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Update hand.js #308

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Update hand.js #308

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26 changes: 13 additions & 13 deletions lib/hand.js
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
var Pointable = require("./pointable")
let Pointable = require("./pointable")
, Bone = require('./bone')
, glMatrix = require("gl-matrix")
, mat3 = glMatrix.mat3
Expand All @@ -25,7 +25,7 @@ var Pointable = require("./pointable")
* A Hand object created from the Hand constructor is also invalid.
* Test for validity with the [Hand.valid]{@link Leap.Hand#valid} property.
*/
var Hand = module.exports = function(data) {
let Hand = module.exports = function(data) {
/**
* A unique ID assigned to this Hand object, whose value remains the same
* across consecutive frames while the tracked hand remains visible. If
Expand Down Expand Up @@ -209,7 +209,7 @@ var Hand = module.exports = function(data) {
* invalid Finger object is returned.
*/
Hand.prototype.finger = function(id) {
var finger = this.frame.finger(id);
let finger = this.frame.finger(id);
return (finger && (finger.handId == this.id)) ? finger : Pointable.Invalid;
}

Expand All @@ -235,14 +235,14 @@ Hand.prototype.finger = function(id) {
*/
Hand.prototype.rotationAngle = function(sinceFrame, axis) {
if (!this.valid || !sinceFrame.valid) return 0.0;
var sinceHand = sinceFrame.hand(this.id);
let sinceHand = sinceFrame.hand(this.id);
if(!sinceHand.valid) return 0.0;
var rot = this.rotationMatrix(sinceFrame);
var cs = (rot[0] + rot[4] + rot[8] - 1.0)*0.5
var angle = Math.acos(cs);
let rot = this.rotationMatrix(sinceFrame);
let cs = (rot[0] + rot[4] + rot[8] - 1.0)*0.5
let angle = Math.acos(cs);
angle = isNaN(angle) ? 0.0 : angle;
if (axis !== undefined) {
var rotAxis = this.rotationAxis(sinceFrame);
let rotAxis = this.rotationAxis(sinceFrame);
angle *= vec3.dot(rotAxis, vec3.normalize(vec3.create(), axis));
}
return angle;
Expand All @@ -265,7 +265,7 @@ Hand.prototype.rotationAngle = function(sinceFrame, axis) {
*/
Hand.prototype.rotationAxis = function(sinceFrame) {
if (!this.valid || !sinceFrame.valid) return vec3.create();
var sinceHand = sinceFrame.hand(this.id);
let sinceHand = sinceFrame.hand(this.id);
if (!sinceHand.valid) return vec3.create();
return vec3.normalize(vec3.create(), [
this._rotation[7] - sinceHand._rotation[5],
Expand All @@ -291,10 +291,10 @@ Hand.prototype.rotationAxis = function(sinceFrame) {
*/
Hand.prototype.rotationMatrix = function(sinceFrame) {
if (!this.valid || !sinceFrame.valid) return mat3.create();
var sinceHand = sinceFrame.hand(this.id);
let sinceHand = sinceFrame.hand(this.id);
if(!sinceHand.valid) return mat3.create();
var transpose = mat3.transpose(mat3.create(), this._rotation);
var m = mat3.multiply(mat3.create(), sinceHand._rotation, transpose);
let transpose = mat3.transpose(mat3.create(), this._rotation);
let m = mat3.multiply(mat3.create(), sinceHand._rotation, transpose);
return m;
}

Expand Down Expand Up @@ -341,7 +341,7 @@ Hand.prototype.scaleFactor = function(sinceFrame) {
*/
Hand.prototype.translation = function(sinceFrame) {
if (!this.valid || !sinceFrame.valid) return vec3.create();
var sinceHand = sinceFrame.hand(this.id);
let sinceHand = sinceFrame.hand(this.id);
if(!sinceHand.valid) return vec3.create();
return [
this._translation[0] - sinceHand._translation[0],
Expand Down