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Leap Motion input device support
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DavidWyand-GG
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12 changed files with 2126 additions and 0 deletions
497
Engine/source/platform/input/leapMotion/leapMotionFrame.cpp
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497
Engine/source/platform/input/leapMotion/leapMotionFrame.cpp
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//-----------------------------------------------------------------------------
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// Copyright (c) 2012 GarageGames, LLC
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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//-----------------------------------------------------------------------------
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#include "platform/input/leapMotion/leapMotionFrame.h"
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#include "platform/input/leapMotion/leapMotionUtil.h"
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#include "console/engineAPI.h"
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#include "math/mAngAxis.h"
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#include "math/mTransform.h"
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U32 LeapMotionFrame::smNextInternalFrameId = 0;
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IMPLEMENT_CONOBJECT(LeapMotionFrame);
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ImplementEnumType( LeapMotionFramePointableType,
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"Leap Motion pointable type.\n\n")
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{ LeapMotionFrame::PT_UNKNOWN, "Unknown", "Unknown pointable type.\n" },
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{ LeapMotionFrame::PT_FINGER, "Finger", "Finger pointable type.\n" },
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{ LeapMotionFrame::PT_TOOL, "Tool", "Tool pointable type.\n" },
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EndImplementEnumType;
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LeapMotionFrame::LeapMotionFrame()
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{
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clear();
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}
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LeapMotionFrame::~LeapMotionFrame()
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{
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clear();
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}
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void LeapMotionFrame::initPersistFields()
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{
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Parent::initPersistFields();
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}
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bool LeapMotionFrame::onAdd()
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{
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if (!Parent::onAdd())
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return false;
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return true;
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}
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void LeapMotionFrame::onRemove()
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{
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Parent::onRemove();
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}
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void LeapMotionFrame::clear()
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{
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mFrameValid = false;
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mHandCount = 0;
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mHandValid.clear();
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mHandId.clear();
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mHandRawPos.clear();
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mHandPos.clear();
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mHandRot.clear();
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mHandRotQuat.clear();
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mHandRotAxis.clear();
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mHandPointablesCount.clear();
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mPointableCount = 0;
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mPointableValid.clear();
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mPointableId.clear();
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mPointableHandIndex.clear();
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mPointableType.clear();
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mPointableRawPos.clear();
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mPointablePos.clear();
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mPointableRot.clear();
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mPointableRotQuat.clear();
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mPointableLength.clear();
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mPointableWidth.clear();
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}
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void LeapMotionFrame::copyFromFrame(const Leap::Frame& frame, const F32& maxHandAxisRadius)
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{
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// This also resets all counters
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clear();
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// Retrieve frame information
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mFrameValid = frame.isValid();
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mFrameId = frame.id();
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mFrameTimeStamp = frame.timestamp();
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mFrameInternalId = smNextInternalFrameId;
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++smNextInternalFrameId;
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mFrameSimTime = Sim::getCurrentTime();
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mFrameRealTime = Platform::getRealMilliseconds();
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if(!mFrameValid)
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{
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return;
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}
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// Retrieve hand information
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mHandCount = frame.hands().count();
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if(mHandCount > 0)
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{
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copyFromFrameHands(frame.hands(), maxHandAxisRadius);
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}
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// Retrieve pointable information
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mPointableCount = frame.pointables().count();
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if(mPointableCount > 0)
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{
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copyFromFramePointables(frame.pointables());
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}
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}
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void LeapMotionFrame::copyFromFrameHands(const Leap::HandList& hands, const F32& maxHandAxisRadius)
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{
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// Set up Vectors
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mHandValid.increment(mHandCount);
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mHandId.increment(mHandCount);
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mHandRawPos.increment(mHandCount);
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mHandPos.increment(mHandCount);
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mHandRot.increment(mHandCount);
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mHandRotQuat.increment(mHandCount);
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mHandRotAxis.increment(mHandCount);
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mHandPointablesCount.increment(mHandCount);
