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realsenseHands.js example
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Thijs Wenker
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examples/realsenseHands.js
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examples/realsenseHands.js
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//
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// realsenseHands.js
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// examples
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//
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// Created by Thijs Wenker on 18 Dec 2014.
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// Copyright 2014 High Fidelity, Inc.
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//
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// This is an example script that uses the Intel RealSense to make the avatar's hands replicate the user's hand actions.
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// Most of this script is copied from leapHands.js
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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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var leapHands = (function () {
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var isOnHMD,
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MotionTracker = "RealSense",
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LEAP_ON_HMD_MENU_ITEM = "Leap Motion on HMD",
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LEAP_OFFSET = 0.019, // Thickness of Leap Motion plus HMD clip
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HMD_OFFSET = 0.070, // Eyeballs to front surface of Oculus DK2 TODO: Confirm and make depend on device and eye relief
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hasHandAndWristJoints,
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handToWristOffset = [], // For avatars without a wrist joint we control an estimate of a proper hand joint position
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HAND_OFFSET = 0.4, // Relative distance of wrist to hand versus wrist to index finger knuckle
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hands,
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wrists,
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NUM_HANDS = 2, // 0 = left; 1 = right
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fingers,
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NUM_FINGERS = 5, // 0 = thumb; ...; 4 = pinky
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THUMB = 0,
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MIDDLE_FINGER = 2,
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NUM_FINGER_JOINTS = 3, // 0 = metacarpal(hand)-proximal(finger) joint; ...; 2 = intermediate-distal joint
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MAX_HAND_INACTIVE_COUNT = 20,
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calibrationStatus,
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UNCALIBRATED = 0,
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CALIBRATING = 1,
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CALIBRATED = 2,
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CALIBRATION_TIME = 1000, // milliseconds
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avatarScale,
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avatarFaceModelURL,
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avatarSkeletonModelURL,
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settingsTimer;
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function printSkeletonJointNames() {
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var jointNames,
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i;
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print(MyAvatar.skeletonModelURL);
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print("Skeleton joint names ...");
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jointNames = MyAvatar.getJointNames();
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for (i = 0; i < jointNames.length; i += 1) {
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print(i + ": " + jointNames[i]);
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}
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print("... skeleton joint names");
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/*
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http://public.highfidelity.io/models/skeletons/ron_standing.fst
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Skeleton joint names ...
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0: Hips
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1: RightUpLeg
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2: RightLeg
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3: RightFoot
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4: RightToeBase
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5: RightToe_End
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6: LeftUpLeg
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7: LeftLeg
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8: LeftFoot
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9: LeftToeBase
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10: LeftToe_End
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11: Spine
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12: Spine1
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13: Spine2
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14: RightShoulder
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15: RightArm
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16: RightForeArm
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17: RightHand
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18: RightHandPinky1
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19: RightHandPinky2
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20: RightHandPinky3
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21: RightHandPinky4
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22: RightHandRing1
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23: RightHandRing2
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24: RightHandRing3
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25: RightHandRing4
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26: RightHandMiddle1
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27: RightHandMiddle2
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28: RightHandMiddle3
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29: RightHandMiddle4
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30: RightHandIndex1
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31: RightHandIndex2
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32: RightHandIndex3
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33: RightHandIndex4
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34: RightHandThumb1
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35: RightHandThumb2
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36: RightHandThumb3
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37: RightHandThumb4
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38: LeftShoulder
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39: LeftArm
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40: LeftForeArm
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41: LeftHand
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42: LeftHandPinky1
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43: LeftHandPinky2
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44: LeftHandPinky3
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45: LeftHandPinky4
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46: LeftHandRing1
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47: LeftHandRing2
