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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: 19.12.2023
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