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Unigine::Plugins::LeapMotion::Bone Struct

Header: #include <UnigineLeapMotion.h>
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
{
	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;
};

LeapMotionBone Class

Enums

TYPE#

NameDescription
TYPE_METACARPAL = 0Metacarpal bone. A bone connected to the wrist inside the palm.
TYPE_PROXIMAL = 1Proximal bone. A bone connecting to the palm.
TYPE_INTERMEDIATE = 2Intermediate bone. A bone between the tip and the base.
TYPE_DISTAL = 3Distal bone. A bone at the tip of the finger.
BONE_NUM_TYPES = Total number of bone types.

Members


int getType ( ) #

Returns the type of the bone.

Return value

Bone type. One of the Bone::TYPE_* values.

float getLength ( ) #

Returns the length of the bone.

Return value

Length of the bone, in meters.

float getWidth ( ) #

Returns the width of the bone, in meters.

Return value

Width of the bone, in meters.

vec3 getPrevJoint ( ) #

Returns the 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.

Return value

Coordinates of the end of the bone, closest to the wrist (proximal).

vec3 getNextJoint ( ) #

Returns the 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.

Return value

Coordinates of the end of the bone, closest to the finger tip (distal).

vec3 getCenter ( ) #

Returns the coordinates of the center of the bone.
Notice
All coordinates are relative to the origin of the Leap Motion coordinate system.

Return value

Coordinates of the center of the bone.

vec3 getDirection ( ) #

Returns the normalized direction of the bone from wrist to tip.
Notice
All coordinates are relative to the origin of the Leap Motion coordinate system.

Return value

Normalized direction of the bone from wrist to tip.

mat4 getBasis ( ) #

Returns the 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.

Return value

Orthonormal basis vectors for the bone as a Matrix.

int isValid ( ) #

Returns a value indicating if the bone contains valid tracking data.

Return value

1 if the bone contains valid tracking data; otherwise, 0.
Last update: 12.03.2020