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o.io.leap.cpp
executable file
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o.io.leap.cpp
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#include "ext.h" // standard Max include, always required
#include "ext_obex.h" // required for new style Max object
#include "osc.h"
#include "osc_bundle_u.h"
#include "osc_message_u.h"
#include "osc_atom_u.h"
#include "osc_mem.h"
#include "Leap.h"
#include <iostream>
#define _USE_MATH_DEFINES // To get definition of M_PI
#include <math.h>
using namespace std;
#include <string>
////////////////////////// object struct
typedef struct _oleap
{
t_object ob;
int64_t frame_id_save;
void *outlet;
Leap::Controller *leap;
} t_oleap;
///////////////////////// function prototypes
//// standard set
void *oleap_new(t_symbol *s, long argc, t_atom *argv);
void oleap_free(t_oleap *x);
void oleap_assist(t_oleap *x, void *b, long m, long a, char *s);
//// leap functions
void oleap_bang(t_oleap *x);
void oleap_bundleMessage(t_osc_bundle_u *bundle, const char* address, float datum);
void oleap_showme(t_oleap *x, t_symbol *s, long argc, t_atom *argv);
//////////////////////// global class pointer variable
void *oleap_class;
//////////////////////// Max functions
int main(void)
{
t_class *c;
c = class_new("o.io.leap", (method)oleap_new, (method)oleap_free, (long)sizeof(t_oleap),
0L /* leave NULL!! */, A_GIMME, 0);
class_addmethod(c, (method)oleap_bang, "bang", 0);
class_addmethod(c, (method)oleap_bundleMessage, "bundle", 0);
class_addmethod(c, (method)oleap_showme, "showme", 0);
/* you CAN'T call this from the patcher */
class_addmethod(c, (method)oleap_assist, "assist", A_CANT, 0);
class_register(CLASS_BOX, c);
oleap_class = c;
return 0;
}
void oleap_assist(t_oleap *x, void *b, long m, long a, char *s)
{
if (m == ASSIST_INLET) { //inlet
sprintf(s, "bang to cause the frame data output");
}
else { // outlet
sprintf(s, "osc(frame data)");
}
}
void oleap_free(t_oleap *x)
{
delete (Leap::Controller *)(x->leap);
}
//t_oleap *x,t_osc_bundle_u *bundle, string address, float datum
void oleap_bundleMessage(t_osc_bundle_u *bundle, const char* address, float datum)
{
t_osc_message_u *mes = osc_message_u_alloc();
osc_message_u_setAddress(mes, address);
t_osc_atom_u *atom = osc_atom_u_alloc();
osc_atom_u_setFloat(atom, datum);
osc_message_u_appendAtom(mes, atom);
osc_bundle_u_addMsg(bundle, mes);
}
void oleap_showme(t_oleap *x, t_symbol *s, long argc, t_atom *argv)
{
object_post((t_object *)x, "Full odot namespace:");
object_post((t_object *)x,"/timeStamp");
object_post((t_object *)x,"/Hands");
object_post((t_object *)x,"/gesture/circle/center/x");
object_post((t_object *)x,"/gesture/circle/center/y");
object_post((t_object *)x,"/gesture/circle/center/z");
object_post((t_object *)x,"/gesture/circle/pitch");
object_post((t_object *)x,"/gesture/circle/yaw");
object_post((t_object *)x,"/gesture/circle/roll");
object_post((t_object *)x,"/gesture/circle/radius");
object_post((t_object *)x,"/gesture/circle/duration");
object_post((t_object *)x,"/gesture/circle/clockwiseness/");
object_post((t_object *)x,"/gesture/circle/clockwiseness/");
object_post((t_object *)x,"/gesture/circle/angle/sweep");
object_post((t_object *)x,"/gesture/swipe/direction/x");
object_post((t_object *)x,"/gesture/swipe/direction/x");
object_post((t_object *)x,"/gesture/swipe/direction/x");
object_post((t_object *)x,"/gesture/swipe/position/x");
object_post((t_object *)x,"/gesture/swipe/position/y");
object_post((t_object *)x,"/gesture/swipe/position/z");
object_post((t_object *)x,"/gesture/swipe/pitch");
object_post((t_object *)x,"/gesture/swipe/yaw");
object_post((t_object *)x,"/gesture/swipe/roll");
object_post((t_object *)x,"/gesture/swipe/position/start/x");
object_post((t_object *)x,"/gesture/swipe/position/start/y");
object_post((t_object *)x,"/gesture/swipe/position/start/z");
object_post((t_object *)x,"/gesture/swipe/speed");
object_post((t_object *)x,"/gesture/swipe/duration");
object_post((t_object *)x,"/gesture/tap/down/position/x");
object_post((t_object *)x,"/gesture/tap/down/position/y");
object_post((t_object *)x,"/gesture/tap/down/position/z");
object_post((t_object *)x,"/gesture/tap/down/direction/x");
object_post((t_object *)x,"/gesture/tap/down/direction/y");
object_post((t_object *)x,"/gesture/tap/down/direction/z");
object_post((t_object *)x,"/gesture/tap/down/duration");
object_post((t_object *)x,"/gesture/tap/forward/position/x");