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48: LeftHandRing3
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49: LeftHandRing4
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50: LeftHandMiddle1
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51: LeftHandMiddle2
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52: LeftHandMiddle3
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53: LeftHandMiddle4
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54: LeftHandIndex1
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55: LeftHandIndex2
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56: LeftHandIndex3
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57: LeftHandIndex4
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58: LeftHandThumb1
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59: LeftHandThumb2
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60: LeftHandThumb3
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61: LeftHandThumb4
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62: Neck
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63: Head
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64: HeadTop_End
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65: body
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... skeleton joint names
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*/
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}
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function finishCalibration() {
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var avatarPosition,
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handPosition,
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middleFingerPosition,
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leapHandHeight,
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h;
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if (!isOnHMD) {
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if (hands[0].controller.isActive() && hands[1].controller.isActive()) {
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leapHandHeight = (hands[0].controller.getAbsTranslation().y + hands[1].controller.getAbsTranslation().y) / 2.0;
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} else {
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calibrationStatus = UNCALIBRATED;
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return;
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}
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}
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avatarPosition = MyAvatar.position;
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for (h = 0; h < NUM_HANDS; h += 1) {
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handPosition = MyAvatar.getJointPosition(hands[h].jointName);
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if (!hasHandAndWristJoints) {
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middleFingerPosition = MyAvatar.getJointPosition(fingers[h][MIDDLE_FINGER][0].jointName);
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handToWristOffset[h] = Vec3.multiply(Vec3.subtract(handPosition, middleFingerPosition), 1.0 - HAND_OFFSET);
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}
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if (isOnHMD) {
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// Offset of Leap Motion origin from physical eye position
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hands[h].zeroPosition = { x: 0.0, y: 0.0, z: HMD_OFFSET + LEAP_OFFSET };
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} else {
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hands[h].zeroPosition = {
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x: handPosition.x - avatarPosition.x,
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y: handPosition.y - avatarPosition.y,
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z: avatarPosition.z - handPosition.z
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};
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hands[h].zeroPosition = Vec3.multiplyQbyV(MyAvatar.orientation, hands[h].zeroPosition);
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hands[h].zeroPosition.y = hands[h].zeroPosition.y - leapHandHeight;
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}
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}
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MyAvatar.clearJointData("LeftHand");
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MyAvatar.clearJointData("LeftForeArm");
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MyAvatar.clearJointData("LeftArm");
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MyAvatar.clearJointData("RightHand");
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MyAvatar.clearJointData("RightForeArm");
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MyAvatar.clearJointData("RightArm");
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calibrationStatus = CALIBRATED;
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print("Leap Motion: Calibrated");
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}
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function calibrate() {
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var jointNames,
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i;
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calibrationStatus = CALIBRATING;
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avatarScale = MyAvatar.scale;
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avatarFaceModelURL = MyAvatar.faceModelURL;
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avatarSkeletonModelURL = MyAvatar.skeletonModelURL;
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// Does this skeleton have both wrist and hand joints?
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hasHandAndWristJoints = false;
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jointNames = MyAvatar.getJointNames();
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for (i = 0; i < jointNames.length; i += 1) {
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hasHandAndWristJoints = hasHandAndWristJoints || jointNames[i].toLowerCase() === "leftwrist";
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}
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// Set avatar arms vertical, forearms horizontal, as "zero" position for calibration
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MyAvatar.setJointData("LeftArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, -90.0));
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MyAvatar.setJointData("LeftForeArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, 180.0));
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MyAvatar.setJointData("LeftHand", Quat.fromPitchYawRollRadians(0.0, 0.0, 0.0));
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MyAvatar.setJointData("RightArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, 90.0));
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MyAvatar.setJointData("RightForeArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, 180.0));
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MyAvatar.setJointData("RightHand", Quat.fromPitchYawRollRadians(0.0, 0.0, 0.0));
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// Wait for arms to assume their positions before calculating
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Script.setTimeout(finishCalibration, CALIBRATION_TIME);
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}
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function checkCalibration() {
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if (calibrationStatus === CALIBRATED) {
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return true;
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}
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if (calibrationStatus !== CALIBRATING) {
