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Merge pull request #123 from ultraleap/feature/4.7.1-release-candidate
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Feature/4.7.1 release candidate
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@YasserNezzari
YasserNezzari committed Mar 23, 2023
2 parents 0d3ba2b + 302eea4 commit e9e521e
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Showing 11 changed files with 38 additions and 32 deletions.
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68 changes: 37 additions & 31 deletions Source/UltraleapTrackingCore/Private/OpenXRToLeapWrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,10 @@ FOpenXRToLeapWrapper::~FOpenXRToLeapWrapper()
}
LEAP_CONNECTION* FOpenXRToLeapWrapper::OpenConnection(LeapWrapperCallbackInterface* InCallbackDelegate, bool UseMultiDeviceMode)
{
CallbackDelegate = InCallbackDelegate;
if (InCallbackDelegate!=nullptr)
{
CallbackDelegate = InCallbackDelegate;
}
InitOpenXRHandTrackingModule();
return nullptr;
}
Expand All @@ -68,13 +71,13 @@ void FOpenXRToLeapWrapper::InitOpenXRHandTrackingModule()

if (!GEngine)
{
UE_LOG(UltraleapTrackingLog, Log, TEXT("Error: FOpenXRToLeapWrapper::InitOpenXRHandTrackingModule() - GEngine is NULL"));
UE_LOG(UltraleapTrackingLog, Error, TEXT("Error: FOpenXRToLeapWrapper::InitOpenXRHandTrackingModule() - GEngine is NULL"));

return;
}
if (!GEngine->XRSystem.IsValid())
{
UE_LOG(UltraleapTrackingLog, Log, TEXT("Warning: FOpenXRToLeapWrapper::InitOpenXRHandTrackingModule() No XR System found, is an HMD connected?"));
UE_LOG(UltraleapTrackingLog, Warning, TEXT("Warning: FOpenXRToLeapWrapper::InitOpenXRHandTrackingModule() No XR System found, is an HMD connected?"));

return;
}
Expand All @@ -84,7 +87,7 @@ void FOpenXRToLeapWrapper::InitOpenXRHandTrackingModule()
}
if (XRTrackingSystem == nullptr)
{
UE_LOG(UltraleapTrackingLog, Log, TEXT("Warning: FOpenXRToLeapWrapper::InitOpenXRHandTrackingModule() No OpenXR System found, are OpenXR plugins enabled"));
UE_LOG(UltraleapTrackingLog, Warning, TEXT("Warning: FOpenXRToLeapWrapper::InitOpenXRHandTrackingModule() No OpenXR System found, are OpenXR plugins enabled"));
return;
}

Expand All @@ -98,9 +101,9 @@ void FOpenXRToLeapWrapper::InitOpenXRHandTrackingModule()
IModularFeatures& ModularFeatures = IModularFeatures::Get();
if (ModularFeatures.IsModularFeatureAvailable(IHandTracker::GetModularFeatureName()))
{
auto Implementations = IModularFeatures::Get().GetModularFeatureImplementations<IHandTracker>(IHandTracker::GetModularFeatureName());
TArray<IHandTracker*, FDefaultAllocator> Implementations = IModularFeatures::Get().GetModularFeatureImplementations<IHandTracker>(IHandTracker::GetModularFeatureName());

for (auto Implementation : Implementations)
for (IHandTracker* Implementation : Implementations)
{
if (Implementation->GetHandTrackerDeviceTypeName() == "UltraleapOpenXRHandTracking")
{
Expand Down Expand Up @@ -490,9 +493,9 @@ void FOpenXRToLeapWrapper::ConvertToLeapSpace(LEAP_HAND& LeapHand, const TArray<
}
// Enums for each bone are in EHandKeypoint/UL
uint8 KeyPoint = 0;
for (auto Position : Positions)
for (FVector Position : Positions)
{
auto Rotation = Rotations[KeyPoint];
FQuat Rotation = Rotations[KeyPoint];

// Take out the player transform, this isn't valid as we want Leap Space which knows nothing about
// the player world position
Expand Down Expand Up @@ -615,7 +618,10 @@ int64_t FOpenXRToLeapWrapper::GetDummyLeapTime()
}
void FOpenXRToLeapWrapper::SetWorld(UWorld* World)
{
FLeapWrapperBase::SetWorld(World);
if (World!=nullptr)
{
FLeapWrapperBase::SetWorld(World);
}
/* no delta TODO: get world framerate from somewhere if (World)
{
float WorldDelta = World->GetDeltaSeconds();
Expand All @@ -631,7 +637,7 @@ void FOpenXRToLeapWrapper::CloseConnection()
if (!bIsConnected)
{
// Not connected, already done
UE_LOG(UltraleapTrackingLog, Log, TEXT("FOpenXRToLeapWrapper Attempt at closing an already closed connection."));
UE_LOG(UltraleapTrackingLog, Warning, TEXT("FOpenXRToLeapWrapper Attempt at closing an already closed connection."));
return;
}
bIsConnected = false;
Expand All @@ -651,7 +657,7 @@ void FOpenXRToLeapWrapper::SetTrackingMode(eLeapTrackingMode TrackingMode)
void FOpenXRToLeapWrapper::PostLeapHandUpdate(FLeapFrameData& Frame)
{
// simulate pinch and grab state (in LeapC this comes from the tracking service)
for (auto& Hand : Frame.Hands)
for (FLeapHandData& Hand : Frame.Hands)
{
UpdatePinchAndGrab(Hand);
}
Expand All @@ -671,13 +677,13 @@ float FOpenXRToLeapWrapper::CalculatePinchStrength(const FLeapHandData& Hand, fl