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// Copy data
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for(U32 i=0; i<mHandCount; ++i)
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{
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const Leap::Hand& hand = hands[i];
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mHandValid[i] = hand.isValid();
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mHandId[i] = hand.id();
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// Position
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LeapMotionUtil::convertPosition(hand.palmPosition(), mHandRawPos[i]);
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mHandPos[i].x = (S32)mFloor(mHandRawPos[i].x);
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mHandPos[i].y = (S32)mFloor(mHandRawPos[i].y);
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mHandPos[i].z = (S32)mFloor(mHandRawPos[i].z);
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// Rotation
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LeapMotionUtil::convertHandRotation(hand, mHandRot[i]);
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mHandRotQuat[i].set(mHandRot[i]);
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// Thumb stick axis rotation
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LeapMotionUtil::calculateHandAxisRotation(mHandRot[i], maxHandAxisRadius, mHandRotAxis[i]);
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// Pointables
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mHandPointablesCount[i] = hand.pointables().count();
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}
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}
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void LeapMotionFrame::copyFromFramePointables(const Leap::PointableList& pointables)
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{
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// Set up Vectors
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mPointableValid.increment(mPointableCount);
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mPointableId.increment(mPointableCount);
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mPointableHandIndex.increment(mPointableCount);
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mPointableType.increment(mPointableCount);
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mPointableRawPos.increment(mPointableCount);
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mPointablePos.increment(mPointableCount);
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mPointableRot.increment(mPointableCount);
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mPointableRotQuat.increment(mPointableCount);
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mPointableLength.increment(mPointableCount);
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mPointableWidth.increment(mPointableCount);
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// Copy data
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for(U32 i=0; i<mPointableCount; ++i)
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{
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const Leap::Pointable& pointable = pointables[i];
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mPointableValid[i] = pointable.isValid();
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mPointableId[i] = pointable.id();
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mPointableLength[i] = pointable.length();
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mPointableWidth[i] = pointable.width();
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mPointableType[i] = PT_UNKNOWN;
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if(pointable.isFinger())
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{
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mPointableType[i] = PT_FINGER;
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}
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else if(pointable.isTool())
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{
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mPointableType[i] = PT_TOOL;
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}
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// Which hand, if any
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const Leap::Hand& hand = pointable.hand();
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if(hand.isValid())
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{
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bool found = false;
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S32 handId = hand.id();
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for(U32 j=0; j<mHandCount; ++j)
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{
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if(mHandId[j] == handId)
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{
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mPointableHandIndex[i] = j;
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found = true;
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break;
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}
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}
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if(!found)
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{
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mPointableHandIndex[i] = -1;
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}
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}
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else
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{
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mPointableHandIndex[i] = -1;
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}
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// Position
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LeapMotionUtil::convertPosition(pointable.tipPosition(), mPointableRawPos[i]);
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mPointablePos[i].x = (S32)mFloor(mPointableRawPos[i].x);
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mPointablePos[i].y = (S32)mFloor(mPointableRawPos[i].y);
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mPointablePos[i].z = (S32)mFloor(mPointableRawPos[i].z);
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// Rotation
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LeapMotionUtil::convertPointableRotation(pointable, mPointableRot[i]);
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mPointableRotQuat[i].set(mPointableRot[i]);
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}
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}
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//-----------------------------------------------------------------------------
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DefineEngineMethod( LeapMotionFrame, isFrameValid, bool, ( ),,
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"@brief Checks if this frame is valid.\n\n"
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"@return True if the frame is valid.\n\n")
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{
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return object->isFrameValid();
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}
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DefineEngineMethod( LeapMotionFrame, getFrameInternalId, S32, ( ),,
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"@brief Provides the internal ID for this frame.\n\n"
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"@return Internal ID of this frame.\n\n")
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{
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return object->getFrameInternalId();
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}
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DefineEngineMethod( LeapMotionFrame, getFrameSimTime, S32, ( ),,
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"@brief Get the sim time that this frame was generated.\n\n"
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"@return Sim time of this frame in milliseconds.\n\n")
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{
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return object->getFrameSimTime();
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}
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DefineEngineMethod( LeapMotionFrame, getFrameRealTime, S32, ( ),,
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"@brief Get the real time that this frame was generated.\n\n"