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calibrate();
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}
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return false;
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}
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function setIsOnHMD() {
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isOnHMD = Menu.isOptionChecked(LEAP_ON_HMD_MENU_ITEM);
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print("Leap Motion: " + (isOnHMD ? "Is on HMD" : "Is on desk"));
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}
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function checkSettings() {
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if (calibrationStatus > UNCALIBRATED && (MyAvatar.scale !== avatarScale
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|| MyAvatar.faceModelURL !== avatarFaceModelURL
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|| MyAvatar.skeletonModelURL !== avatarSkeletonModelURL
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|| Menu.isOptionChecked(LEAP_ON_HMD_MENU_ITEM) !== isOnHMD)) {
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print("Leap Motion: Recalibrate...");
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calibrationStatus = UNCALIBRATED;
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setIsOnHMD();
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}
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}
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function setUp() {
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wrists = [
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{
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jointName: "LeftWrist",
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controller: Controller.createInputController(MotionTracker, "joint_L_wrist")
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},
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{
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jointName: "RightWrist",
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controller: Controller.createInputController(MotionTracker, "joint_R_wrist")
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}
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];
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hands = [
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{
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jointName: "LeftHand",
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controller: Controller.createInputController(MotionTracker, "joint_L_hand"),
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inactiveCount: 0
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},
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{
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jointName: "RightHand",
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controller: Controller.createInputController(MotionTracker, "joint_R_hand"),
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inactiveCount: 0
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}
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];
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// The Leap controller's first joint is the hand-metacarpal joint but this joint's data is not used because it's too
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// dependent on the model skeleton exactly matching the Leap skeleton; using just the second and subsequent joints
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// seems to work better over all.
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fingers = [{}, {}];
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fingers[0] = [
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[
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{ jointName: "LeftHandThumb1", controller: Controller.createInputController(MotionTracker, "joint_L_thumb2") },
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{ jointName: "LeftHandThumb2", controller: Controller.createInputController(MotionTracker, "joint_L_thumb3") },
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{ jointName: "LeftHandThumb3", controller: Controller.createInputController(MotionTracker, "joint_L_thumb4") }
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],
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[
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{ jointName: "LeftHandIndex1", controller: Controller.createInputController(MotionTracker, "joint_L_index2") },
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{ jointName: "LeftHandIndex2", controller: Controller.createInputController(MotionTracker, "joint_L_index3") },
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{ jointName: "LeftHandIndex3", controller: Controller.createInputController(MotionTracker, "joint_L_index4") }
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],
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[
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{ jointName: "LeftHandMiddle1", controller: Controller.createInputController(MotionTracker, "joint_L_middle2") },
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{ jointName: "LeftHandMiddle2", controller: Controller.createInputController(MotionTracker, "joint_L_middle3") },
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{ jointName: "LeftHandMiddle3", controller: Controller.createInputController(MotionTracker, "joint_L_middle4") }
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],
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[
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{ jointName: "LeftHandRing1", controller: Controller.createInputController(MotionTracker, "joint_L_ring2") },
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{ jointName: "LeftHandRing2", controller: Controller.createInputController(MotionTracker, "joint_L_ring3") },
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{ jointName: "LeftHandRing3", controller: Controller.createInputController(MotionTracker, "joint_L_ring4") }
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],
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[
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{ jointName: "LeftHandPinky1", controller: Controller.createInputController(MotionTracker, "joint_L_pinky2") },
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{ jointName: "LeftHandPinky2", controller: Controller.createInputController(MotionTracker, "joint_L_pinky3") },
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{ jointName: "LeftHandPinky3", controller: Controller.createInputController(MotionTracker, "joint_L_pinky4") }
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]
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];
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fingers[1] = [
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[
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{ jointName: "RightHandThumb1", controller: Controller.createInputController(MotionTracker, "joint_R_thumb2") },
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{ jointName: "RightHandThumb2", controller: Controller.createInputController(MotionTracker, "joint_R_thumb3") },
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{ jointName: "RightHandThumb3", controller: Controller.createInputController(MotionTracker, "joint_R_thumb4") }
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],
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[
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{ jointName: "RightHandIndex1", controller: Controller.createInputController(MotionTracker, "joint_R_index2") },
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{ jointName: "RightHandIndex2", controller: Controller.createInputController(MotionTracker, "joint_R_index3") },
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{ jointName: "RightHandIndex3", controller: Controller.createInputController(MotionTracker, "joint_R_index4") }
