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Delete LeapMotionManager.cpp
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samcake
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1 changed files with 0 additions and 441 deletions
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//
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// LeapMotionManager.cpp
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// interface/src/devices
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//
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// Created by Sam Cake on 6/2/2014
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// Copyright 2014 High Fidelity, Inc.
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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#include <QTimer>
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#include <QtDebug>
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#include <FBXReader.h>
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#include "Application.h"
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#include "LeapMotionManager.h"
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#include "ui/TextRenderer.h"
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#ifdef HAVE_LEAPMOTION
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LeapMotionManager::SampleListener::SampleListener() : ::Leap::Listener()
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{
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// std::cout << __FUNCTION__ << std::endl;
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}
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LeapMotionManager::SampleListener::~SampleListener()
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{
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// std::cout << __FUNCTION__ << std::endl;
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}
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void LeapMotionManager::SampleListener::onConnect(const ::Leap::Controller &)
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{
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// std::cout << __FUNCTION__ << std::endl;
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}
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void LeapMotionManager::SampleListener::onDisconnect(const ::Leap::Controller &)
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{
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// std::cout << __FUNCTION__ << std::endl;
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}
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void LeapMotionManager::SampleListener::onExit(const ::Leap::Controller &)
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{
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// std::cout << __FUNCTION__ << std::endl;
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}
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void LeapMotionManager::SampleListener::onFocusGained(const ::Leap::Controller &)
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{
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// std::cout << __FUNCTION__ << std::endl;
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}
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void LeapMotionManager::SampleListener::onFocusLost(const ::Leap::Controller &)
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{
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// std::cout << __FUNCTION__ << std::endl;
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}
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void LeapMotionManager::SampleListener::onFrame(const ::Leap::Controller &)
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{
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// std::cout << __FUNCTION__ << std::endl;
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}
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void LeapMotionManager::SampleListener::onInit(const ::Leap::Controller &)
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{
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// std::cout << __FUNCTION__ << std::endl;
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}
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void LeapMotionManager::SampleListener::onServiceConnect(const ::Leap::Controller &)
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{
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// std::cout << __FUNCTION__ << std::endl;
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}
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void LeapMotionManager::SampleListener::onServiceDisconnect(const ::Leap::Controller &)
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{
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// std::cout << __FUNCTION__ << std::endl;
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}
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/*const unsigned int SERIAL_LIST[] = { 0x00000001, 0x00000000, 0x00000008, 0x00000009, 0x0000000A,
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0x0000000C, 0x0000000D, 0x0000000E, 0x00000004, 0x00000005, 0x00000010, 0x00000011 };
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const unsigned char AXIS_LIST[] = { 9, 43, 37, 37, 37, 13, 13, 13, 52, 52, 28, 28 };
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const int LIST_LENGTH = sizeof(SERIAL_LIST) / sizeof(SERIAL_LIST[0]);
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const char* JOINT_NAMES[] = { "Neck", "Spine", "LeftArm", "LeftForeArm", "LeftHand", "RightArm",
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"RightForeArm", "RightHand", "LeftUpLeg", "LeftLeg", "RightUpLeg", "RightLeg" };
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static int indexOfHumanIKJoint(const char* jointName) {
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for (int i = 0;; i++) {
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QByteArray humanIKJoint = HUMANIK_JOINTS[i];
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if (humanIKJoint.isEmpty()) {
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return -1;
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}
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if (humanIKJoint == jointName) {
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return i;
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}
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}
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}
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static void setPalm(float deltaTime, int index) {
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MyAvatar* avatar = Application::getInstance()->getAvatar();
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Hand* hand = avatar->getHand();
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PalmData* palm;
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bool foundHand = false;
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for (size_t j = 0; j < hand->getNumPalms(); j++) {