// Get the thumb position.
// TipPosition in Unity, is Distal->Next the same?
auto ThumbTipPosition = Hand.Thumb.Distal.NextJoint;
FVector ThumbTipPosition = Hand.Thumb.Distal.NextJoint;

// Compute the distance midpoints between the thumb and the each finger and find the smallest.
float MinDistanceSquared = TNumericLimits<float>::Max();

int32 FingerIndex = 0;
for(const auto& Finger : Hand.Digits)
for(const FLeapDigitData& Finger : Hand.Digits)
{
// skip 1
if (!FingerIndex)
Expand All @@ -699,31 +705,31 @@ float FOpenXRToLeapWrapper::CalculatePinchStrength(const FLeapHandData& Hand, fl
float FOpenXRToLeapWrapper::CalculateBoneDistanceSquared(const FLeapBoneData& BoneA, const FLeapBoneData& BoneB)
{
// Denormalize directions to bone length.
const auto BoneAJoint = BoneA.PrevJoint;
const auto BoneBJoint = BoneB.PrevJoint;
const FVector BoneAJoint = BoneA.PrevJoint;
const FVector BoneBJoint = BoneB.PrevJoint;

const auto BoneADirection = BoneA.Rotation.Vector() * ((BoneA.NextJoint - BoneA.PrevJoint).Size());
const auto BoneBDirection = BoneB.Rotation.Vector() * ((BoneB.NextJoint - BoneB.PrevJoint).Size());
const FVector BoneADirection = BoneA.Rotation.Vector() * ((BoneA.NextJoint - BoneA.PrevJoint).Size());
const FVector BoneBDirection = BoneB.Rotation.Vector() * ((BoneB.NextJoint - BoneB.PrevJoint).Size());

// Compute the minimum (squared) distance between two bones.
const auto Diff = BoneBJoint - BoneAJoint;
const auto D1 = FVector::DotProduct(BoneADirection, Diff);
const auto D2 = FVector::DotProduct(BoneBDirection, Diff);
const auto A = BoneADirection.SizeSquared();
const auto B = FVector::DotProduct(BoneADirection, BoneBDirection);
const auto C = BoneBDirection.SizeSquared();
const auto Det = B * B - A * C;
const auto T1 = FMath::Clamp<float>((B * D2 - C * D1) / Det, 0.0, 1.0);
const auto T2 = FMath::Clamp<float>((A * D2 - B * D1) / Det, 0.0, 1.0);
const auto Pa = BoneAJoint + T1 * BoneADirection;
const auto Pb = BoneBJoint + T2 * BoneBDirection;
const FVector Diff = BoneBJoint - BoneAJoint;
const float D1 = FVector::DotProduct(BoneADirection, Diff);
const float D2 = FVector::DotProduct(BoneBDirection, Diff);
const float A = BoneADirection.SizeSquared();
const float B = FVector::DotProduct(BoneADirection, BoneBDirection);
const float C = BoneBDirection.SizeSquared();
const float Det = B * B - A * C;
const float T1 = FMath::Clamp<float>((B * D2 - C * D1) / Det, 0.0, 1.0);
const float T2 = FMath::Clamp<float>((A * D2 - B * D1) / Det, 0.0, 1.0);
const FVector Pa = BoneAJoint + T1 * BoneADirection;
const FVector Pb = BoneBJoint + T2 * BoneBDirection;
return (Pa - Pb).SizeSquared();
}

float FOpenXRToLeapWrapper::CalculatePinchDistance(const FLeapHandData& Hand)
{
// Get the farthest 2 segments of thumb and index finger, respectively, and compute distances.
auto MinDistanceSquared = TNumericLimits<float>::Max();
float MinDistanceSquared = TNumericLimits<float>::Max();

int32 ThumbBoneIndex = 0;
for (const FLeapBoneData& ThumbBone : Hand.Thumb.Bones)
Expand All @@ -744,7 +750,7 @@ float FOpenXRToLeapWrapper::CalculatePinchDistance(const FLeapHandData& Hand)
IndexBoneIndex++;
continue;
}
const auto DistanceSquared = CalculateBoneDistanceSquared(ThumbBone, IndexBone);
const float DistanceSquared = CalculateBoneDistanceSquared(ThumbBone, IndexBone);
MinDistanceSquared = FMath::Min(DistanceSquared, MinDistanceSquared);

IndexBoneIndex++;
Expand Down Expand Up @@ -863,7 +869,7 @@ void FOpenXRToLeapWrapper::UpdatePinchAndGrab(FLeapHandData& Hand)
}

int FingerIndex = 0;
for (auto& Finger : Hand.Digits)
for (FLeapDigitData& Finger : Hand.Digits)
{
Finger.IsExtended = GetFingerStrength(Hand, FingerIndex) < 0.4;
FingerIndex++;
Expand Down
2 changes: 1 addition & 1 deletion UltraleapTracking.uplugin
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"FileVersion": 3,
"Version": 14,
"VersionName": "4.7.0",
"VersionName": "4.7.1",
"FriendlyName": "Ultraleap Tracking Plugin",
"Description": "Support for Ultraleap hand tracking devices.",
"Category": "Input Devices",
Expand Down

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