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LeapMotion.hpp
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LeapMotion.hpp
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//-----------------------------------------------
//
// This file is part of the Siv3D Engine.
//
// Copyright (C) 2008-2016 Ryo Suzuki
//
// Licensed under the MIT License.
//
//-----------------------------------------------
# pragma once
# pragma warning(disable:4512)
# include <Leap.h>
# pragma warning(default:4512)
# pragma comment (lib, "Leap")
namespace s3d
{
/// <summary>
/// Leap Motion
/// </summary>
namespace LeapMotion
{
/// <summary>
/// 指の種類
/// </summary>
struct FingerType
{
enum Type
{
/// <summary>
/// 親指
/// </summary>
Thumb,
/// <summary>
/// 人差し指
/// </summary>
Index,
/// <summary>
/// 中指
/// </summary>
Middle,
/// <summary>
/// 薬指
/// </summary>
Ring,
/// <summary>
/// 小指
/// </summary>
Pinky,
};
};
/// <summary>
/// 指の情報
/// </summary>
struct Finger
{
/// <summary>
/// 指の長さ
/// </summary>
double length;
/// <summary>
/// 指の太さ
/// </summary>
double width;
/// <summary>
/// 指の位置 [mm]
/// </summary>
Vec3 pos;
/// <summary>
/// 安定するよう補正した指の位置 [mm]
/// </summary>
Vec3 stabilizedPos;
/// <summary>
/// 指の速度 [mm/s]
/// </summary>
Vec3 velocity;
/// <summary>
/// 指の方向の単位ベクトル
/// </summary>
Vec3 direction;
/// <summary>
/// 指の各関節
/// </summary>
Vec3 joints[5];
/// <summary>
/// 指の種類
/// </summary>
FingerType::Type type;
/// <summary>
/// 指の ID
/// </summary>
int id;
};
/// <summary>
/// 手の情報
/// </summary>
struct Hand
{
/// <summary>
/// 手のひらの中央の位置 [mm]
/// </summary>
Vec3 pos;
/// <summary>
/// 安定するよう補正した手のひらの中央の位置 [mm]
/// </summary>
Vec3 stabilizedPos;
/// <summary>
/// 手のひらの速度 [mm/s]
/// </summary>
Vec3 velocity;
/// <summary>
/// 手のひらの方向の単位ベクトル
/// </summary>
Vec3 normal;
/// <summary>
///
/// </summary>
double palmWidth;
/// <summary>
/// 手のひらから指先への方向の単位ベクトル
/// </summary>
Vec3 direction;
/// <summary>
///
/// </summary>
double armWidth;
/// <summary>
///
/// </summary>
Vec3 armDirection;
/// <summary>
/// ひじの位置 [mm]
/// </summary>
Vec3 elbowPos;
/// <summary>
/// 手首の位置 [mm]
/// </summary>
Vec3 wristPos;
/// <summary>
/// 手の湾曲にフィットする仮想的な球の中心位置 [mm]
/// </summary>
Vec3 sphereCenter;
/// <summary>
/// 手の湾曲にフィットする仮想的な球の半径 [mm]
/// </summary>
double sphereRadius;
/// <summary>
/// 親指と人差し指によるつまみの強さ [0.0, 1.0]
/// </summary>
double pinchStrength;
/// <summary>
/// 握りの強さ [0.0, 1.0]
/// </summary>
double grabStrength;
/// <summary>
/// Leap Motion に認識されている時間 [秒]
/// </summary>
double timeVisibleSec;
/// <summary>
///
/// </summary>
double confidence;
/// <summary>
/// 指の情報
/// </summary>
Array<Finger> fingers;
/// <summary>
/// 手の ID
/// </summary>
int id;
/// <summary>
/// 左手の場合 true, 右手の場合 false
/// </summary>
bool isLeft;
};
/// <summary>
/// ツール
/// </summary>
struct Tool
{
/// <summary>
/// ツールが指す方向の単位ベクトル
/// </summary>
Vec3 direction;
/// <summary>
/// 先端の位置 [mm]
/// </summary>
Vec3 pos;
/// <summary>
/// 安定するよう補正した先端の位置 [mm]
/// </summary>
Vec3 stabilizedPos;
/// <summary>