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if (hand->getPalms()[j].getSixenseID() == index) {
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palm = &(hand->getPalms()[j]);
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foundHand = true;
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}
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}
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if (!foundHand) {
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PalmData newPalm(hand);
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hand->getPalms().push_back(newPalm);
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palm = &(hand->getPalms()[hand->getNumPalms() - 1]);
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palm->setSixenseID(index);
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}
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palm->setActive(true);
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// Read controller buttons and joystick into the hand
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if (!Application::getInstance()->getJoystickManager()->getJoystickStates().isEmpty()) {
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const JoystickState& state = Application::getInstance()->getJoystickManager()->getJoystickStates().at(0);
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if (state.axes.size() >= 4 && state.buttons.size() >= 4) {
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if (index == LEFT_HAND_INDEX) {
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palm->setControllerButtons(state.buttons.at(1) ? BUTTON_FWD : 0);
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palm->setTrigger(state.buttons.at(0) ? 1.0f : 0.0f);
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palm->setJoystick(state.axes.at(0), -state.axes.at(1));
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} else {
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palm->setControllerButtons(state.buttons.at(3) ? BUTTON_FWD : 0);
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palm->setTrigger(state.buttons.at(2) ? 1.0f : 0.0f);
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palm->setJoystick(state.axes.at(2), -state.axes.at(3));
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}
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}
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}
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glm::vec3 position;
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glm::quat rotation;
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SkeletonModel* skeletonModel = &Application::getInstance()->getAvatar()->getSkeletonModel();
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int jointIndex;
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glm::quat inverseRotation = glm::inverse(Application::getInstance()->getAvatar()->getOrientation());
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if (index == LEFT_HAND_INDEX) {
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jointIndex = skeletonModel->getLeftHandJointIndex();
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skeletonModel->getJointRotation(jointIndex, rotation, true);
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rotation = inverseRotation * rotation * glm::quat(glm::vec3(0.0f, PI_OVER_TWO, 0.0f));
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} else {
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jointIndex = skeletonModel->getRightHandJointIndex();
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skeletonModel->getJointRotation(jointIndex, rotation, true);
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rotation = inverseRotation * rotation * glm::quat(glm::vec3(0.0f, -PI_OVER_TWO, 0.0f));
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}
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skeletonModel->getJointPosition(jointIndex, position);
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position = inverseRotation * (position - skeletonModel->getTranslation());
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palm->setRawRotation(rotation);
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// Compute current velocity from position change
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glm::vec3 rawVelocity;
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if (deltaTime > 0.f) {
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rawVelocity = (position - palm->getRawPosition()) / deltaTime;
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} else {
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rawVelocity = glm::vec3(0.0f);
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}
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palm->setRawVelocity(rawVelocity);
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palm->setRawPosition(position);
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// Store the one fingertip in the palm structure so we can track velocity
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const float FINGER_LENGTH = 0.3f; // meters
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const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
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const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
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glm::vec3 oldTipPosition = palm->getTipRawPosition();
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if (deltaTime > 0.f) {
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palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime);
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} else {
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palm->setTipVelocity(glm::vec3(0.f));
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}
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palm->setTipPosition(newTipPosition);
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}
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*/
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// default (expected) location of neck in sixense space
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const float LEAP_X = 0.25f; // meters
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const float LEAP_Y = 0.3f; // meters
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const float LEAP_Z = 0.3f; // meters
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#endif
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LeapMotionManager::LeapMotionManager() {
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#ifdef HAVE_LEAPMOTION
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// Have the sample listener receive events from the controller
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_controller.addListener(_listener);
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// By default we assume the _neckBase (in orb frame) is as high above the orb
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// as the "torso" is below it.
