leapMotionUtil.cpp

Engine/source/platform/input/leapMotion/leapMotionUtil.cpp

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  1
  2//-----------------------------------------------------------------------------
  3// Copyright (c) 2012 GarageGames, LLC
  4//
  5// Permission is hereby granted, free of charge, to any person obtaining a copy
  6// of this software and associated documentation files (the "Software"), to
  7// deal in the Software without restriction, including without limitation the
  8// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
  9// sell copies of the Software, and to permit persons to whom the Software is
 10// furnished to do so, subject to the following conditions:
 11//
 12// The above copyright notice and this permission notice shall be included in
 13// all copies or substantial portions of the Software.
 14//
 15// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 16// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 17// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 18// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 19// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 20// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 21// IN THE SOFTWARE.
 22//-----------------------------------------------------------------------------
 23
 24#include "platform/input/leapMotion/leapMotionUtil.h"
 25
 26namespace LeapMotionUtil
 27{
 28
 29void convertPosition(const Leap::Vector& inPosition, F32& x, F32& y, F32& z)
 30{
 31   // Convert to Torque coordinates.  The conversion is:
 32   //
 33   // Motion       Torque
 34   // x y z   -->  x -z y
 35   x = inPosition.x;    // x = x
 36   y = -inPosition.z;   // y = -z
 37   z = inPosition.y;    // z = y;
 38}
 39
 40void convertPosition(const Leap::Vector& inPosition, Point3F& outPosition)
 41{
 42   // Convert to Torque coordinates.  The conversion is:
 43   //
 44   // Motion       Torque
 45   // x y z   -->  x -z y
 46   outPosition.x = inPosition.x;    // x = x
 47   outPosition.y = -inPosition.z;   // y = -z
 48   outPosition.z = inPosition.y;    // z = y;
 49}
 50
 51void convertHandRotation(const Leap::Hand& hand, MatrixF& outRotation)
 52{
 53   // We need to convert from Motion coordinates to
 54   // Torque coordinates.  The conversion is:
 55   //
 56   // Motion                       Torque
 57   // a b c         a  b  c        a -c  b
 58   // d e f   -->  -g -h -i  -->  -g  i -h
 59   // g h i         d  e  f        d -f  e
 60   const Leap::Vector& handToFingers = hand.direction();
 61   Leap::Vector handFront = -handToFingers;
 62   const Leap::Vector& handDown = hand.palmNormal();
 63   Leap::Vector handUp = -handDown;
 64   Leap::Vector handRight = handUp.cross(handFront);
 65
 66   outRotation.setColumn(0, Point4F(  handRight.x, -handRight.z,  handRight.y,  0.0f));
 67   outRotation.setColumn(1, Point4F( -handFront.x,  handFront.z, -handFront.y,  0.0f));
 68   outRotation.setColumn(2, Point4F(  handUp.x,    -handUp.z,     handUp.y,     0.0f));
 69   outRotation.setPosition(Point3F::Zero);
 70}
 71
 72void calculateHandAxisRotation(const MatrixF& handRotation, const F32& maxHandAxisRadius, Point2F& outRotation)
 73{
 74   const VectorF& controllerUp = handRotation.getUpVector();
 75   outRotation.x = controllerUp.x;
 76   outRotation.y = controllerUp.y;
 77
 78   // Limit the axis angle to that given to us
 79   if(outRotation.len() > maxHandAxisRadius)
 80   {
 81      outRotation.normalize(maxHandAxisRadius);
 82   }
 83
 84   // Renormalize to the range of 0..1
 85   if(maxHandAxisRadius != 0.0f)
 86   {
 87      outRotation /= maxHandAxisRadius;
 88   }
 89}
 90
 91void convertPointableRotation(const Leap::Pointable& pointable, MatrixF& outRotation)
 92{
 93   // We need to convert from Motion coordinates to
 94   // Torque coordinates.  The conversion is:
 95   //
 96   // Motion                       Torque
 97   // a b c         a  b  c        a -c  b
 98   // d e f   -->  -g -h -i  -->  -g  i -h
 99   // g h i         d  e  f        d -f  e
100   Leap::Vector pointableFront = -pointable.direction();
101   Leap::Vector pointableRight = Leap::Vector::up().cross(pointableFront);
102   Leap::Vector pointableUp = pointableFront.cross(pointableRight);
103
104   outRotation.setColumn(0, Point4F(  pointableRight.x, -pointableRight.z,  pointableRight.y,  0.0f));
105   outRotation.setColumn(1, Point4F( -pointableFront.x,  pointableFront.z, -pointableFront.y,  0.0f));
106   outRotation.setColumn(2, Point4F(  pointableUp.x,    -pointableUp.z,     pointableUp.y,     0.0f));
107   outRotation.setPosition(Point3F::Zero);
108}
109
110}
111