/// 先端の速度 [mm/s]
/// </summary>
Vec3 velocity;
/// <summary>
/// Leap Motion に認識されている時間 [秒]
/// </summary>
double timeVisibleSec;
/// <summary>
/// 推測される長さ [mm]
/// </summary>
double length;
/// <summary>
/// 推測される幅 [mm]
/// </summary>
double width;
/// <summary>
/// ツールの ID
/// </summary>
int id;
};
/// <summary>
/// ジェスチャーの種類
/// </summary>
enum class GestureType
{
/// <summary>
/// 未定義
/// </summary>
Undefined,
/// <summary>
/// 円を描く動作
/// </summary>
Circle,
/// <summary>
/// 線を描く動作
/// </summary>
Swipe,
/// <summary>
/// ピアノの鍵盤をたたくような動作
/// </summary>
KeyTap,
/// <summary>
/// 正面にタッチするような動作
/// </summary>
ScreenTap
};
/// <summary>
/// ジェスチャーの状態
/// </summary>
enum class GestureState
{
/// <summary>
/// 不正値
/// </summary>
Invalid,
/// <summary>
/// ジェスチャーが始まった
/// </summary>
Start,
/// <summary>
/// ジェスチャーが継続中である
/// </summary>
Update,
/// <summary>
/// ジェスチャーが終了した
/// </summary>
Stop,
};
/// <summary>
/// Circle ジェスチャーの回転方向
/// </summary>
enum class CircleClockwiseness
{
/// <summary>
/// 時計回り
/// </summary>
Clockwise,
/// <summary>
/// 反時計回り
/// </summary>
Counterclockwise,
};
/// <summary>
/// ジェスチャー
/// </summary>
struct Gesture
{
/// <summary>
/// ジェスチャーの種類
/// </summary>
GestureType type = GestureType::Undefined;
/// <summary>
/// ジェスチャーの名前
/// </summary>
Property_Get(String, gestureName) const
{
const static String gestureNames[]{ L"Undefined", L"Circle", L"Swipe", L"KeyTap", L"ScreenTap" };
return gestureNames[static_cast<unsigned>(type)];
}
/// <summary>
/// ジェスチャーの位置、Circle の場合は円の中心位置 [mm]
/// </summary>
Vec3 pos;
/// <summary>
/// ジェスチャーの方向の単位ベクトル
/// </summary>
Vec3 direction;
/// <summary>
/// ジェスチャーの速さ [mm/s] (Swipe のみ)
/// </summary>
double speed = 0.0;
/// <summary>
/// ジェスチャーの開始位置 [mm](Swipe のみ)
/// </summary>
Vec3 startPos = Vec3::Zero;
/// <summary>
/// ジェスチャーの周回数(Circle のみ)
/// </summary>
double progress = 0.0;
/// <summary>
/// ジェスチャーの半径(Circle のみ)
/// </summary>
double radius = 0.0;
/// <summary>
/// ジェスチャーの回転方向(Circle のみ)
/// </summary>
CircleClockwiseness clockwiseness = CircleClockwiseness::Clockwise;
/// <summary>
/// ジェスチャーの状態
/// </summary>
GestureState state = GestureState::Invalid;
/// <summary>
/// ジェスチャーの ID
/// </summary>
int id;
/// <summary>
/// ジェスチャーに関連付けられた Hand の ID
/// </summary>
int handID;
/// <summary>
///
/// </summary>
int pointableID;
};
}
inline Vec3 ToVec3(const Leap::Vector& v)
{
return{ v.x, v.y, -v.z };
}
class LeapMotionDevice : public IAddon
{
private:
Leap::Controller m_controller;
Array<LeapMotion::Hand> m_hands;
Array<LeapMotion::Tool> m_tools;
Array<LeapMotion::Gesture> m_gestures;
bool m_connected = false;
LeapMotion::GestureState LeapMotionDevice::convertState(Leap::Gesture::State state)
{
switch (state)
{
case Leap::Gesture::STATE_START:
return LeapMotion::GestureState::Start;
case Leap::Gesture::STATE_UPDATE:
return LeapMotion::GestureState::Update;
case Leap::Gesture::STATE_STOP:
return LeapMotion::GestureState::Stop;
default:
return LeapMotion::GestureState::Invalid;
}
}
public:
static const String& name()
{
