private constructor(
data: HandData
) {
this.armBasis = data.armBasis.map(basis => vec3.fromValues(...basis)) as Triple<vec3>;
this.armWidth = data.armWidth;
this.confidence = data.confidence;
this.direction = vec3.fromValues(...data.direction);
this.elbow = vec3.fromValues(...data.elbow);
this.grabStrength = data.grabStrength;
this.id = data.id;
this.palmNormal = vec3.fromValues(...data.palmNormal);
this.palmPosition = vec3.fromValues(...data.palmPosition);
this.palmVelocity = vec3.fromValues(...data.palmVelocity);
this.palmWidth = data.palmWidth;
this.pinchStrength = data.pinchStrength;
this.r = mat3.fromValues(
data.r[0][0], data.r[0][1], data.r[0][2],
data.r[1][0], data.r[1][1], data.r[1][2],
data.r[2][0], data.r[2][1], data.r[2][2]
);
this.s = data.s;
this.sphereCenter = vec3.fromValues(...data.sphereCenter);
this.sphereRadius = data.sphereRadius;
this.stabilizedPalmPosition = vec3.fromValues(...data.stabilizedPalmPosition);
this.t = vec3.fromValues(...data.t);
this.timeVisible = data.timeVisible;
this.type = data.type;
this.wrist = vec3.fromValues(...data.wrist);
this.pointables = [];
this.fingers = {};
this.arm = new Bone(
BoneType.arm,
this.armBasis,
this.elbow,
this.wrist,
this.armWidth
);
this.pitch = Math.atan2(this.direction[1], -this.direction[2]);
this.yaw = Math.atan2(this.direction[0], -this.direction[2]);
this.roll = Math.atan2(this.palmNormal[0], -this.palmNormal[1]);
}
constructor(
readonly type: BoneType,
readonly basis: Triple<vec3>,
readonly prevJoint: vec3,
readonly nextJoint: vec3,
readonly width: number
) {
const difference = vec3.subtract(vec3.create(), this.nextJoint, this.prevJoint);
this.length = vec3.length(difference);
this.basisMatrix = mat3.fromValues(
this.basis[0][0], this.basis[0][1], this.basis[0][2],
this.basis[1][0], this.basis[1][1], this.basis[1][2],
this.basis[2][0], this.basis[2][1], this.basis[2][2]
);
this.left = mat3.determinant(this.basisMatrix) < 0;
this.center = vec3.lerp(vec3.create(), this.prevJoint, this.nextJoint, 0.5);
this.direction = Bone.createBoneDirection(this.basisMatrix);
this.matrix = Bone.createBoneMatrix(this.basisMatrix, this.center, this.left);
}
var outBool: boolean; var outStr: string; let vecArray = new Float32Array([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]); let vec2A = vec2.fromValues(1, 2); let vec2B = vec2.fromValues(3, 4); let vec3A = vec3.fromValues(1, 2, 3); let vec3B = vec3.fromValues(3, 4, 5); let vec4A = vec4.fromValues(1, 2, 3, 4); let vec4B = vec4.fromValues(3, 4, 5, 6); let mat2A = mat2.fromValues(1, 2, 3, 4); let mat2B = mat2.fromValues(1, 2, 3, 4); let mat2dA = mat2d.fromValues(1, 2, 3, 4, 5, 6); let mat2dB = mat2d.fromValues(1, 2, 3, 4, 5, 6); let mat3A = mat3.fromValues(1, 2, 3, 4, 5, 6, 7, 8, 9); let mat3B = mat3.fromValues(1, 2, 3, 4, 5, 6, 7, 8, 9); let mat4A = mat4.fromValues(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16); let mat4B = mat4.fromValues(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16); let quatA = quat.fromValues(1, 2, 3, 4); let quatB = quat.fromValues(5, 6, 7, 8); let outVec2 = vec2.create(); let outVec3 = vec3.create(); let outVec4 = vec4.create(); let outMat2 = mat2.create(); let outMat2d = mat2d.create(); let outMat3 = mat3.create(); let outMat4 = mat4.create(); let outQuat = quat.create();
transformMapToSquare(...pos : [MapPos, SquarePos][]){
if(pos.length === 0) return;
if(pos.length === 1){
/*
squareToMap * squarePos = mapPos
[ s 0 x ] [s_x] [m_x]
[ 0 s y ] x [s_y] = [m_y]
[ 0 0 1 ] [ 1 ] [ 1 ]
m_x = s*s_x + x
m_y = s*s_y + y
x = m_x - s*s_x
y = m_y - s*s_y
1 > x > -1
1 > y > -1
*/
const s = this.squareToMapMatrix[0] //reuse existing scale
const x = pos[0][0][0] - s*pos[0][1][0];
const y = pos[0][0][1] - s*pos[0][1][1];
mat2d.set(this.squareToMapMatrix, s, 0, 0, s, minmax(-1, x, 1), minmax(-1, y, 1));
mat2d.invert(this.squareFromMapMatrix, this.squareToMapMatrix);
this.recalculate();
return;
}
/*
Calculate squareToMap by solving the equation
mapPos = squareToMap * squarePos
[ s 0 x ] [s_x_a s_x_b s_x_c] [m_x_a m_x_b m_x_c]
[ 0 s y ] x [s_y_a s_y_b s_y_c] = [m_y_a m_y_b m_y_c]
[ 0 0 1 ] [ 1 1 1] [ 1 1 1]
s*s_x_a + x = m_x_a
s*s_x_b + x = m_x_b
s*s_x_c + x = m_x_c
s*s_y_a + y = m_y_a
s*s_y_b + y = m_y_b
s*s_y_c + y = m_y_c
[ s_x_a 1 0 ] [ s ] [ m_x_a ]
[ s_x_b 1 0 ] [ x ] = [ m_x_b ]
[ s_x_c 1 0 ] [ y ] [ m_x_c ]
[ s_y_a 0 1 ] [ m_y_a ]
[ s_y_b 0 1 ] [ m_y_b ]
[ s_y_c 0 1 ] [ m_y_c ]
(At*A)i*At*b
Ai*Ati*At*b
Ai*b
[L*3][3] = [L]
[3*L][L*3][3] = [3*L][L]
[3*3][3] = [3]
*/
const len = pos.length;
let m00=0, m01=0, m02=0, m11=0,m12=0,m22=0;
let v0=0, v1=0, v2=0;
for(let i=0; i<len; i++){
m00 += pos[i][1][0]*pos[i][1][0] + pos[i][1][1]*pos[i][1][1];
m01 += pos[i][1][0];
m02 += pos[i][1][1];
v0 += pos[i][0][0]*pos[i][1][0] + pos[i][0][1]*pos[i][1][1];
v1 += pos[i][0][0];
v2 += pos[i][0][1];
}
const mat = mat3.fromValues(
m00, m01, m02,
m01, len, 0,
m02, 0, len);
const vec = vec3.fromValues(v0, v1, v2);
mat3.invert(mat, mat);
vec3.transformMat3(vec, vec, mat);
const s = minmax(0.001, vec[0], 2);
mat2d.set(this.squareToMapMatrix, s, 0, 0, s, minmax(-1, vec[1], 1), minmax(-1, vec[2], 1));
mat2d.invert(this.squareFromMapMatrix, this.squareToMapMatrix);
this.recalculate();
}