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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 This version of documentation is OUTDATED, as it describes an older SDK version!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::Arm Struct

Notice
LeapMotion plugin must be loaded.

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

The Arm structure is declared as follows:

Source code (C++)
struct Arm
{
	float width;
	int is_valid;
	Unigine::Math::vec3 direction;
	Unigine::Math::vec3 elbow_position;
	Unigine::Math::vec3 wrist_position;
	Unigine::Math::vec3 center;
	Unigine::Math::mat4 basis;
};

struct Arm

Fields

  • float width - Width of the forearm, in meters.
  • int is_valid - Value indicating if the arm contains valid tracking data.
  • Math::vec3 direction - Normalized direction in which the arm is pointing (from elbow to wrist).
    Notice
    All coordinates are relative to the origin of the Leap Motion coordinate system.
  • Math::vec3 elbow_position - Coordinates of the elbow position.
    Notice
    All coordinates are relative to the origin of the Leap Motion coordinate system.
  • Math::vec3 wrist_position - 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 forearm.
    Notice
    All coordinates are relative to the origin of the Leap Motion coordinate system.
  • Math::mat4 basis - Orthonormal basis vectors for the arm as a Matrix.

    Basis vectors specify the orientation of the arm bone:

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

    The bases provided for the right arm use the right-hand rule; those for the left arm use the left-hand rule. Thus, the positive direction of the x-basis is to the right for the right arm and to the left for the left arm. 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: 2023-12-19
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