static const String name = L"LeapMotionSiv3D";
return name;
}
String getName() const override
{
return name();
}
bool init() override
{
return true;
}
bool update() override
{
m_hands.clear();
m_tools.clear();
m_gestures.clear();
m_connected = m_controller.isConnected();
const Leap::Frame frame = m_controller.frame();
for (const auto& hand : frame.hands())
{
const Leap::Arm arm = hand.arm();
LeapMotion::Hand h;
h.pos = ToVec3(hand.palmPosition());
h.stabilizedPos = ToVec3(hand.stabilizedPalmPosition());
h.velocity = ToVec3(hand.palmVelocity());
h.normal = ToVec3(hand.palmNormal());
h.palmWidth = hand.palmWidth();
h.direction = ToVec3(hand.direction());
h.armWidth = arm.width();
h.armDirection = ToVec3(arm.direction());
h.elbowPos = ToVec3(arm.elbowPosition());
h.wristPos = ToVec3(arm.wristPosition());
h.sphereCenter = ToVec3(hand.sphereCenter());
h.sphereRadius = hand.sphereRadius();
h.pinchStrength = hand.pinchStrength();
h.grabStrength = hand.grabStrength();
h.timeVisibleSec = hand.timeVisible();
h.confidence = hand.confidence();
h.isLeft = hand.isLeft();
h.id = hand.id();
h.fingers.reserve(hand.fingers().count());
for (const auto& finger : hand.fingers())
{
LeapMotion::Finger f;
f.length = finger.length();
f.width = finger.width();
f.pos = ToVec3(finger.tipPosition());
f.stabilizedPos = ToVec3(finger.stabilizedTipPosition());
f.velocity = ToVec3(finger.tipVelocity());
f.direction = ToVec3(finger.direction());
f.type = static_cast<LeapMotion::FingerType::Type>(finger.type());
f.id = finger.id();
f.joints[0] = ToVec3(finger.bone(Leap::Bone::TYPE_METACARPAL).prevJoint());
f.joints[1] = ToVec3(finger.bone(Leap::Bone::TYPE_PROXIMAL).prevJoint());
f.joints[2] = ToVec3(finger.bone(Leap::Bone::TYPE_INTERMEDIATE).prevJoint());
f.joints[3] = ToVec3(finger.bone(Leap::Bone::TYPE_DISTAL).prevJoint());
f.joints[4] = ToVec3(finger.bone(Leap::Bone::TYPE_DISTAL).nextJoint());
h.fingers.push_back(f);
}
m_hands.push_back(h);
}
for (const auto& tool : frame.tools())
{
LeapMotion::Tool t;
t.direction = ToVec3(tool.direction());
t.pos = ToVec3(tool.tipPosition());
t.stabilizedPos = ToVec3(tool.stabilizedTipPosition());
t.velocity = ToVec3(tool.tipVelocity());
t.timeVisibleSec = tool.timeVisible();
t.length = tool.length();
t.width = tool.width();
t.id = tool.id();
m_tools.push_back(t);
}
for (const auto& gesture : frame.gestures())
{
LeapMotion::Gesture g;
g.id = gesture.id();
g.handID = gesture.hands().isEmpty() ? -1 : gesture.hands().frontmost().id();
g.pointableID = gesture.pointables().isEmpty() ? -1 : gesture.pointables().frontmost().id();
g.state = convertState(gesture.state());
switch (gesture.type())
{
case Leap::Gesture::TYPE_CIRCLE:
{
const Leap::CircleGesture& circleGesture = gesture;
g.type = LeapMotion::GestureType::Circle;
g.pos = ToVec3(circleGesture.center());
g.direction = ToVec3(circleGesture.normal());
g.progress = circleGesture.progress();
g.radius = circleGesture.radius();
g.clockwiseness =
circleGesture.pointable().direction().angleTo(circleGesture.normal()) <= Leap::PI / 4
