameId, int handId, int fingerId, bool isLeft) {
forward = forward.Normalized;
up = up.Normalized;
Bone[] bones = new Bone[5];
float proximalDistance = -jointLengths[0];
Bone metacarpal = MakeBone (Bone.BoneType.TYPE_METACARPAL, position + forward * proximalDistance, jointLengths[0], 8f, forward, up, isLeft);
proximalDistance += jointLengths[0];
bones[0] = metacarpal;
Bone proximal = MakeBone (Bone.BoneType.TYPE_PROXIMAL, position + forward * proximalDistance, jointLengths[1], 8f, forward, up, isLeft);
proximalDistance += jointLengths[1];
bones[1] = proximal;
Bone intermediate = MakeBone (Bone.BoneType.TYPE_INTERMEDIATE, position + forward * proximalDistance, jointLengths[2], 8f, forward, up, isLeft);
proximalDistance += jointLengths[2];
bones[2] = intermediate;
Bone distal = MakeBone (Bone.BoneType.TYPE_DISTAL, position + forward * proximalDistance, jointLengths[3], 8f, forward, up, isLeft);
bones[3] = distal;
return new Finger(frameId,
handId,
fingerId,
0.0f,
distal.NextJoint,
new Vector(0, 0, 0),
forward,
position,
8f,
jointLengths[1] + jointLengths[2] + jointLengths[3],
true,
name,
bones[0],
bones[1],
bones[2],
bones[3]);
}
static Bone MakeBone(Bone.BoneType name, Vector proximalPosition, float length, float width, Vector direction, Vector up, bool isLeft) {
LeapQuaternion rotation = UnityEngine.Quaternion.LookRotation(-direction.ToVector3(), up.ToVector3()).ToLeapQuaternion();
return new Bone(
proximalPosition,
proximalPosition + direction * length,
Vector.Lerp(proximalPosition, proximalPosition + direction * length, .5f),
direction,
length,
width,
name,
rotation);
}
}
}