1 /*
2     This file is part of Magnum.
3 
4     Original authors — credit is appreciated but not required:
5 
6         2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019 —
7             Vladimír Vondruš <mosra@centrum.cz>
8         2018 — Jonathan Hale <squareys@googlemail.com>
9 
10     This is free and unencumbered software released into the public domain.
11 
12     Anyone is free to copy, modify, publish, use, compile, sell, or distribute
13     this software, either in source code form or as a compiled binary, for any
14     purpose, commercial or non-commercial, and by any means.
15 
16     In jurisdictions that recognize copyright laws, the author or authors of
17     this software dedicate any and all copyright interest in the software to
18     the public domain. We make this dedication for the benefit of the public
19     at large and to the detriment of our heirs and successors. We intend this
20     dedication to be an overt act of relinquishment in perpetuity of all
21     present and future rights to this software under copyright law.
22 
23     THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
24     IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
25     FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
26     THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
27     IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
28     CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
29 */
30 
31 #include <Magnum/Magnum.h>
32 #include <Magnum/GL/Buffer.h>
33 #include <Magnum/GL/Context.h>
34 #include <Magnum/GL/DefaultFramebuffer.h>
35 #include <Magnum/GL/Framebuffer.h>
36 #include <Magnum/GL/Mesh.h>
37 #include <Magnum/GL/Renderer.h>
38 #include <Magnum/Math/Vector3.h>
39 #include <Magnum/MeshTools/CompressIndices.h>
40 #include <Magnum/MeshTools/Interleave.h>
41 #include <Magnum/Platform/Sdl2Application.h>
42 #include <Magnum/Primitives/Cylinder.h>
43 #include <Magnum/Primitives/UVSphere.h>
44 #include <Magnum/Shaders/Phong.h>
45 #include <Magnum/Trade/MeshData3D.h>
46 
47 #include <Leap.h>
48 
49 namespace Magnum { namespace Examples {
50 
51 using namespace Math::Literals;
52 
53 class LeapMotionExample: public Platform::Application {
54     public:
55         explicit LeapMotionExample(const Arguments& arguments);
56 
57     private:
58         void drawEvent() override;
59         void drawBone(const Leap::Bone& bone, bool start, bool end, const Color3& color);
60 
61         GL::Buffer _buffers[4];
62         GL::Mesh _cylinder{NoCreate};
63         GL::Mesh _sphere{NoCreate};
64 
65         Shaders::Phong _shader;
66 
67         const Matrix4 _projectionMatrix = Matrix4::perspectiveProjection(90.0_degf, 3.0f/2.0f, 0.01f, 25.0f);
68         const Matrix4 _viewMatrix = Matrix4::translation({0.0f, -3.0f, -5.0f});
69 
70         /* LeapMotion specific members */
71         Leap::Controller _controller;
72 };
73 
LeapMotionExample(const Arguments & arguments)74 LeapMotionExample::LeapMotionExample(const Arguments& arguments):
75     Platform::Application(arguments, Configuration{}.setTitle("Magnum Leap Motion Example"), GLConfiguration{}.setSampleCount(16))
76 {
77     /* To use LeapMotion with VR, you should set
78        _controller.setPolicy(Leap::Controller::PolicyFlag::POLICY_OPTIMIZE_HMD); */
79 
80     GL::Renderer::enable(GL::Renderer::Feature::DepthTest);
81 
82     /* As we sample the Leap controller every frame, enabling vsyc will cause more latency,
83        but seems to produce more stable results.