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],
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[
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{ jointName: "RightHandMiddle1", controller: Controller.createInputController(MotionTracker, "joint_R_middle2") },
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{ jointName: "RightHandMiddle2", controller: Controller.createInputController(MotionTracker, "joint_R_middle3") },
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{ jointName: "RightHandMiddle3", controller: Controller.createInputController(MotionTracker, "joint_R_middle4") }
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],
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[
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{ jointName: "RightHandRing1", controller: Controller.createInputController(MotionTracker, "joint_R_ring2") },
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{ jointName: "RightHandRing2", controller: Controller.createInputController(MotionTracker, "joint_R_ring3") },
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{ jointName: "RightHandRing3", controller: Controller.createInputController(MotionTracker, "joint_R_ring4") }
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],
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[
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{ jointName: "RightHandPinky1", controller: Controller.createInputController(MotionTracker, "joint_R_pinky2") },
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{ jointName: "RightHandPinky2", controller: Controller.createInputController(MotionTracker, "joint_R_pinky3") },
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{ jointName: "RightHandPinky3", controller: Controller.createInputController(MotionTracker, "joint_R_pinky4") }
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]
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];
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setIsOnHMD();
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settingsTimer = Script.setInterval(checkSettings, 2000);
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calibrationStatus = UNCALIBRATED;
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}
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function moveHands() {
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var h,
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i,
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j,
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side,
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handOffset,
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wristOffset,
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handRotation,
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locRotation,
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cameraOrientation,
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inverseAvatarOrientation;
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for (h = 0; h < NUM_HANDS; h += 1) {
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side = h === 0 ? -1.0 : 1.0;
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if (hands[h].controller.isActive()) {
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// Calibrate if necessary.
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if (!checkCalibration()) {
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return;
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}
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// Hand position ...
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handOffset = hands[h].controller.getAbsTranslation();
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handRotation = hands[h].controller.getAbsRotation();
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if (isOnHMD) {
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// Adjust to control wrist position if "hand" joint is at wrist ...
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if (!hasHandAndWristJoints) {
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wristOffset = Vec3.multiplyQbyV(handRotation, handToWristOffset[h]);
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handOffset = Vec3.sum(handOffset, wristOffset);
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}
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// Hand offset in camera coordinates ...
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handOffset = {
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x: hands[h].zeroPosition.x - handOffset.x,
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y: hands[h].zeroPosition.y - handOffset.z,
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z: hands[h].zeroPosition.z + handOffset.y
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};
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handOffset.z = -handOffset.z;
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// Hand offset in world coordinates ...
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cameraOrientation = Camera.getOrientation();
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handOffset = Vec3.sum(Camera.getPosition(), Vec3.multiplyQbyV(cameraOrientation, handOffset));
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// Hand offset in avatar coordinates ...
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inverseAvatarOrientation = Quat.inverse(MyAvatar.orientation);
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handOffset = Vec3.subtract(handOffset, MyAvatar.position);
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handOffset = Vec3.multiplyQbyV(inverseAvatarOrientation, handOffset);
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handOffset.z = -handOffset.z;
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handOffset.x = -handOffset.x;
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// Hand rotation in camera coordinates ...
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handRotation = {
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x: handRotation.z,
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y: handRotation.y,
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z: handRotation.x,
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w: handRotation.w
|
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};
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// Hand rotation in avatar coordinates ...
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if (h === 0) {
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handRotation.x = -handRotation.x;
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handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 1, y: 0, z: 0 }), handRotation);
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handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 0, z: 1 }), handRotation);
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} else {
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handRotation.z = -handRotation.z;
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handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 1, y: 0, z: 0 }), handRotation);
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handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 0, z: 1 }), handRotation);
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}
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cameraOrientation.x = -cameraOrientation.x;
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cameraOrientation.z = -cameraOrientation.z;
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handRotation = Quat.multiply(cameraOrientation, handRotation);
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handRotation = Quat.multiply(inverseAvatarOrientation, handRotation);
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} else {
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// Hand offset in camera coordinates ...
