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Add calibration of physical hand height

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This commit is contained in:
David Rowe 2014-09-15 23:09:00 -07:00
parent f1d7ab149f
commit f890ea744b
1 changed files with 30 additions and 22 deletions
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52
examples/leapHands.js
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@ -21,12 +21,11 @@ var leapHands = (function () {
THUMB = 0,
NUM_FINGER_JOINTS = 3, // 0 = metacarpal(hand)-proximal(finger) joint; ...; 2 = intermediate-distal(tip) joint
MAX_HAND_INACTIVE_COUNT = 20,
avatarCalibrationStatus,
AVATAR_UNCALIBRATED = 0,
AVATAR_CALIBRATING = 1,
AVATAR_CALIBRATED = 2,
AVATAR_CALIBRATION_TIME = 1000, // milliseconds
LEAP_HEIGHT_OFFSET = 0.15,
calibrationStatus,
UNCALIBRATED = 0,
CALIBRATING = 1,
CALIBRATED = 2,
CALIBRATION_TIME = 1000, // milliseconds
PI = 3.141593;
function printSkeletonJointNames() {
@ -115,23 +114,32 @@ var leapHands = (function () {
*/
}
function calibrateAvatarFinish() {
function finishCalibration() {
var avatarPosition,
avatarOrientation,
handPosition,
avatarHandPosition,
leapHandHeight,
h;
if (hands[0].controller.isActive() && hands[1].controller.isActive()) {
leapHandHeight = (hands[0].controller.getAbsTranslation().y + hands[1].controller.getAbsTranslation().y) / 2.0;
} else {
calibrationStatus = UNCALIBRATED;
return;
}
avatarPosition = MyAvatar.position;
avatarOrientation = MyAvatar.orientation;
for (h = 0; h < NUM_HANDS; h += 1) {
handPosition = MyAvatar.getJointPosition(hands[h].jointName);
avatarHandPosition = MyAvatar.getJointPosition(hands[h].jointName);
hands[h].zeroPosition = {
x: handPosition.x - avatarPosition.x,
y: handPosition.y - avatarPosition.y,
z: avatarPosition.z - handPosition.z
x: avatarHandPosition.x - avatarPosition.x,
y: avatarHandPosition.y - avatarPosition.y,
z: avatarPosition.z - avatarHandPosition.z
};
hands[h].zeroPosition = Vec3.multiplyQbyV(MyAvatar.orientation, hands[h].zeroPosition);
hands[h].zeroPosition.y = hands[h].zeroPosition.y - leapHandHeight;
}
MyAvatar.clearJointData("LeftHand");
@ -141,13 +149,13 @@ var leapHands = (function () {
MyAvatar.clearJointData("RightForeArm");
MyAvatar.clearJointData("RightArm");
avatarCalibrationStatus = AVATAR_CALIBRATED;
print("Leap Motion: Calibrated avatar");
calibrationStatus = CALIBRATED;
print("Leap Motion: Calibrated");
}
function calibrateAvatar() {
function calibrate() {
avatarCalibrationStatus = AVATAR_CALIBRATING;
calibrationStatus = CALIBRATING;
// Set avatar arms vertical, forearms horizontal, as "zero" position for calibration
MyAvatar.setJointData("LeftArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, -90.0));
@ -158,17 +166,17 @@ var leapHands = (function () {
MyAvatar.setJointData("RightHand", Quat.fromPitchYawRollRadians(0.0, 0.0, 0.0));
// Wait for arms to assume their positions before calculating
Script.setTimeout(calibrateAvatarFinish, AVATAR_CALIBRATION_TIME);
Script.setTimeout(finishCalibration, CALIBRATION_TIME);
}
function checkCalibration() {
if (avatarCalibrationStatus === AVATAR_CALIBRATED) {
if (calibrationStatus === CALIBRATED) {
return true;
}
if (avatarCalibrationStatus !== AVATAR_CALIBRATING) {
calibrateAvatar();
if (calibrationStatus !== CALIBRATING) {
calibrate();
}
return false;
@ -176,7 +184,7 @@ var leapHands = (function () {
function setUp() {
avatarCalibrationStatus = AVATAR_UNCALIBRATED;
calibrationStatus = UNCALIBRATED;
// TODO: Leap Motion controller joint naming doesn't match up with skeleton joint naming; numbers are out by 1.
@ -282,7 +290,7 @@ var leapHands = (function () {
handOffset = hands[h].controller.getAbsTranslation();
handOffset = {
x: -handOffset.x,
y: hands[h].zeroPosition.y + handOffset.y - LEAP_HEIGHT_OFFSET,
y: hands[h].zeroPosition.y + handOffset.y,
z: hands[h].zeroPosition.z - handOffset.z
};