object_post((t_object *)x,"/gesture/tap/forward/position/y");
object_post((t_object *)x,"/gesture/tap/forward/position/z");
object_post((t_object *)x,"/gesture/tap/forward/direction/x");
object_post((t_object *)x,"/gesture/tap/forward/direction/y");
object_post((t_object *)x,"/gesture/tap/forward/direction/z");
object_post((t_object *)x,"/gesture/tap/forward/duration");
object_post((t_object *)x,"/hand/leftmost/id");
object_post((t_object *)x,"/hand/leftmost/palm/positiony/x");
object_post((t_object *)x,"/hand/leftmost/palm/positiony/y");
object_post((t_object *)x,"/hand/leftmost/palm/positiony/z");
object_post((t_object *)x,"/hand/leftmost/direction/x");
object_post((t_object *)x,"/hand/leftmost/direction/y");
object_post((t_object *)x,"/hand/leftmost/direction/z");
object_post((t_object *)x,"/hand/leftmost/pitch");
object_post((t_object *)x,"/hand/leftmost/yaw");
object_post((t_object *)x,"/hand/leftmost/roll");
object_post((t_object *)x,"/hand/leftmost/palm/velocity/x");
object_post((t_object *)x,"/hand/leftmost/palm/velocity/y");
object_post((t_object *)x,"/hand/leftmost/palm/velocity/z");
object_post((t_object *)x,"/hand/leftmost/palm/sphere/center/x");
object_post((t_object *)x,"/hand/leftmost/palm/sphere/center/y");
object_post((t_object *)x,"/hand/leftmost/palm/sphere/center/z");
object_post((t_object *)x,"/hand/leftmost/palm/sphere/radius");
object_post((t_object *)x,"/hand/leftmost/palm/normal/x");
object_post((t_object *)x,"/hand/leftmost/palm/normal/y");
object_post((t_object *)x,"/hand/leftmost/palm/normal/z");
object_post((t_object *)x,"/hand/leftmost/distance/from/rightmost");
object_post((t_object *)x,"/hand/leftmost/finger/$i/hand_id");
object_post((t_object *)x,"/hand/leftmost/finger/$i/finger_id");
object_post((t_object *)x,"/hand/leftmost/finger/$i/position/x");
object_post((t_object *)x,"/hand/leftmost/finger/$i/position/y");
object_post((t_object *)x,"/hand/leftmost/finger/$i/position/z");
object_post((t_object *)x,"/hand/leftmost/finger/$i/direction/x");
object_post((t_object *)x,"/hand/leftmost/finger/$i/direction/y");
object_post((t_object *)x,"/hand/leftmost/finger/$i/direction/z");
object_post((t_object *)x,"/hand/leftmost/finger/$i/velocity/x");
object_post((t_object *)x,"/hand/leftmost/finger/$i/velocity/y");
object_post((t_object *)x,"/hand/leftmost/finger/$i/velocity/z");
object_post((t_object *)x,"/hand/leftmost/finger/$i/direction/normalized/x");
object_post((t_object *)x,"/hand/leftmost/finger/$i/direction/normalized/y");
object_post((t_object *)x,"/hand/leftmost/finger/$i/direction/normalized/z");
object_post((t_object *)x,"/hand/leftmost/finger/$i/pitch/normalized/");
object_post((t_object *)x,"/hand/leftmost/finger/$i/yaw/normalized/");
object_post((t_object *)x,"/hand/leftmost/finger/$i/roll/normalized/");
object_post((t_object *)x,"/hand/leftmost/finger/$i/width");
object_post((t_object *)x,"/hand/leftmost/finger/$i/length");
object_post((t_object *)x,"/hand/leftmost/isTool");
object_post((t_object *)x,"/hand/leftmost/finger/$i/distance/to/finger/$i");
object_post((t_object *)x,"/hand/leftmost/finger/$i/angle/to/finger/$i");
object_post((t_object *)x,"/hand/rightmost/id");
object_post((t_object *)x,"/hand/rightmost/palm/positiony/x");
object_post((t_object *)x,"/hand/rightmost/palm/positiony/y");
object_post((t_object *)x,"/hand/rightmost/palm/positiony/z");
object_post((t_object *)x,"/hand/rightmost/direction/x");
object_post((t_object *)x,"/hand/rightmost/direction/y");
object_post((t_object *)x,"/hand/rightmost/direction/z");
object_post((t_object *)x,"/hand/rightmost/pitch");
object_post((t_object *)x,"/hand/rightmost/yaw");
object_post((t_object *)x,"/hand/rightmost/roll");
object_post((t_object *)x,"/hand/rightmost/palm/velocity/x");
object_post((t_object *)x,"/hand/rightmost/palm/velocity/y");
object_post((t_object *)x,"/hand/rightmost/palm/velocity/z");
object_post((t_object *)x,"/hand/rightmost/palm/sphere/center/x");
object_post((t_object *)x,"/hand/rightmost/palm/sphere/center/y");
object_post((t_object *)x,"/hand/rightmost/palm/sphere/center/z");
object_post((t_object *)x,"/hand/rightmost/palm/sphere/radius");
object_post((t_object *)x,"/hand/rightmost/palm/normal/x");
object_post((t_object *)x,"/hand/rightmost/palm/normal/y");
object_post((t_object *)x,"/hand/rightmost/palm/normal/z");
object_post((t_object *)x,"/hand/rightmost/distance/from/leftmost");
object_post((t_object *)x,"/hand/rightmost/finger/$i/hand_id");
