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Unigine::LeapMotion::Arm Struct

Header:#include <LeapMotionInterface.h>
LeapMotion plugin must be loaded.

This structure represents a forearm and has the following set of properties:

witdh Width of the forearm, in meters.
is_valid Indicates whether the arm contains valid tracking data (1).
elbow_position Coordinates of the elbow position.
wrist_position Coordinates of the wrist position.
center Coordinates of the center of the forearm.
direction Normalized direction in which the arm is pointing (from elbow to wrist).

Orthonormal basis vectors for the arm bone 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.

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.
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;
Last update: 2018-06-04
Build: ()