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"@return Real time of this frame in milliseconds.\n\n")
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{
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return object->getFrameRealTime();
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}
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DefineEngineMethod( LeapMotionFrame, getHandCount, S32, ( ),,
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"@brief Get the number of hands defined in this frame.\n\n"
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"@return The number of defined hands.\n\n")
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{
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return object->getHandCount();
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}
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DefineEngineMethod( LeapMotionFrame, getHandValid, bool, ( S32 index ),,
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"@brief Check if the requested hand is valid.\n\n"
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"@param index The hand index to check.\n"
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"@return True if the hand is valid.\n\n")
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{
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return object->getHandValid(index);
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}
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DefineEngineMethod( LeapMotionFrame, getHandId, S32, ( S32 index ),,
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"@brief Get the ID of the requested hand.\n\n"
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"@param index The hand index to check.\n"
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"@return ID of the requested hand.\n\n")
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{
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return object->getHandId(index);
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}
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DefineEngineMethod( LeapMotionFrame, getHandRawPos, Point3F, ( S32 index ),,
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"@brief Get the raw position of the requested hand.\n\n"
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"The raw position is the hand's floating point position converted to "
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"Torque 3D coordinates (in millimeters).\n"
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"@param index The hand index to check.\n"
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"@return Raw position of the requested hand.\n\n")
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{
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return object->getHandRawPos(index);
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}
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DefineEngineMethod( LeapMotionFrame, getHandPos, Point3I, ( S32 index ),,
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"@brief Get the position of the requested hand.\n\n"
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"The position is the hand's integer position converted to "
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"Torque 3D coordinates (in millimeters).\n"
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"@param index The hand index to check.\n"
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"@return Integer position of the requested hand (in millimeters).\n\n")
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{
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return object->getHandPos(index);
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}
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DefineEngineMethod( LeapMotionFrame, getHandRot, AngAxisF, ( S32 index ),,
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"@brief Get the rotation of the requested hand.\n\n"
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"The Leap Motion hand rotation as converted into the Torque 3D"
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"coordinate system.\n"
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"@param index The hand index to check.\n"
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"@return Rotation of the requested hand.\n\n")
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{
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AngAxisF aa(object->getHandRot(index));
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return aa;
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}
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DefineEngineMethod( LeapMotionFrame, getHandRawTransform, TransformF, ( S32 index ),,
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"@brief Get the raw transform of the requested hand.\n\n"
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"@param index The hand index to check.\n"
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"@return The raw position and rotation of the requested hand (in Torque 3D coordinates).\n\n")
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{
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const Point3F& pos = object->getHandRawPos(index);
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const QuatF& qa = object->getHandRotQuat(index);
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AngAxisF aa(qa);
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aa.axis.normalize();
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TransformF trans(pos, aa);
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return trans;
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}
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DefineEngineMethod( LeapMotionFrame, getHandTransform, TransformF, ( S32 index ),,
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"@brief Get the transform of the requested hand.\n\n"
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"@param index The hand index to check.\n"
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"@return The position and rotation of the requested hand (in Torque 3D coordinates).\n\n")
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{
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const Point3I& pos = object->getHandPos(index);
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const QuatF& qa = object->getHandRotQuat(index);
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AngAxisF aa(qa);
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aa.axis.normalize();
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TransformF trans;
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trans.mPosition = Point3F(pos.x, pos.y, pos.z);
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trans.mOrientation = aa;
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return trans;
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}
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DefineEngineMethod( LeapMotionFrame, getHandRotAxis, Point2F, ( S32 index ),,
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"@brief Get the axis rotation of the requested hand.\n\n"
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"This is the axis rotation of the hand as if the hand were a gamepad thumb stick. "
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"Imagine a stick coming out the top of the hand and tilting the hand front, back, "
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"left and right controls that stick. The values returned along the x and y stick "
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"axis are normalized from -1.0 to 1.0 with the maximum hand tilt angle for these "
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"values as defined by $LeapMotion::MaximumHandAxisAngle.\n"
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"@param index The hand index to check.\n"
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"@return Axis rotation of the requested hand.\n\n"
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"@see LeapMotion::MaximumHandAxisAngle\n")
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{
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return object->getHandRotAxis(index);
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}
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DefineEngineMethod( LeapMotionFrame, getHandPointablesCount, S32, ( S32 index ),,
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"@brief Get the number of pointables associated with this hand.\n\n"