object_post((t_object *)x,"/hand/rightmost/finger/$i/finger_id");
object_post((t_object *)x,"/hand/rightmost/finger/$i/position/x");
object_post((t_object *)x,"/hand/rightmost/finger/$i/position/y");
object_post((t_object *)x,"/hand/rightmost/finger/$i/position/z");
object_post((t_object *)x,"/hand/rightmost/finger/$i/direction/x");
object_post((t_object *)x,"/hand/rightmost/finger/$i/direction/y");
object_post((t_object *)x,"/hand/rightmost/finger/$i/direction/z");
object_post((t_object *)x,"/hand/rightmost/finger/$i/velocity/x");
object_post((t_object *)x,"/hand/rightmost/finger/$i/velocity/y");
object_post((t_object *)x,"/hand/rightmost/finger/$i/velocity/z");
object_post((t_object *)x,"/hand/rightmost/finger/$i/direction/normalized/x");
object_post((t_object *)x,"/hand/rightmost/finger/$i/direction/normalized/y");
object_post((t_object *)x,"/hand/rightmost/finger/$i/direction/normalized/z");
object_post((t_object *)x,"/hand/rightmost/finger/$i/pitch/normalized/");
object_post((t_object *)x,"/hand/rightmost/finger/$i/yaw/normalized/");
object_post((t_object *)x,"/hand/rightmost/finger/$i/roll/normalized/");
object_post((t_object *)x,"/hand/rightmost/finger/$i/width");
object_post((t_object *)x,"/hand/rightmost/finger/$i/length");
object_post((t_object *)x,"/hand/rightmost/isTool");
object_post((t_object *)x,"/hand/rightmost/finger/$i/distance/to/finger/$i");
object_post((t_object *)x,"/hand/rightmost/finger/$i/angle/to/finger/$i");
object_post((t_object *)x,"/hand/$i/id");
object_post((t_object *)x,"/hand/$i/fingers");
object_post((t_object *)x,"/hand/$i/pitch");
object_post((t_object *)x,"/hand/$i/yaw");
object_post((t_object *)x,"/hand/$i/roll");
object_post((t_object *)x,"/hand/$i/finger/$i/hand_id");
object_post((t_object *)x,"/hand/$i/finger/$i/finger_id");
object_post((t_object *)x,"/hand/$i/finger/$i/position/x");
object_post((t_object *)x,"/hand/$i/finger/$i/position/y");
object_post((t_object *)x,"/hand/$i/finger/$i/position/z");
object_post((t_object *)x,"/hand/$i/finger/$i/direction/x");
object_post((t_object *)x,"/hand/$i/finger/$i/direction/y");
object_post((t_object *)x,"/hand/$i/finger/$i/direction/z");
object_post((t_object *)x,"/hand/$i/finger/$i/velocity/x");
object_post((t_object *)x,"/hand/$i/finger/$i/velocity/y");
object_post((t_object *)x,"/hand/$i/finger/$i/velocity/z");
object_post((t_object *)x,"/hand/$i/finger/$i/width");
object_post((t_object *)x,"/hand/$i/finger/$i/length");
object_post((t_object *)x,"/hand/$i/tool");
object_post((t_object *)x,"/hand/$i/palm/hand_id");
object_post((t_object *)x,"/hand/$i/palm/frame_id");
object_post((t_object *)x,"/hand/$i/palm/position/x");
object_post((t_object *)x,"/hand/$i/palm/position/y");
object_post((t_object *)x,"/hand/$i/palm/position/z");
object_post((t_object *)x,"/hand/$i/palm/direction/x");
object_post((t_object *)x,"/hand/$i/palm/direction/y");
object_post((t_object *)x,"/hand/$i/palm/direction/z");
object_post((t_object *)x,"/hand/$i/palm/velocity/x");
object_post((t_object *)x,"/hand/$i/palm/velocity/x");
object_post((t_object *)x,"/hand/$i/palm/velocity/z");
object_post((t_object *)x,"/hand/$i/palm/normal/x");
object_post((t_object *)x,"/hand/$i/palm/normal/y");
object_post((t_object *)x,"/hand/$i/palm/normal/z");
object_post((t_object *)x,"/hand/$i/sphere/id");
object_post((t_object *)x,"/hand/$i/sphere/frame_id");
object_post((t_object *)x,"/hand/$i/sphere/center/x");
object_post((t_object *)x,"/hand/$i/sphere/center/y");
object_post((t_object *)x,"/hand/$i/sphere/center/z");
object_post((t_object *)x,"/hand/$i/sphere/radius");
object_post((t_object *)x,"/hand/$i/pointable/$i/id");
object_post((t_object *)x,"/hand/$i/pointable/$i/length");
object_post((t_object *)x,"/hand/$i/pointable/$i/width");
object_post((t_object *)x,"/hand/$i/pointable/$i/direction/x");
object_post((t_object *)x,"/hand/$i/pointable/$i/direction/y");
object_post((t_object *)x,"/hand/$i/pointable/$i/direction/z");
object_post((t_object *)x,"/hand/$i/pointable/$i/isFinger");
object_post((t_object *)x,"/hand/$i/pointable/$i/isTool");
object_post((t_object *)x,"/hand/$i/pointable/$i/position/tip/x");
object_post((t_object *)x,"/hand/$i/pointable/$i/position/tip/y");
object_post((t_object *)x,"/hand/$i/pointable/$i/position/tip/z");
object_post((t_object *)x,"/hand/$i/pointable/$i/velocity/tip/x");
object_post((t_object *)x,"/hand/$i/pointable/$i/velocity/tip/y");
object_post((t_object *)x,"/hand/$i/pointable/$i/velocity/tip/z");
