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87 lines
2.1 KiB
C
87 lines
2.1 KiB
C
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// Copyright 2019-2020, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Wrapper around Mercury's parametric hand code, used by Index and OpenGloves to simulate hand tracking.
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* @author Christoph Haag <christoph.haag@collabora.com>
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* @ingroup aux_util
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*/
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#pragma once
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#include "xrt/xrt_defines.h"
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#include "util/u_misc.h"
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#include "util/u_hand_tracking.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*!
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* The hand tracking model being used.
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*
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* XRT_HAND_TRACKING_MODEL_INTRINSIC for devices that measure hand tracking through sensors, ie gloves and knuckles
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* XRT_HAND_TRACKING_MODEL_EXTRINSIC for devices that measure hand tracking through external factors like cameras
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*
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* @ingroup aux_util
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*/
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// enum u_hand_tracking_model
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// {
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// XRT_HAND_TRACKING_MODEL_INTRINSIC,
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// XRT_HAND_TRACKING_MODEL_EXTRINSIC,
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// };
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struct u_hand_sim_metacarpal
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{
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struct xrt_vec2 swing;
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float twist;
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};
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struct u_hand_sim_finger
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{
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struct u_hand_sim_metacarpal metacarpal;
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struct xrt_vec2 proximal_swing;
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// rotation at intermediate joint, then rotation at distal joint
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float rotations[2];
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};
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struct u_hand_sim_thumb
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{
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struct u_hand_sim_metacarpal metacarpal;
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float rotations[2];
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};
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struct u_hand_sim_hand
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{
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// Distance from wrist to middle-proximal.
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bool is_right;
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float hand_size;
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struct xrt_space_relation wrist_pose;
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struct xrt_space_relation hand_pose;
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struct u_hand_sim_thumb thumb;
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struct u_hand_sim_finger finger[4];
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};
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void
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u_hand_sim_simulate(struct u_hand_sim_hand *hand, struct xrt_hand_joint_set *out_set);
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void
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u_hand_sim_simulate_for_valve_index_knuckles(struct u_hand_tracking_curl_values *values,
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bool is_right,
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struct xrt_space_relation *root_pose,
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struct xrt_hand_joint_set *out_set);
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void
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u_hand_sim_simulate_generic(const struct u_hand_tracking_values *values,
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bool is_right,
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const struct xrt_space_relation *root_pose,
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struct xrt_hand_joint_set *out_set);
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#ifdef __cplusplus
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}
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#endif
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