? LeapMotion::CircleClockwiseness::Clockwise : LeapMotion::CircleClockwiseness::Counterclockwise;
break;
}
case Leap::Gesture::TYPE_SWIPE:
{
const Leap::SwipeGesture& swipeGesture = gesture;
g.type = LeapMotion::GestureType::Swipe;
g.pos = ToVec3(swipeGesture.position());
g.direction = ToVec3(swipeGesture.direction());
g.speed = swipeGesture.speed();
g.startPos = ToVec3(swipeGesture.startPosition());
break;
}
case Leap::Gesture::TYPE_KEY_TAP:
{
const Leap::KeyTapGesture& keytapGesture = gesture;
g.type = LeapMotion::GestureType::KeyTap;
g.pos = ToVec3(keytapGesture.position());
g.direction = ToVec3(keytapGesture.position());
break;
}
case Leap::Gesture::TYPE_SCREEN_TAP:
{
const Leap::ScreenTapGesture& screentapGesture = gesture;
g.type = LeapMotion::GestureType::ScreenTap;
g.pos = ToVec3(screentapGesture.position());
g.direction = ToVec3(screentapGesture.direction());
break;
}
default:
{
g.type = LeapMotion::GestureType::Undefined;
break;
}
}
m_gestures.push_back(g);
}
return true;
}
bool isConnected() const
{
return m_connected;
}
void enableGesture(LeapMotion::GestureType type, bool enable)
{
switch (type)
{
case LeapMotion::GestureType::Circle:
m_controller.enableGesture(Leap::Gesture::TYPE_CIRCLE, enable); break;
case LeapMotion::GestureType::Swipe:
m_controller.enableGesture(Leap::Gesture::TYPE_SWIPE, enable); break;
case LeapMotion::GestureType::KeyTap:
m_controller.enableGesture(Leap::Gesture::TYPE_KEY_TAP, enable); break;
case LeapMotion::GestureType::ScreenTap:
m_controller.enableGesture(Leap::Gesture::TYPE_SCREEN_TAP, enable); break;
default:
break;
}
}
const Array<LeapMotion::Hand>& hands() const
{
return m_hands;
}
const Array<LeapMotion::Tool>& tools() const
{
return m_tools;
}
const Array<LeapMotion::Gesture>& gestures() const
{
return m_gestures;
}
};
namespace LeapMotion
{
/// <summary>
///
/// </summary>
/// <returns>
///
/// </returns>
inline bool RegisterAddon()
{
return Addon::Register<LeapMotionDevice>();
}
/// <summary>
///
/// </summary>
/// <returns>
///
/// </returns>
inline bool IsConnected()
{
if (auto p = Addon::GetAddon<LeapMotionDevice>())
{
return p->isConnected();
}
else
{
return false;
}
}
/// <summary>
///
/// </summary>
/// <returns>
///
/// </returns>
inline Array<Hand> Hands()
{
if (auto p = Addon::GetAddon<LeapMotionDevice>())
{
return p->hands();
}
else
{
return{};
}
}
/// <summary>
///
/// </summary>
/// <returns>
///
/// </returns>
inline Array<Tool> Tools()
{
if (auto p = Addon::GetAddon<LeapMotionDevice>())
{
return p->tools();
}
else
{
return{};
}
}
/// <summary>
///
/// </summary>
/// <returns>
///
/// </returns>
inline Array<Gesture> Gestures()
{
if (auto p = Addon::GetAddon<LeapMotionDevice>())
{
return p->gestures();
}
else
{
return{};
}
}
/// <summary>
///
/// </summary>
/// <param name="type">
///
/// </param>
/// <param name="enable">
///
/// </param>
/// <returns>
///
/// </returns>
inline void EnableGesture(GestureType type, bool enable = true)
{
if (auto p = Addon::GetAddon<LeapMotionDevice>())
{
return p->enableGesture(type, enable);
}
}
}
}