object_post((t_object *)x,"/hand/$i/pointable/$i/position/stabilized/x");
object_post((t_object *)x,"/hand/$i/pointable/$i/position/stabilized/y");
object_post((t_object *)x,"/hand/$i/pointable/$i/position/stabilized/z");
object_post((t_object *)x,"/hand/$i/pointable/$i/touchZone/distance");
object_post((t_object *)x,"/hand/$i/pointable/$i/touchZone");
object_post((t_object *)x,"/hand/$i/pointable/$i/touchZone/touching");
object_post((t_object *)x,"/hand/$i/pointable/$i/touchZone/hovering");
object_post((t_object *)x,"/hand/$i/interactionBox/depth");
object_post((t_object *)x,"/hand/$i/interactionBox/center/x");
object_post((t_object *)x,"/hand/$i/interactionBox/center/y");
object_post((t_object *)x,"/hand/$i/interactionBox/center/z");
object_post((t_object *)x,"/hand/$i/interactionBox/position/normalized/x");
object_post((t_object *)x,"/hand/$i/interactionBox/position/normalized/y");
object_post((t_object *)x,"/hand/$i/interactionBox/position/normalized/z");
object_post((t_object *)x,"/hand/$i/interactionBox/width");
object_post((t_object *)x,"/hand/$i/interactionBox/height");
}
void oleap_bang(t_oleap *x)
{
const Leap::Frame frame = x->leap->frame();
const int64_t frame_id = frame.id();
Leap::Controller controller;
// ignore the same frame
if (frame_id == x->frame_id_save) return;
x->frame_id_save = frame_id;
//outlet_anything(x->outlet, gensym("frame_start"), 0, nil);
char buff[128];
const Leap::HandList hands = frame.hands();
const size_t numHands = hands.count();
const Leap::Hand leftmost = hands.leftmost();
const Leap::Hand rightmost = hands.rightmost();
t_osc_bundle_u *bundle = osc_bundle_u_alloc();//alloc creates memory for and initializes the bundle
controller.enableGesture(Leap::Gesture::TYPE_CIRCLE);
controller.enableGesture(Leap::Gesture::TYPE_KEY_TAP);
controller.enableGesture(Leap::Gesture::TYPE_SCREEN_TAP);
controller.enableGesture(Leap::Gesture::TYPE_SWIPE);
// Get gestures
const Leap::GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Leap::Gesture gesture = gestures[g];
switch (gesture.type()) {
case Leap::Gesture::TYPE_CIRCLE:
{
Leap::CircleGesture circle = gesture;
std::string clockwiseness;
sprintf(buff,"/gesture/circle/center/x");
oleap_bundleMessage(bundle,buff,circle.center().x);
sprintf(buff,"/gesture/circle/center/y");
oleap_bundleMessage(bundle,buff,circle.center().y);
sprintf(buff,"/gesture/circle/center/z");
oleap_bundleMessage(bundle,buff,circle.center().z);
sprintf(buff,"/gesture/circle/pitch");
oleap_bundleMessage(bundle,buff,circle.center().pitch());
sprintf(buff,"/gesture/circle/yaw");
oleap_bundleMessage(bundle,buff,circle.center().yaw());
sprintf(buff,"/gesture/circle/roll");
oleap_bundleMessage(bundle,buff,circle.center().roll());
sprintf(buff,"/gesture/circle/radius");
oleap_bundleMessage(bundle,buff,circle.radius());
sprintf(buff,"/gesture/circle/duration");
oleap_bundleMessage(bundle,buff,circle.duration());
if (circle.pointable().direction().angleTo(circle.normal()) <= Leap::PI/4) {
clockwiseness = "clockwise";
sprintf(buff,"/gesture/circle/clockwiseness/");
oleap_bundleMessage(bundle,buff,1);
} else {
clockwiseness = "counterclockwise";
sprintf(buff,"/gesture/circle/clockwiseness/");
oleap_bundleMessage(bundle,buff,-1);
}
// Calculate angle swept since last frame
float sweptAngle = 0;
if (circle.state() != Leap::Gesture::STATE_START) {
Leap::CircleGesture previousUpdate = Leap::CircleGesture(controller.frame(1).gesture(circle.id()));
sweptAngle = (circle.progress() - previousUpdate.progress()) * 2 * Leap::PI;
sprintf(buff,"/gesture/circle/angle/sweep");
oleap_bundleMessage(bundle,buff,sweptAngle);
}
}
case Leap::Gesture::TYPE_SWIPE:
{
Leap::SwipeGesture swipe = gesture;
int swipe_id = gesture.id();
int gesture_state = gesture.state();
Leap::Vector swipe_direction = swipe.direction();
float swipe_speed = swipe.speed();
////////////////////////////////Swipe data
sprintf(buff,"/gesture/swipe/direction/x");
oleap_bundleMessage(bundle,buff,swipe_direction.x);
sprintf(buff,"/gesture/swipe/direction/x");
oleap_bundleMessage(bundle,buff,swipe_direction.y);
sprintf(buff,"/gesture/swipe/direction/x");
oleap_bundleMessage(bundle,buff,swipe_direction.z);
sprintf(buff,"/gesture/swipe/position/x");
oleap_bundleMessage(bundle,buff,swipe.position().x);
sprintf(buff,"/gesture/swipe/position/y");
oleap_bundleMessage(bundle,buff,swipe.position().y);
sprintf(buff,"/gesture/swipe/position/z");
oleap_bundleMessage(bundle,buff,swipe.position().z);
