/******************************************************************************\
* Copyright (C) 2012-2016 Leap Motion, Inc. All rights reserved. *
* Leap Motion proprietary and confidential. Not for distribution. *
* Use subject to the terms of the Leap Motion SDK Agreement available at *
* https://developer.leapmotion.com/sdk_agreement, or another agreement *
* between Leap Motion and you, your company or other organization. *
\******************************************************************************/
namespace Leap
{
using System;
using System.Collections.Generic;
using System.Runtime.InteropServices;
/**
* The Bone class represents a tracked bone.
*
* All fingers contain 4 bones that make up the anatomy of the finger.
* Get valid Bone objects from a Finger object.
*
* Bones are ordered from base to tip, indexed from 0 to 3. Additionally, the
* bone's Type enum may be used to index a specific bone anatomically.
*
* \include Bone_iteration.txt
*
* The thumb does not have a base metacarpal bone and therefore contains a valid,
* zero length bone at that location.
* @since 2.0
*/
[Serializable]
public class Bone
{
/**
* Constructs a default Bone object.
*
* @since 2.0
*/
public Bone()
{
Type = BoneType.TYPE_INVALID;
}
/**
* Constructs a new Bone object.
*
* @param prevJoint The proximal end of the bone (closest to the body)
* @param nextJoint The distal end of the bone (furthest from the body)
* @param center The midpoint of the bone
* @param direction The unit direction vector pointing from prevJoint to nextJoint.
* @param length The estimated length of the bone.
* @param width The estimated average width of the bone.
* @param type The type of finger bone.
* @param basis The matrix representing the orientation of the bone.
* @since 3.0
*/
public Bone(Vector prevJoint,
Vector nextJoint,
Vector center,
Vector direction,
float length,
float width,
Bone.BoneType type,
LeapQuaternion rotation)
{
PrevJoint = prevJoint;
NextJoint = nextJoint;
Center = center;
Direction = direction;
Rotation = rotation;
Length = length;
Width = width;
Type = type;
}
/**
* Compare Bone object equality.
*
* Two Bone objects are equal if and only if both Bone objects represent the
* exact same physical bone in the same frame and both Bone objects are valid.
* @since 2.0
*/
public bool Equals(Bone other)
{
return Center == other.Center && Direction == other.Direction && Length == other.Length;
}
/**
* A string containing a brief, human readable description of the Bone object.
*
* \include Bone_toString.txt
*
* @returns A description of the Bone object as a string.
* @since 2.0
*/
public override string ToString()
{
return Enum.GetName(typeof(BoneType), this.Type) + " bone";
}
/**
* The base of the bone, closest to the wrist.
*
* In anatomical terms, this is the proximal end of the bone.
* \include Bone_prevJoint.txt
*
* @returns The Vector containing the coordinates of the previous joint position.
* @since 2.0
*/
public Vector PrevJoint;
/**
* The end of the bone, closest to the finger tip.
*
* In anatomical terms, this is the distal end of the bone.
*
* \include Bone_nextJoint.txt
*
* @returns The Vector containing the coordinates of the next joint position.
* @since 2.0
*/
public Vector NextJoint;
/**
* The midpoint of the bone.
*
* \include Bone_center.txt
*
* @returns The midpoint in the center of the bone.
* @since 2.0
*/
public Vector Center;
/**
* The normalized direction of the bone from base to tip.
*
* \include Bone_direction.txt
*
* @returns The normalized direction of the bone from base to tip.
* @since 2.0
*/
public Vector Direction;
/**
* The estimated length of the bone in millimeters.
*
* \include Bone_length.txt
*
* @returns The length of the bone in millimeters.
* @since 2.0
*/
public float Length;
/**
* The average width of the flesh around the bone in millimeters.
*
* \include Bone_width.txt
*
* @returns The width of the flesh around the bone in millimeters.
* @since 2.0
*/
public float Width;
/**
* The name of this bone.
*
* \include Bone_type.txt
*
* @returns The anatomical type of this bone as a member of the Bone::Type
* enumeration.
* @since 2.0
*/
public Bone.BoneType Type;
/**
* The orientation of this Bone as a Quaternion.
*
* @returns The Quaternion.
* @since 2.0
*/
public LeapQuaternion Rotation;
/**
* The orthonormal basis vectors for this Bone as a Matrix.
* The orientation of this Bone as a Quaternion.
*
* Basis vectors specify the orientation of a bone.
*
* **xBasis** Perpendicular to the longitudinal axis of the
* bone; exits the sides of the finger.
*
* **yBasis or up vector** Perpendicular to the longitudinal
* axis of the bone; exits the top and bottom of the finger. More positive
* in the upward direction.
*
* **zBasis** Aligned with the longitudinal axis of the bone.
* More positive toward the base of the finger.
*
* The bases provided for the right hand use the right-hand rule; those for
* the left hand use the left-hand rule. Thus, the positive direction of the
* x-basis is to the right for the right hand and to the left for the left
* hand. You can change from right-hand to left-hand rule by multiplying the
* z basis vector by -1.
*
* You can use the basis vectors for such purposes as measuring complex
* finger poses and skeletal animation.
*
* Note that converting the basis vectors directly into a quaternion
* representation is not mathematically valid. If you use quaternions,
* create them from the derived rotation matrix not directly from the bases.
*
* \include Bone_basis.txt
*
* @returns The basis of the bone as a matrix.
* @returns The Quaternion.
* @since 2.0
*/
public LeapTransform Basis { get { return new LeapTransform(PrevJoint, Rotation); } }
/**
* Enumerates the names of the bones.
*
* Members of this enumeration are returned by Bone::type() to identify a
* Bone object.
* @since 2.0
*/
public enum BoneType
{
TYPE_INVALID = -1,
TYPE_METACARPAL = 0,
TYPE_PROXIMAL = 1,
TYPE_INTERMEDIATE = 2,
TYPE_DISTAL = 3
}
}
}
Datasets
Models