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handOffset = {
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x: -handOffset.x,
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y: hands[h].zeroPosition.y + handOffset.y,
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z: hands[h].zeroPosition.z - handOffset.z
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};
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|
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// Hand rotation in camera coordinates ...
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handRotation = {
|
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x: handRotation.y,
|
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y: handRotation.z,
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z: -handRotation.x,
|
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w: handRotation.w
|
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};
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|
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// Hand rotation in avatar coordinates ...
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if (h === 0) {
|
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handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 1, z: 0 }),
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handRotation);
|
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handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 1, y: 0, z: 0 }),
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handRotation);
|
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} else {
|
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handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 1, z: 0 }),
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handRotation);
|
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handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 1, y: 0, z: 0 }),
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handRotation);
|
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}
|
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}
|
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|
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// Set hand position and orientation ...
|
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MyAvatar.setJointModelPositionAndOrientation(hands[h].jointName, handOffset, handRotation, true);
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|
||||
// Set finger joints ...
|
||||
for (i = 0; i < NUM_FINGERS; i += 1) {
|
||||
for (j = 0; j < NUM_FINGER_JOINTS; j += 1) {
|
||||
if (fingers[h][i][j].controller !== null) {
|
||||
locRotation = fingers[h][i][j].controller.getLocRotation();
|
||||
if (i === THUMB) {
|
||||
locRotation = {
|
||||
x: side * locRotation.y,
|
||||
y: side * -locRotation.z,
|
||||
z: side * -locRotation.x,
|
||||
w: locRotation.w
|
||||
};
|
||||
} else {
|
||||
locRotation = {
|
||||
x: -locRotation.x,
|
||||
y: -locRotation.z,
|
||||
z: -locRotation.y,
|
||||
w: locRotation.w
|
||||
};
|
||||
}
|
||||
MyAvatar.setJointData(fingers[h][i][j].jointName, locRotation);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
hands[h].inactiveCount = 0;
|
||||
|
||||
} else {
|
||||
|
||||
if (hands[h].inactiveCount < MAX_HAND_INACTIVE_COUNT) {
|
||||
|
||||
hands[h].inactiveCount += 1;
|
||||
|
||||
if (hands[h].inactiveCount === MAX_HAND_INACTIVE_COUNT) {
|
||||
if (h === 0) {
|
||||
MyAvatar.clearJointData("LeftHand");
|
||||
MyAvatar.clearJointData("LeftForeArm");
|
||||
MyAvatar.clearJointData("LeftArm");
|
||||
} else {
|
||||
MyAvatar.clearJointData("RightHand");
|
||||
MyAvatar.clearJointData("RightForeArm");
|
||||
MyAvatar.clearJointData("RightArm");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
function tearDown() {
|
||||
var h,
|
||||
i,
|
||||
j;
|
||||
|
||||
Script.clearInterval(settingsTimer);
|
||||
|
||||
for (h = 0; h < NUM_HANDS; h += 1) {
|
||||
Controller.releaseInputController(hands[h].controller);
|
||||
Controller.releaseInputController(wrists[h].controller);
|
||||
for (i = 0; i < NUM_FINGERS; i += 1) {
|
||||
for (j = 0; j < NUM_FINGER_JOINTS; j += 1) {
|
||||
if (fingers[h][i][j].controller !== null) {
|
||||
Controller.releaseInputController(fingers[h][i][j].controller);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return {
|
||||
printSkeletonJointNames: printSkeletonJointNames,
|
||||
setUp : setUp,
|
||||
moveHands : moveHands,
|
||||
tearDown : tearDown
|
||||
};
|
||||
}());
|
||||
|
||||
|
||||
//leapHands.printSkeletonJointNames();
|
||||
|
||||
leapHands.setUp();
|
||||
Script.update.connect(leapHands.moveHands);
|
||||
Script.scriptEnding.connect(leapHands.tearDown);
|
||||
Loading…
Reference in a new issue