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Warning! This version of documentation is OUTDATED, as it describes an older SDK version! Please switch to the documentation for the latest SDK version.
Warning! This version of documentation describes an old SDK version which is no longer supported! Please upgrade to the latest SDK version.

Unigine::Plugins::LeapMotion::Bone Struct

Notice
LeapMotion plugin must be loaded.

This structure represents a bone of a finger. All coordinates are relative to the origin of the Leap Motion coordinate system.

The Bone structure is declared as follows:

Source code (C++)
struct Bone
{
	enum
	{
		TYPE_METACARPAL = 0,	// Bone connected to the wrist inside the palm
		TYPE_PROXIMAL = 1,		// Bone connecting to the palm 
		TYPE_INTERMEDIATE = 2,	// Bone between the tip and the base
		TYPE_DISTAL = 3,		// Bone at the tip of the finger 
		BONE_NUM_TYPES
	};


	int type;
	float length;
	float width;
	int is_valid;
	Unigine::Math::vec3 prev_joint;
	Unigine::Math::vec3 next_joint;
	Unigine::Math::vec3 center;
	Unigine::Math::vec3 direction;
	Unigine::Math::mat4 basis;
};

struct Bone

Fields

  • enum TYPE -
    • TYPE_METACARPAL - metacarpal bone. A bone connected to the wrist inside the palm.
    • TYPE_PROXIMAL - proximal bone. A bone connecting to the palm.
    • TYPE_INTERMEDIATE - intermediate bone. A bone between the tip and the base.
    • TYPE_DISTAL - distal bone. A bone at the tip of the finger.
    • BONE_NUM_TYPES - total number of bone types.
    For example, to specify the proximal bone, write Bone::TYPE_PROXIMAL.
  • int type - Bone type. One of the Bone::TYPE_* values.
  • float length - Length of the bone, in meters.
  • float width - Width of the bone, in meters.
  • int is_valid - Value indicating if the bone contains valid tracking data.
  • Math::vec3 prev_joint - Coordinates of the end of the bone, closest to the wrist (proximal).
    Notice
    All coordinates are relative to the origin of the Leap Motion coordinate system.
  • Math::vec3 next_joint - Coordinates of the end of the bone, closest to the finger tip (distal).
    Notice
    All coordinates are relative to the origin of the Leap Motion coordinate system.
  • Math::vec3 center - Coordinates of the center of the bone.
    Notice
    All coordinates are relative to the origin of the Leap Motion coordinate system.
  • Math::vec3 direction - Normalized direction of the bone from wrist to tip.
    Notice
    All coordinates are relative to the origin of the Leap Motion coordinate system.
  • Math::math4 basis - Orthonormal basis vectors for this Bone as a Matrix.

    Basis vectors specify the orientation of a bone:

    • X - Perpendicular to the longitudinal axis of the bone; exits the sides of the finger.
    • Y (or up vector) - Perpendicular to the longitudinal axis of the bone; exits the top and bottom of the finger. Increases in the upward direction.
    • Z - Aligned with the longitudinal axis of the bone. Increases toward the base of the finger.

    The bases provided for the right hand use the right-hand rule; those for the left hand use the left-hand rule. Thus, the positive direction of the x-basis is to the right for the right hand and to the left for the left hand. You can change from right-hand to left-hand rule by multiplying the z basis vector by -1.

    You can use the basis vectors for such purposes as measuring complex finger poses and skeletal animation.

    Notice
    Converting the basis vectors directly into a quaternion representation is not mathematically valid. If you use quaternions, create them from the derived rotation matrix not directly from the bases.
Last update: 2023-06-23
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