sprintf(buff,"/gesture/swipe/pitch");
oleap_bundleMessage(bundle,buff,swipe.position().pitch());
sprintf(buff,"/gesture/swipe/yaw");
oleap_bundleMessage(bundle,buff,swipe.position().yaw());
sprintf(buff,"/gesture/swipe/roll");
oleap_bundleMessage(bundle,buff,swipe.position().roll());
sprintf(buff,"/gesture/swipe/position/start/x");
oleap_bundleMessage(bundle,buff,swipe.startPosition().x);
sprintf(buff,"/gesture/swipe/position/start/y");
oleap_bundleMessage(bundle,buff,swipe.startPosition().y);
sprintf(buff,"/gesture/swipe/position/start/z");
oleap_bundleMessage(bundle,buff,swipe.startPosition().z);
sprintf(buff,"/gesture/swipe/speed");
oleap_bundleMessage(bundle,buff,swipe_speed);
sprintf(buff,"/gesture/swipe/duration");
oleap_bundleMessage(bundle,buff,swipe.duration());
}
case Leap::Gesture::TYPE_KEY_TAP:
{
Leap::KeyTapGesture tap = gesture;
int tap_id = gesture.id();
int tap_state = gesture.state();
Leap::Vector tap_position = tap.position();
Leap::Vector tap_direction = tap.direction();
////////////////////////////////Key tap data
sprintf(buff,"/gesture/tap/down/position/x");
oleap_bundleMessage(bundle,buff,tap_position.x);
sprintf(buff,"/gesture/tap/down/position/y");
oleap_bundleMessage(bundle,buff,tap_position.y);
sprintf(buff,"/gesture/tap/down/position/z");
oleap_bundleMessage(bundle,buff,tap_position.z);
sprintf(buff,"/gesture/tap/down/direction/x");
oleap_bundleMessage(bundle,buff,tap_direction.x);
sprintf(buff,"/gesture/tap/down/direction/y");
oleap_bundleMessage(bundle,buff,tap_direction.y);
sprintf(buff,"/gesture/tap/down/direction/z");
oleap_bundleMessage(bundle,buff,tap_direction.z);
sprintf(buff,"/gesture/tap/down/duration");
oleap_bundleMessage(bundle,buff,tap.duration());
}
case Leap::Gesture::TYPE_SCREEN_TAP:
{
Leap::ScreenTapGesture screentap = gesture;
int screen_tap_id = gesture.id();
int screen_tap_state = gesture.state();
Leap::Vector screentap_position = screentap.position();
Leap::Vector screentap_direction = screentap.direction();
////////////////////////////////Screen tap data
sprintf(buff,"/gesture/tap/forward/position/x");
oleap_bundleMessage(bundle,buff,screentap_position.x);
sprintf(buff,"/gesture/tap/forward/position/y");
oleap_bundleMessage(bundle,buff,screentap_position.y);
sprintf(buff,"/gesture/tap/forward/position/z");
oleap_bundleMessage(bundle,buff,screentap_position.z);
sprintf(buff,"/gesture/tap/forward/direction/x");
oleap_bundleMessage(bundle,buff,screentap_direction.x);
sprintf(buff,"/gesture/tap/forward/direction/y");
oleap_bundleMessage(bundle,buff,screentap_direction.y);
sprintf(buff,"/gesture/tap/forward/direction/z");
oleap_bundleMessage(bundle,buff,screentap_direction.z);
sprintf(buff,"/gesture/tap/forward/duration");
oleap_bundleMessage(bundle,buff,screentap.duration());
}
default:
break;
}
}
sprintf(buff,"/timeStamp");
oleap_bundleMessage(bundle,buff,frame.timestamp());
sprintf(buff,"/Hands");
oleap_bundleMessage(bundle,buff,numHands);
sprintf(buff,"/hand/leftmost/id");
oleap_bundleMessage(bundle,buff,leftmost.id());
sprintf(buff,"/hand/leftmost/palm/positiony/x");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().x);
sprintf(buff,"/hand/leftmost/palm/positiony/y");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().y);
sprintf(buff,"/hand/leftmost/palm/positiony/z");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().z);
sprintf(buff,"/hand/leftmost/direction/x");
oleap_bundleMessage(bundle,buff,leftmost.direction().x);
sprintf(buff,"/hand/leftmost/direction/y");
oleap_bundleMessage(bundle,buff,leftmost.direction().y);
sprintf(buff,"/hand/leftmost/direction/z");
oleap_bundleMessage(bundle,buff,leftmost.direction().z);
sprintf(buff,"/hand/leftmost/pitch");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().pitch());
sprintf(buff,"/hand/leftmost/yaw");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().yaw());
sprintf(buff,"/hand/leftmost/roll");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().roll());
sprintf(buff,"/hand/leftmost/palm/velocity/x");
oleap_bundleMessage(bundle,buff,leftmost.palmVelocity().x);
sprintf(buff,"/hand/leftmost/palm/velocity/y");
oleap_bundleMessage(bundle,buff,leftmost.palmVelocity().y);
sprintf(buff,"/hand/leftmost/palm/velocity/z");
oleap_bundleMessage(bundle,buff,leftmost.palmVelocity().z);
sprintf(buff,"/hand/leftmost/palm/sphere/center/x");
oleap_bundleMessage(bundle,buff,leftmost.sphereCenter().x);
sprintf(buff,"/hand/leftmost/palm/sphere/center/y");
