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leap: getPose for finger devices;

This commit is contained in:
bjorn 2020-01-24 18:50:24 -08:00
parent 71e63ddac2
commit 7e34c7adcc
1 changed files with 23 additions and 4 deletions
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27
src/modules/headset/leap.c
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@ -83,14 +83,33 @@ static void adjustPose(vec3 position, vec3 direction) {
}
static bool leap_getPose(Device device, vec3 position, quat orientation) {
if ((device != DEVICE_HAND_LEFT && device != DEVICE_HAND_RIGHT) || !state.hands[device - DEVICE_HAND_LEFT]) {
if (device == DEVICE_HAND_LEFT || device == DEVICE_HAND_RIGHT) {
LEAP_HAND* hand = state.hands[device - DEVICE_HAND_LEFT];
if (hand) {
float direction[4];
vec3_init(position, hand->palm.position.v);
vec3_init(direction, hand->palm.normal.v);
adjustPose(position, direction);
quat_between(orientation, (float[4]) { 0.f, 0.f, -1.f }, direction);
return true;
} else {
return false;
}
}
LEAP_BONE* distal;
if (state.hands[0] && device >= DEVICE_HAND_LEFT_FINGER_THUMB && device <= DEVICE_HAND_LEFT_FINGER_PINKY) {
distal = &state.hands[0]->digits[device - DEVICE_HAND_LEFT_FINGER_THUMB].distal;
} else if (state.hands[1] && device >= DEVICE_HAND_RIGHT_FINGER_THUMB && device <= DEVICE_HAND_RIGHT_FINGER_PINKY) {
distal = &state.hands[1]->digits[device - DEVICE_HAND_RIGHT_FINGER_THUMB].distal;
} else {
return false;
}
float direction[4];
LEAP_HAND* hand = state.hands[device - DEVICE_HAND_LEFT];
vec3_init(position, hand->palm.position.v);
vec3_init(direction, hand->palm.normal.v);
vec3_init(position, distal->next_joint.v);
vec3_init(direction, distal->next_joint.v);
vec3_sub(direction, distal->prev_joint.v);
adjustPose(position, direction);
quat_between(orientation, (float[4]) { 0.f, 0.f, -1.f }, direction);
return true;