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_leapBasePos = glm::vec3(0, -LEAP_Y, LEAP_Z);
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glm::vec3 xAxis(1.f, 0.f, 0.f);
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glm::vec3 yAxis(0.f, 1.f, 0.f);
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glm::vec3 zAxis = glm::normalize(glm::cross(xAxis, yAxis));
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xAxis = glm::normalize(glm::cross(yAxis, zAxis));
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_leapBaseOri = glm::inverse(glm::quat_cast(glm::mat3(xAxis, yAxis, zAxis)));
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#endif
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}
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LeapMotionManager::~LeapMotionManager() {
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#ifdef HAVE_LEAPMOTION
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// Remove the sample listener when done
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_controller.removeListener(_listener);
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#endif
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}
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const int HEAD_ROTATION_INDEX = 0;
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glm::vec3 LeapMotionManager::getHandPos( unsigned int handNb ) const
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{
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if ( handNb < _hands.size() )
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{
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return _hands[ handNb ];
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}
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else
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return glm::vec3(0.f);
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}
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void LeapMotionManager::update(float deltaTime) {
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#ifdef HAVE_LEAPMOTION
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if ( !_controller.isConnected() )
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return;
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// Get the most recent frame and report some basic information
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const Leap::Frame frame = _controller.frame();
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static _int64 lastFrame = -1;
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_hands.clear();
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_int64 newFrameNb = frame.id();
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if ( (lastFrame >= newFrameNb) )
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return;
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glm::vec3 delta(0.f);
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glm::quat handOri;
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if (!frame.hands().isEmpty())
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{
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// Get the first hand
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const Leap::Hand hand = frame.hands()[0];
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Leap::Vector lp = hand.palmPosition();
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glm::vec3 p(lp.x * METERS_PER_MILLIMETER, lp.y * METERS_PER_MILLIMETER, lp.z * METERS_PER_MILLIMETER );
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Leap::Vector n = hand.palmNormal();
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glm::vec3 xAxis(n.x, n.y, n.z);
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glm::vec3 yAxis(0.f, 1.f, 0.f);
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glm::vec3 zAxis = glm::normalize(glm::cross(xAxis, yAxis));
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xAxis = glm::normalize(glm::cross(yAxis, zAxis));
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handOri = glm::inverse(glm::quat_cast(glm::mat3(xAxis, yAxis, zAxis)));
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_hands.push_back( p );
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//Leap::Vector dp = hand.translation( _controller.frame( lastFrame ) );
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Leap::Vector dp = hand.palmVelocity();
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delta = glm::vec3( dp.x * METERS_PER_MILLIMETER, dp.y * METERS_PER_MILLIMETER, dp.z * METERS_PER_MILLIMETER);
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}
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lastFrame = newFrameNb;
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MyAvatar* avatar = Application::getInstance()->getAvatar();
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Hand* hand = avatar->getHand();
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// for ( int h = 0; h < frame.hands().count(); h++ )
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if ( _hands.size() )
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{
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// Set palm position and normal based on Hydra position/orientation
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// Either find a palm matching the sixense controller, or make a new one
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PalmData* palm;
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bool foundHand = false;
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for (size_t j = 0; j < hand->getNumPalms(); j++) {
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if (hand->getPalms()[j].getSixenseID() == 28) {
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palm = &(hand->getPalms()[j]);
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foundHand = true;
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}
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}
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if (!foundHand) {
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PalmData newPalm(hand);
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hand->getPalms().push_back(newPalm);
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palm = &(hand->getPalms()[hand->getNumPalms() - 1]);
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palm->setSixenseID(28);
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qDebug("Found new LeapMotion hand, ID %i", 28);
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}
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palm->setActive(true);
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// Read controller buttons and joystick into the hand
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//palm->setControllerButtons(data->buttons);
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//palm->setTrigger(data->trigger);
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//palm->setJoystick(data->joystick_x, data->joystick_y);
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glm::vec3 position(_hands[0]);
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// Transform the measured position into body frame.
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glm::vec3 neck = _leapBasePos;
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// Zeroing y component of the "neck" effectively raises the measured position a little bit.
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//neck.y = 0.f;
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position = _leapBaseOri * (position - neck);
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// Rotation of Palm
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glm::quat rotation(handOri[3], -handOri[0], handOri[1], -handOri[2]);
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rotation = glm::angleAxis(PI, glm::vec3(0.f, 1.f, 0.f)) * _leapBaseOri * rotation;
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// Compute current velocity from position change
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glm::vec3 rawVelocity;
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if (deltaTime > 0.f) {
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// rawVelocity = (position - palm->getRawPosition()) / deltaTime;
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rawVelocity = delta / deltaTime;
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} else {
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rawVelocity = glm::vec3(0.0f);
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}
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palm->setRawVelocity(rawVelocity); // meters/sec
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// Use a velocity sensitive filter to damp small motions and preserve large ones with
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// no latency.
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float velocityFilter = glm::clamp(1.0f - glm::length(rawVelocity), 0.0f, 1.0f);
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palm->setRawPosition(palm->getRawPosition() * velocityFilter + position * (1.0f - velocityFilter));
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palm->setRawRotation(safeMix(palm->getRawRotation(), rotation, 1.0f - velocityFilter));
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// use the velocity to determine whether there's any movement (if the hand isn't new)
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/* const float MOVEMENT_DISTANCE_THRESHOLD = 0.003f;
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_amountMoved += rawVelocity * deltaTime;
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if (glm::length(_amountMoved) > MOVEMENT_DISTANCE_THRESHOLD && foundHand) {
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_lastMovement = usecTimestampNow();
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_amountMoved = glm::vec3(0.0f);
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}*/
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// Store the one fingertip in the palm structure so we can track velocity
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/* const float FINGER_LENGTH = 0.3f; // meters
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const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
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const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
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glm::vec3 oldTipPosition = palm->getTipRawPosition();
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if (deltaTime > 0.f) {
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palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime);
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} else {
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palm->setTipVelocity(glm::vec3(0.f));
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}
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palm->setTipPosition(newTipPosition);*/
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}
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else
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{
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// Either find a palm matching the sixense controller, or make a new one
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PalmData* palm;
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bool foundHand = false;
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for (size_t j = 0; j < hand->getNumPalms(); j++) {
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if (hand->getPalms()[j].getSixenseID() == 28) {
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palm = &(hand->getPalms()[j]);
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foundHand = true;
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}
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}
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if (foundHand) {
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palm->setRawPosition(palm->getRawPosition());
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palm->setRawRotation(palm->getRawRotation());
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palm->setActive(false);
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}
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}
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||||||
|
|
||||||
|
|
||||||
/* if (numActiveControllers == 2) {
|
|
||||||
updateCalibration(controllers);
|
|
||||||
}
|
|
||||||
*/
|
|
||||||
|
|
||||||
// }
|
|
||||||
|
|
||||||
if ( false )
|
|
||||||
{
|
|
||||||
|
|
||||||
std::cout << "Frame id: " << frame.id()
|
|
||||||
<< ", timestamp: " << frame.timestamp()
|
|
||||||
<< ", hands: " << frame.hands().count()
|
|
||||||
<< ", fingers: " << frame.fingers().count()
|
|
||||||
<< ", tools: " << frame.tools().count() << std::endl;
|
|
||||||
|
|
||||||
if (!frame.hands().isEmpty()) {
|
|
||||||
// Get the first hand
|
|
||||||
const Leap::Hand hand = frame.hands()[0];
|
|
||||||
|
|
||||||
// Check if the hand has any fingers
|
|
||||||
const Leap::FingerList fingers = hand.fingers();
|
|
||||||
if (!fingers.isEmpty()) {
|
|
||||||
// Calculate the hand's average finger tip position
|
|
||||||
Leap::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 Leap::Vector normal = hand.palmNormal();
|
|
||||||
const Leap::Vector direction = hand.direction();
|
|
||||||
|
|
||||||
// Calculate the hand's pitch, roll, and yaw angles
|
|
||||||
const float RAD_TO_DEG = 180.0 / 3.1415;
|
|
||||||
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 << std::endl;
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
|
|
||||||
void LeapMotionManager::reset() {
|
|
||||||
#ifdef HAVE_LEAPMOTION
|
|
||||||
if (!_controller.isConnected()) {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
/* connect(Application::getInstance(), SIGNAL(renderingOverlay()), SLOT(renderCalibrationCountdown()));
|
|
||||||
_calibrationCountdownStarted = QDateTime::currentDateTime();
|
|
||||||
*/
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
|
|
||||||
void LeapMotionManager::renderCalibrationCountdown() {
|
|
||||||
#ifdef HAVE_LEAPMOTION
|
|
||||||
/* const int COUNTDOWN_SECONDS = 3;
|
|
||||||
int secondsRemaining = COUNTDOWN_SECONDS - _calibrationCountdownStarted.secsTo(QDateTime::currentDateTime());
|
|
||||||
if (secondsRemaining == 0) {
|
|
||||||
yei_tareSensors(_skeletalDevice);
|
|
||||||
Application::getInstance()->disconnect(this);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
static TextRenderer textRenderer(MONO_FONT_FAMILY, 18, QFont::Bold, false, TextRenderer::OUTLINE_EFFECT, 2);
|
|
||||||
QByteArray text = "Assume T-Pose in " + QByteArray::number(secondsRemaining) + "...";
|
|
||||||
textRenderer.draw((Application::getInstance()->getGLWidget()->width() - textRenderer.computeWidth(text.constData())) / 2,
|
|
||||||
Application::getInstance()->getGLWidget()->height() / 2,
|
|
||||||
text);
|
|
||||||
*/
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
Loading…
Reference in a new issue