oleap_bundleMessage(bundle,buff,leftmost.sphereCenter().y);
sprintf(buff,"/hand/leftmost/palm/sphere/center/z");
oleap_bundleMessage(bundle,buff,leftmost.sphereCenter().z);
sprintf(buff,"/hand/leftmost/palm/sphere/radius");
oleap_bundleMessage(bundle,buff,leftmost.sphereRadius());
sprintf(buff,"/hand/leftmost/palm/normal/x");
oleap_bundleMessage(bundle,buff,leftmost.palmNormal().x);
sprintf(buff,"/hand/leftmost/palm/normal/y");
oleap_bundleMessage(bundle,buff,leftmost.palmNormal().y);
sprintf(buff,"/hand/leftmost/palm/normal/z");
oleap_bundleMessage(bundle,buff,leftmost.palmNormal().z);
sprintf(buff,"/hand/leftmost/distance/from/rightmost");
oleap_bundleMessage(bundle,buff,leftmost.palmPosition().angleTo(rightmost.palmPosition()));
const Leap::FingerList &fingers = leftmost.fingers();
const size_t numFingers = fingers.count();
for(size_t j = 0; j < numFingers; j++)
{
const Leap::Finger &finger = fingers[j];
const int32_t finger_id = finger.id();
//const Leap::Ray& tip = finger.tip();
const Leap::Vector direction = finger.direction();
const Leap::Vector position = finger.tipPosition();
const Leap::Vector velocity = finger.tipVelocity();
const double width = finger.width();
const double length = finger.length();
const bool isTool = finger.isTool();
sprintf(buff,"/hand/leftmost/finger/%d/hand_id",j+1);
oleap_bundleMessage(bundle,buff,leftmost.id());
sprintf(buff,"/hand/leftmost/finger/%d/finger_id",j+1);
oleap_bundleMessage(bundle,buff,finger.id());
sprintf(buff,"/hand/leftmost/finger/%d/position/x",j+1);
oleap_bundleMessage(bundle,buff,position.x);
sprintf(buff,"/hand/leftmost/finger/%d/position/y",j+1);
oleap_bundleMessage(bundle,buff,position.y);
sprintf(buff,"/hand/leftmost/finger/%d/position/z",j+1);
oleap_bundleMessage(bundle,buff,position.z);
sprintf(buff,"/hand/leftmost/finger/%d/direction/x",j+1);
oleap_bundleMessage(bundle,buff,direction.x);
sprintf(buff,"/hand/leftmost/finger/%d/direction/y",j+1);
oleap_bundleMessage(bundle,buff,direction.y);
sprintf(buff,"/hand/leftmost/finger/%d/direction/z",j+1);
oleap_bundleMessage(bundle,buff,direction.z);
sprintf(buff,"/hand/leftmost/finger/%d/velocity/x",j+1);
oleap_bundleMessage(bundle,buff,velocity.x);
sprintf(buff,"/hand/leftmost/finger/%d/velocity/y",j+1);
oleap_bundleMessage(bundle,buff,velocity.y);
sprintf(buff,"/hand/leftmost/finger/%d/velocity/z",j+1);
oleap_bundleMessage(bundle,buff,velocity.z);
sprintf(buff,"/hand/leftmost/finger/%d/direction/normalized/x",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().x);
sprintf(buff,"/hand/leftmost/finger/%d/direction/normalized/y",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().y);
sprintf(buff,"/hand/leftmost/finger/%d/direction/normalized/z",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().z);
sprintf(buff,"/hand/leftmost/finger/%d/pitch/normalized/",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().pitch());
sprintf(buff,"/hand/leftmost/finger/%d/yaw/normalized/",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().yaw());
sprintf(buff,"/hand/leftmost/finger/%d/roll/normalized/",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().roll());
sprintf(buff,"/hand/leftmost/finger/%d/width",j+1);
oleap_bundleMessage(bundle,buff,width);
sprintf(buff,"/hand/leftmost/finger/%d/length",j+1);
oleap_bundleMessage(bundle,buff,length);
sprintf(buff,"/hand/leftmost/isTool",j+1);
oleap_bundleMessage(bundle,buff,isTool);
for(size_t i = j+1; i < numFingers; i++)
{
sprintf(buff,"/hand/leftmost/finger/%d/distance/to/finger/%d",j+1,i+1);
oleap_bundleMessage(bundle,buff,fingers[j].direction().distanceTo(fingers[i].direction()));
sprintf(buff,"/hand/leftmost/finger/%d/angle/to/finger/%d",j+1,i+1);
oleap_bundleMessage(bundle,buff,fingers[j].direction().angleTo((fingers[i].direction())));
}
}
sprintf(buff,"/hand/rightmost/id");
oleap_bundleMessage(bundle,buff,rightmost.id());
sprintf(buff,"/hand/rightmost/palm/positiony/x");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().x);
sprintf(buff,"/hand/rightmost/palm/positiony/y");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().y);
sprintf(buff,"/hand/rightmost/palm/positiony/z");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().z);
sprintf(buff,"/hand/rightmost/direction/x");
oleap_bundleMessage(bundle,buff,rightmost.direction().x);
sprintf(buff,"/hand/rightmost/direction/y");
oleap_bundleMessage(bundle,buff,rightmost.direction().y);
sprintf(buff,"/hand/rightmost/direction/z");