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"@param index The hand index to check.\n"
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"@return Number of pointables that belong with this hand.\n\n")
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{
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return object->getHandPointablesCount(index);
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}
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DefineEngineMethod( LeapMotionFrame, getPointablesCount, S32, ( ),,
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"@brief Get the number of pointables defined in this frame.\n\n"
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"@return The number of defined pointables.\n\n")
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{
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return object->getPointablesCount();
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}
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DefineEngineMethod( LeapMotionFrame, getPointableValid, bool, ( S32 index ),,
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"@brief Check if the requested pointable is valid.\n\n"
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"@param index The pointable index to check.\n"
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"@return True if the pointable is valid.\n\n")
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{
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return object->getPointableValid(index);
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}
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DefineEngineMethod( LeapMotionFrame, getPointableId, S32, ( S32 index ),,
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"@brief Get the ID of the requested pointable.\n\n"
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"@param index The pointable index to check.\n"
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"@return ID of the requested pointable.\n\n")
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{
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return object->getPointableId(index);
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}
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DefineEngineMethod( LeapMotionFrame, getPointableHandIndex, S32, ( S32 index ),,
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"@brief Get the index of the hand that this pointable belongs to, if any.\n\n"
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"@param index The pointable index to check.\n"
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"@return Index of the hand this pointable belongs to, or -1 if there is no associated hand.\n\n")
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{
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return object->getPointableHandIndex(index);
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}
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DefineEngineMethod( LeapMotionFrame, getPointableType, LeapMotionFramePointableType, ( S32 index ),,
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"@brief Get the type of the requested pointable.\n\n"
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"@param index The pointable index to check.\n"
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"@return Type of the requested pointable.\n\n")
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{
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return object->getPointableType(index);
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}
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DefineEngineMethod( LeapMotionFrame, getPointableRawPos, Point3F, ( S32 index ),,
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"@brief Get the raw position of the requested pointable.\n\n"
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"The raw position is the pointable's floating point position converted to "
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"Torque 3D coordinates (in millimeters).\n"
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"@param index The pointable index to check.\n"
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"@return Raw position of the requested pointable.\n\n")
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{
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return object->getPointableRawPos(index);
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}
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DefineEngineMethod( LeapMotionFrame, getPointablePos, Point3I, ( S32 index ),,
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"@brief Get the position of the requested pointable.\n\n"
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"The position is the pointable's integer position converted to "
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"Torque 3D coordinates (in millimeters).\n"
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"@param index The pointable index to check.\n"
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"@return Integer position of the requested pointable (in millimeters).\n\n")
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{
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return object->getPointablePos(index);
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}
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DefineEngineMethod( LeapMotionFrame, getPointableRot, AngAxisF, ( S32 index ),,
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"@brief Get the rotation of the requested pointable.\n\n"
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"The Leap Motion pointable rotation as converted into the Torque 3D"
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"coordinate system.\n"
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"@param index The pointable index to check.\n"
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"@return Rotation of the requested pointable.\n\n")
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{
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AngAxisF aa(object->getPointableRot(index));
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return aa;
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}
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DefineEngineMethod( LeapMotionFrame, getPointableRawTransform, TransformF, ( S32 index ),,
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"@brief Get the raw transform of the requested pointable.\n\n"
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"@param index The pointable index to check.\n"
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"@return The raw position and rotation of the requested pointable (in Torque 3D coordinates).\n\n")
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{
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const Point3F& pos = object->getPointableRawPos(index);
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const QuatF& qa = object->getPointableRotQuat(index);
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||||
AngAxisF aa(qa);
|
||||
aa.axis.normalize();
|
||||
|
||||
TransformF trans(pos, aa);
|
||||
return trans;
|
||||
}
|
||||
|
||||
DefineEngineMethod( LeapMotionFrame, getPointableTransform, TransformF, ( S32 index ),,
|
||||
"@brief Get the transform of the requested pointable.\n\n"
|
||||
"@param index The pointable index to check.\n"
|
||||
"@return The position and rotation of the requested pointable (in Torque 3D coordinates).\n\n")
|
||||
{
|
||||
const Point3I& pos = object->getPointablePos(index);
|
||||
const QuatF& qa = object->getPointableRotQuat(index);
|
||||
|
||||
AngAxisF aa(qa);
|
||||
aa.axis.normalize();
|
||||
|
||||
TransformF trans;
|
||||
trans.mPosition = Point3F(pos.x, pos.y, pos.z);
|
||||
trans.mOrientation = aa;
|
||||
|
||||
return trans;
|
||||
}
|
||||
|
||||
DefineEngineMethod( LeapMotionFrame, getPointableLength, F32, ( S32 index ),,
|
||||
"@brief Get the length of the requested pointable.\n\n"
|
||||
"@param index The pointable index to check.\n"
|
||||
"@return Length of the requested pointable (in millimeters).\n\n")
|
||||
{
|
||||
return object->getPointableLength(index);
|
||||
}
|
||||
|
||||
DefineEngineMethod( LeapMotionFrame, getPointableWidth, F32, ( S32 index ),,
|
||||
"@brief Get the width of the requested pointable.\n\n"
|
||||
"@param index The pointable index to check.\n"
|
||||
"@return Width of the requested pointable (in millimeters).\n\n")
|
||||
{
|
||||
return object->getPointableWidth(index);
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue