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Code Issues Projects Releases Packages Wiki Activity Actions2

Position and orient hands when using Leap on HMD

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This commit is contained in:
David Rowe 2014-09-30 10:08:50 -07:00
parent 673afca11b
commit 26cd76e07b
1 changed files with 77 additions and 25 deletions

102
examples/leapHands.js
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@ -14,6 +14,8 @@
var leapHands = (function () {
var isOnHMD,
LEAP_OFFSET = 0.019, // Thickness of Leap Motion plus HMD clip
HMD_OFFSET = 0.100, // Eyeballs to front surface of Oculus DK2 TODO: Confirm and make depend on device and eye relief
hands,
wrists,
NUM_HANDS = 2, // 0 = left; 1 = right
@ -269,8 +271,9 @@ var leapHands = (function () {
if (isOnHMD) {
print("Leap Motion is on HMD");
hands[0].zeroPosition = { x: 0.0, y: 0.0, z: 0.0 };
hands[1].zeroPosition = { x: 0.0, y: 0.0, z: 0.0 };
// Offset of Leap Motion origin from physical eye position
hands[0].zeroPosition = { x: 0.0, y: 0.0, z: HMD_OFFSET + LEAP_OFFSET };
hands[1].zeroPosition = { x: 0.0, y: 0.0, z: HMD_OFFSET + LEAP_OFFSET };
calibrationStatus = CALIBRATED;
} else {
@ -290,7 +293,9 @@ var leapHands = (function () {
handYaw,
handRotation,
wristAbsRotation,
locRotation;
locRotation,
cameraOrientation,
inverseAvatarOrientation;
for (h = 0; h < NUM_HANDS; h += 1) {
side = h === 0 ? -1.0 : 1.0;
@ -303,35 +308,82 @@ var leapHands = (function () {
}
// Hand position ...
handOffset = hands[h].controller.getAbsTranslation();
handOffset = {
x: -handOffset.x,
y: hands[h].zeroPosition.y + handOffset.y,
z: hands[h].zeroPosition.z - handOffset.z
};
if (isOnHMD) {
// TODO: 2.0* scale factor should not be necessary; Leap Motion controller code needs investigating.
handRoll = 2.0 * -hands[h].controller.getAbsRotation().z;
wristAbsRotation = wrists[h].controller.getAbsRotation();
handPitch = 2.0 * -wristAbsRotation.x;
handYaw = 2.0 * wristAbsRotation.y;
// Hand offset in camera coordinates ...
handOffset = hands[h].controller.getAbsTranslation();
handOffset = {
x: hands[h].zeroPosition.x - handOffset.x,
y: hands[h].zeroPosition.y - handOffset.z,
z: hands[h].zeroPosition.z + handOffset.y
};
handOffset.z = -handOffset.z;
// TODO: Leap Motion controller's right-hand roll calculation only works if physical hand is upside down.
// Approximate fix is to add a fudge factor.
if (h === 1 && isWindows) {
handRoll = handRoll + 0.6 * PI;
}
// Hand offset in world coordinates ...
cameraOrientation = Camera.getOrientation();
handOffset = Vec3.sum(Camera.getPosition(), Vec3.multiplyQbyV(cameraOrientation, handOffset));
// Hand position and orientation ...
if (h === 0) {
handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: handRoll, y: handYaw, z: -handPitch }));
// Hand offset in avatar coordinates ...
inverseAvatarOrientation = Quat.inverse(MyAvatar.orientation);
handOffset = Vec3.subtract(handOffset, MyAvatar.position);
handOffset = Vec3.multiplyQbyV(inverseAvatarOrientation, handOffset);
handOffset.z = -handOffset.z;
handOffset.x = -handOffset.x;
// Hand rotation in camera coordinates ...
// TODO: 2.0* scale factors should not be necessary; Leap Motion controller code needs investigating.
handRoll = 2.0 * -hands[h].controller.getAbsRotation().z;
wristAbsRotation = wrists[h].controller.getAbsRotation();
handPitch = 2.0 * wristAbsRotation.x - PI / 2.0;
handYaw = 2.0 * -wristAbsRotation.y;
// TODO: Roll values only work if hand is upside down; Leap Motion controller code needs investigating.
handRoll = PI + handRoll;
if (h === 0) {
handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: handRoll, y: handYaw, z: -handPitch }));
} else {
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: -handRoll, y: handYaw, z: handPitch }));
}
// Hand rotation in avatar coordinates ...
cameraOrientation.x = -cameraOrientation.x;
cameraOrientation.z = -cameraOrientation.z;
handRotation = Quat.multiply(cameraOrientation, handRotation);
handRotation = Quat.multiply(inverseAvatarOrientation, handRotation);
} else {
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: -handRoll, y: handYaw, z: handPitch }));
handOffset = hands[h].controller.getAbsTranslation();
handOffset = {
x: -handOffset.x,
y: hands[h].zeroPosition.y + handOffset.y,
z: hands[h].zeroPosition.z - handOffset.z
};
// TODO: 2.0* scale factors should not be necessary; Leap Motion controller code needs investigating.
handRoll = 2.0 * -hands[h].controller.getAbsRotation().z;
wristAbsRotation = wrists[h].controller.getAbsRotation();
handPitch = 2.0 * -wristAbsRotation.x;
handYaw = 2.0 * wristAbsRotation.y;
// TODO: Leap Motion controller's right-hand roll calculation only works if physical hand is upside down.
// Approximate fix is to add a fudge factor.
if (h === 1 && isWindows) {
handRoll = handRoll + 0.6 * PI;
}
// Hand position and orientation ...
if (h === 0) {
handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: handRoll, y: handYaw, z: -handPitch }));
} else {
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: -handRoll, y: handYaw, z: handPitch }));
}
}
MyAvatar.setJointModelPositionAndOrientation(hands[h].jointName, handOffset, handRotation, true);
// Finger joints ...