oleap_bundleMessage(bundle,buff,rightmost.direction().z);
sprintf(buff,"/hand/rightmost/pitch");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().pitch());
sprintf(buff,"/hand/rightmost/yaw");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().yaw());
sprintf(buff,"/hand/rightmost/roll");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().roll());
sprintf(buff,"/hand/rightmost/palm/velocity/x");
oleap_bundleMessage(bundle,buff,rightmost.palmVelocity().x);
sprintf(buff,"/hand/rightmost/palm/velocity/y");
oleap_bundleMessage(bundle,buff,rightmost.palmVelocity().y);
sprintf(buff,"/hand/rightmost/palm/velocity/z");
oleap_bundleMessage(bundle,buff,rightmost.palmVelocity().z);
sprintf(buff,"/hand/rightmost/palm/sphere/center/x");
oleap_bundleMessage(bundle,buff,rightmost.sphereCenter().x);
sprintf(buff,"/hand/rightmost/palm/sphere/center/y");
oleap_bundleMessage(bundle,buff,rightmost.sphereCenter().y);
sprintf(buff,"/hand/rightmost/palm/sphere/center/z");
oleap_bundleMessage(bundle,buff,rightmost.sphereCenter().z);
sprintf(buff,"/hand/rightmost/palm/sphere/radius");
oleap_bundleMessage(bundle,buff,rightmost.sphereRadius());
sprintf(buff,"/hand/rightmost/palm/normal/x");
oleap_bundleMessage(bundle,buff,rightmost.palmNormal().x);
sprintf(buff,"/hand/rightmost/palm/normal/y");
oleap_bundleMessage(bundle,buff,rightmost.palmNormal().y);
sprintf(buff,"/hand/rightmost/palm/normal/z");
oleap_bundleMessage(bundle,buff,rightmost.palmNormal().z);
sprintf(buff,"/hand/rightmost/distance/from/leftmost");
oleap_bundleMessage(bundle,buff,rightmost.palmPosition().angleTo(leftmost.palmPosition()));
const Leap::FingerList &rightMostfingers = rightmost.fingers();
const size_t rightMostnNumFingers = fingers.count();
for(size_t j = 0; j < rightMostnNumFingers; j++)
{
const Leap::Finger &finger = rightMostfingers[j];
const int32_t finger_id = finger.id();
//const Leap::Ray& tip = finger.tip();
const Leap::Vector direction = finger.direction();
const Leap::Vector position = finger.tipPosition();
const Leap::Vector velocity = finger.tipVelocity();
const double width = finger.width();
const double length = finger.length();
const bool isTool = finger.isTool();
sprintf(buff,"/hand/rightmost/finger/%d/hand_id",j+1);
oleap_bundleMessage(bundle,buff,rightmost.id());
sprintf(buff,"/hand/rightmost/finger/%d/finger_id",j+1);
oleap_bundleMessage(bundle,buff,finger.id());
sprintf(buff,"/hand/rightmost/finger/%d/position/x",j+1);
oleap_bundleMessage(bundle,buff,position.x);
sprintf(buff,"/hand/rightmost/finger/%d/position/y",j+1);
oleap_bundleMessage(bundle,buff,position.y);
sprintf(buff,"/hand/rightmost/finger/%d/position/z",j+1);
oleap_bundleMessage(bundle,buff,position.z);
sprintf(buff,"/hand/rightmost/finger/%d/direction/x",j+1);
oleap_bundleMessage(bundle,buff,direction.x);
sprintf(buff,"/hand/rightmost/finger/%d/direction/y",j+1);
oleap_bundleMessage(bundle,buff,direction.y);
sprintf(buff,"/hand/rightmost/finger/%d/direction/z",j+1);
oleap_bundleMessage(bundle,buff,direction.z);
sprintf(buff,"/hand/rightmost/finger/%d/velocity/x",j+1);
oleap_bundleMessage(bundle,buff,velocity.x);
sprintf(buff,"/hand/rightmost/finger/%d/velocity/y",j+1);
oleap_bundleMessage(bundle,buff,velocity.y);
sprintf(buff,"/hand/rightmost/finger/%d/velocity/z",j+1);
oleap_bundleMessage(bundle,buff,velocity.z);
sprintf(buff,"/hand/rightmost/finger/%d/direction/normalized/x",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().x);
sprintf(buff,"/hand/rightmost/finger/%d/direction/normalized/y",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().y);
sprintf(buff,"/hand/rightmost/finger/%d/direction/normalized/z",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().z);
sprintf(buff,"/hand/rightmost/finger/%d/pitch/normalized/",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().pitch());
sprintf(buff,"/hand/rightmost/finger/%d/yaw/normalized/",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().yaw());
sprintf(buff,"/hand/rightmost/finger/%d/roll/normalized/",j+1);
oleap_bundleMessage(bundle,buff,direction.normalized().roll());
sprintf(buff,"/hand/rightmost/finger/%d/width",j+1);
oleap_bundleMessage(bundle,buff,width);
sprintf(buff,"/hand/rightmost/finger/%d/length",j+1);
oleap_bundleMessage(bundle,buff,length);
sprintf(buff,"/hand/rightmost/isTool",j+1);
oleap_bundleMessage(bundle,buff,isTool);
for(size_t i = j+1; i < numFingers; i++)
{
sprintf(buff,"/hand/rightmost/finger/%d/distance/to/finger/%d",j+1,i+1);