84        To reduce latency and fully utlize the ~115 fps hand tracking, disable vsync. */
85     setSwapInterval(1);
86 
87     Containers::Array<char> indexData;
88     MeshIndexType indexType;
89     UnsignedInt indexStart, indexEnd;
90     {
91         /* Setup cylinder mesh */
92         const Trade::MeshData3D cylinder = Primitives::cylinderSolid(2, 16, 0.5f);
93         _buffers[0].setData(MeshTools::interleave(cylinder.positions(0), cylinder.normals(0)), GL::BufferUsage::StaticDraw);
94 
95         std::tie(indexData, indexType, indexStart, indexEnd) = MeshTools::compressIndices(cylinder.indices());
96         _buffers[1].setData(indexData, GL::BufferUsage::StaticDraw);
97 
98         _cylinder = GL::Mesh{cylinder.primitive()};
99         _cylinder.setCount(cylinder.indices().size())
100                  .addVertexBuffer(_buffers[0], 0, Shaders::Phong::Position{}, Shaders::Phong::Normal{})
101                  .setIndexBuffer(_buffers[1], 0, indexType, indexStart, indexEnd);
102     }
103     {
104         /* Setup sphere mesh */
105         const Trade::MeshData3D sphere = Primitives::uvSphereSolid(16, 16);
106         _buffers[2].setData(MeshTools::interleave(sphere.positions(0), sphere.normals(0)), GL::BufferUsage::StaticDraw);
107 
108         std::tie(indexData, indexType, indexStart, indexEnd) = MeshTools::compressIndices(sphere.indices());
109         _buffers[3].setData(indexData, GL::BufferUsage::StaticDraw);
110 
111         _sphere = GL::Mesh{sphere.primitive()};
112         _sphere.setCount(sphere.indices().size())
113                .addVertexBuffer(_buffers[2], 0, Shaders::Phong::Position{}, Shaders::Phong::Normal{})
114                .setIndexBuffer(_buffers[3], 0, indexType, indexStart, indexEnd);
115     }
116 
117     /* Setup shader */
118     _shader.setSpecularColor(Color3(1.0f))
119            .setShininess(20)
120            .setLightPosition({0.0f, 5.0f, 5.0f});
121 }
122 
drawEvent()123 void LeapMotionExample::drawEvent() {
124     /* Poll leap controller */
125     GL::defaultFramebuffer.clear(GL::FramebufferClear::Color|GL::FramebufferClear::Depth);
126 
127     /* Render scene */
128     if(_controller.isConnected()) {
129         const Matrix4 viewProjMatrix = _projectionMatrix*_viewMatrix;
130         _shader.setProjectionMatrix(viewProjMatrix);
131 
132         Leap::Frame frame = _controller.frame();
133         for(const Leap::Hand& hand : frame.hands()) {
134             const Color3 handColor = hand.isRight() ? Color3{1.0f, 0.0f, 0.0f} : Color3{0.0f, 1.0f, 1.0f};
135 
136             for(const Leap::Finger& finger : hand.fingers()) {
137                 for(int b = 0; b < 4; ++b) {
138                     /* Leave out first bones of ring and middle finger, looks better */
139                     if(b == 0 && (finger.type() == Leap::Finger::Type::TYPE_MIDDLE || finger.type() == Leap::Finger::Type::TYPE_RING)) continue;
140 
141                     const auto& bone = finger.bone(Leap::Bone::Type(b));
142                     /* Only draw end on last bones */
143                     drawBone(bone, true, b == 3, handColor);
144                 }
145             }
146         }
147     }
148 
149     swapBuffers();
150     redraw();
151 }
152 
drawBone(const Leap::Bone & bone,bool start,bool end,const Color3 & color)153 void LeapMotionExample::drawBone(const Leap::Bone& bone, bool start, bool end, const Color3& color) {
154     const Vector3 boneCenter = 0.01f*Vector3::from(bone.center().toFloatPointer());
155     const Vector3 boneDirection = 0.01f*Vector3::from(bone.direction().toFloatPointer());
156     const Float boneLength = 0.01f*bone.length();
157 
158     const Matrix4 rotX = Matrix4::rotationX(90.0_degf);
159     /* Draw cylinder */
160     {
161         const Matrix4 transformation = Matrix4::translation(boneCenter)*Matrix4::from(bone.basis().toArray4x4())*rotX*Matrix4::scaling({0.06f, boneLength, 0.06f});
162         _shader.setDiffuseColor(Color3{1.0f, 1.0f, 1.0f})
163                .setTransformationMatrix(transformation)
164                .setNormalMatrix(transformation.normalMatrix());
165         _cylinder.draw(_shader);
166     }
167 
168     /* Draw sphere at start of the bone */
169     if(start) {
170         const Vector3 prevJoint = 0.01f*Vector3::from(bone.prevJoint().toFloatPointer());
171         const Matrix4 transformation = Matrix4::translation(prevJoint)*rotX*Matrix4::scaling(Vector3{0.08f});
172         _shader.setDiffuseColor(color)
173                .setTransformationMatrix(transformation)
174                .setNormalMatrix(transformation.normalMatrix());
175         _sphere.draw(_shader);
176     }
177 
178     /* Draw sphere at end of the bone */
179     if(end) {
180         const Vector3 nextJoint = 0.01f*Vector3::from(bone.nextJoint().toFloatPointer());
181         const Matrix4 transformation = Matrix4::translation(nextJoint)*rotX*Matrix4::scaling(Vector3{0.08f});
182         _shader.setDiffuseColor(color)
183                .setTransformationMatrix(transformation)
184                .setNormalMatrix(transformation.normalMatrix());
185         _sphere.draw(_shader);
186     }
187 }
188 
189 }}
190 
191 MAGNUM_APPLICATION_MAIN(Magnum::Examples::LeapMotionExample)
192