leap: getPose for finger devices;
@@ -83,14 +83,33 @@ static void adjustPose(vec3 position, vec3 direction) {
}
static bool leap_getPose(Device device, vec3 position, quat orientation) {
- if ((device != DEVICE_HAND_LEFT && device != DEVICE_HAND_RIGHT) || !state.hands[device - DEVICE_HAND_LEFT]) {
+ if (device == DEVICE_HAND_LEFT || device == DEVICE_HAND_RIGHT) {
+ LEAP_HAND* hand = state.hands[device - DEVICE_HAND_LEFT];
+ if (hand) {
+ float direction[4];
+ vec3_init(position, hand->palm.position.v);
+ vec3_init(direction, hand->palm.normal.v);
+ adjustPose(position, direction);
+ quat_between(orientation, (float[4]) { 0.f, 0.f, -1.f }, direction);
+ return true;
+ } else {
+ return false;
+ }
+ }
+
+ LEAP_BONE* distal;
+ if (state.hands[0] && device >= DEVICE_HAND_LEFT_FINGER_THUMB && device <= DEVICE_HAND_LEFT_FINGER_PINKY) {
+ distal = &state.hands[0]->digits[device - DEVICE_HAND_LEFT_FINGER_THUMB].distal;
+ } else if (state.hands[1] && device >= DEVICE_HAND_RIGHT_FINGER_THUMB && device <= DEVICE_HAND_RIGHT_FINGER_PINKY) {
+ distal = &state.hands[1]->digits[device - DEVICE_HAND_RIGHT_FINGER_THUMB].distal;
+ } else {
return false;
}
float direction[4];
- LEAP_HAND* hand = state.hands[device - DEVICE_HAND_LEFT];
- vec3_init(position, hand->palm.position.v);
- vec3_init(direction, hand->palm.normal.v);
+ vec3_init(position, distal->next_joint.v);
+ vec3_init(direction, distal->next_joint.v);
+ vec3_sub(direction, distal->prev_joint.v);
adjustPose(position, direction);
quat_between(orientation, (float[4]) { 0.f, 0.f, -1.f }, direction);
return true;