oleap_bundleMessage(bundle,buff,fingers[j].direction().distanceTo(fingers[i].direction()));
sprintf(buff,"/hand/rightmost/finger/%d/angle/to/finger/%d",j+1,i+1);
oleap_bundleMessage(bundle,buff,fingers[j].direction().angleTo((fingers[i].direction())));
}
}
//////////////////////////
for(size_t i = 0; i < numHands; i++)
{
// Hand
const Leap::Hand &hand = hands[i];
const int32_t hand_id = hand.id();
const Leap::FingerList &fingers = hand.fingers();
const size_t numFingers = fingers.count();
float pitch = hand.direction().pitch();
float yaw = hand.direction().yaw();
float roll = hand.palmNormal().roll();
//Leap::Hand leftmost = ;
//t_osc_bundle_u *bundle, string address, float datum
sprintf(buff,"/hand/%d/id",i+1);
oleap_bundleMessage(bundle,buff,hand_id);
sprintf(buff,"/hand/%d/fingers",i+1);
oleap_bundleMessage(bundle,buff,numFingers);
sprintf(buff,"/hand/%d/pitch",i+1);
oleap_bundleMessage(bundle,buff,pitch);
sprintf(buff,"/hand/%d/yaw",i+1);
oleap_bundleMessage(bundle,buff,yaw);
sprintf(buff,"/hand/%d/roll",i+1);
oleap_bundleMessage(bundle,buff,roll);
for(size_t j = 0; j < numFingers; j++)
{
// Finger
const Leap::Finger &finger = fingers[j];
const int32_t finger_id = finger.id();
//const Leap::Ray& tip = finger.tip();
const Leap::Vector direction = finger.direction();
const Leap::Vector position = finger.tipPosition();
const Leap::Vector velocity = finger.tipVelocity();
const double width = finger.width();
const double length = finger.length();
const bool isTool = finger.isTool();
/*
string names [14]= {“xpos”,”ypos”,”zpos”,”xdir”,”ydir”,”zdir”,”xvel”,”yvel”,”zvel,finger_length”,”istool_mes”};
for(LOOP OVER FINGERS “J”)
{
t_osc_message_u *handdata[14];
for(int i=0;i<14;i++)
{
handdata[i]=osc_message_u_alloc();
osc_message_u_setAddress(handdata[i], “/”+j.toString()+ ”/” +names[i]);
}
}
*/
sprintf(buff,"/hand/%d/finger/%d/hand_id",i+1,j+1);
oleap_bundleMessage(bundle,buff,hand_id);
sprintf(buff,"/hand/%d/finger/%d/finger_id",i+1,j+1);
oleap_bundleMessage(bundle,buff,finger_id);
sprintf(buff,"/hand/%d/finger/%d/position/x",i+1,j+1);
oleap_bundleMessage(bundle,buff,position.x);
sprintf(buff,"/hand/%d/finger/%d/position/y",i+1,j+1);
oleap_bundleMessage(bundle,buff,position.y);
sprintf(buff,"/hand/%d/finger/%d/position/z",i+1,j+1);
oleap_bundleMessage(bundle,buff,position.z);
sprintf(buff,"/hand/%d/finger/%d/direction/x",i+1,j+1);
oleap_bundleMessage(bundle,buff,direction.x);
sprintf(buff,"/hand/%d/finger/%d/direction/y",i+1,j+1);
oleap_bundleMessage(bundle,buff,direction.y);
sprintf(buff,"/hand/%d/finger/%d/direction/z",i+1,j+1);
oleap_bundleMessage(bundle,buff,direction.z);
sprintf(buff,"/hand/%d/finger/%d/velocity/x",i+1,j+1);
oleap_bundleMessage(bundle,buff,velocity.x);
sprintf(buff,"/hand/%d/finger/%d/velocity/y",i+1,j+1);
oleap_bundleMessage(bundle,buff,velocity.y);
sprintf(buff,"/hand/%d/finger/%d/velocity/z",i+1,j+1);
oleap_bundleMessage(bundle,buff,velocity.z);
sprintf(buff,"/hand/%d/finger/%d/width",i+1,j+1);
oleap_bundleMessage(bundle,buff,width);
sprintf(buff,"/hand/%d/finger/%d/length",i+1,j+1);
oleap_bundleMessage(bundle,buff,length);
sprintf(buff,"/hand/%d/tool",i+1,j+1);
oleap_bundleMessage(bundle,buff,isTool);
}
const Leap::Vector position = hand.palmPosition();
const Leap::Vector direction = hand.direction();
const Leap::Vector velocity = hand.palmVelocity();
const Leap::Vector normal = hand.palmNormal();
const Leap::Vector sphereCenter = hand.sphereCenter();
const double sphereRadius = hand.sphereRadius();
///////////////////////////Palm Data!!!
sprintf(buff,"/hand/%d/palm/hand_id",i+1);
oleap_bundleMessage(bundle,buff,hand_id);
sprintf(buff,"/hand/%d/palm/frame_id",i+1);
oleap_bundleMessage(bundle,buff,frame_id);
sprintf(buff,"/hand/%d/palm/position/x",i+1);
oleap_bundleMessage(bundle,buff,position.x);
sprintf(buff,"/hand/%d/palm/position/y",i+1);
oleap_bundleMessage(bundle,buff,position.y);
sprintf(buff,"/hand/%d/palm/position/z",i+1);
oleap_bundleMessage(bundle,buff,position.z);
sprintf(buff,"/hand/%d/palm/direction/x",i+1);
oleap_bundleMessage(bundle,buff,direction.x);
sprintf(buff,"/hand/%d/palm/direction/y",i+1);
oleap_bundleMessage(bundle,buff,direction.y);
sprintf(buff,"/hand/%d/palm/direction/z",i+1);
oleap_bundleMessage(bundle,buff,direction.z);
sprintf(buff,"/hand/%d/palm/velocity/x",i+1);
oleap_bundleMessage(bundle,buff,velocity.x);
sprintf(buff,"/hand/%d/palm/velocity/x",i+1);
oleap_bundleMessage(bundle,buff,velocity.y);
sprintf(buff,"/hand/%d/palm/velocity/z",i+1);