C++ Hand::fingers方法代码示例

ofPoint LeapVisualizer::getIndexFingertip(ofxLeapMotion & leap){
    
    vector <Hand> hands = leap.getLeapHands();
    Hand hand;
    
	if (hands.size() > 0){
		for (int h=0; h<hands.size(); h++){
			hand = hands[h];
			if (hand.isValid()) break;
		}
	}
	
	// For each finger in the Hand,
	FingerList fingers = hand.fingers();
	for (int f=0; f<fingers.count(); f++)
    {
		// Get the current finger, and it's type (index, thumb, etc.);
		const Finger & finger = fingers[f];
		Finger::Type fingerType = finger.type();
		if (finger.isValid() && fingerType == Finger::TYPE_INDEX)
        {
            return ofPoint(finger.tipPosition().x, finger.tipPosition().y, finger.tipPosition().z);
		}
	}
    cout << "FINGER NOT FOUND" << endl;
    return ofPoint(-1.0f,-1.0f,-1.0f);
}

//--------------------------------------------------------------
void testApp::recordHandXML (Hand & hand, int handIndex){
	
	if (bRecordingThisFrame){
		if (hand.isValid()){
			
			int handTagNum = XML.addTag("H");
			if( XML.pushTag("H", handTagNum) ){
				XML.setValue("INDEX", handIndex, handTagNum);
				XML.setValue("ID", hand.id(), handTagNum);
				XML.setValue("TYPE", (hand.isLeft() ? "LEFT" : "RIGHT"), handTagNum);
				XML.setValue("CONF", hand.confidence(), handTagNum);
				
				FingerList fingers = hand.fingers();
				for (int f=0; f<fingers.count(); f++){
					const Finger & finger = fingers[f];
					
					if (finger.isValid()){
						recordFingerXML (finger);
					}
				}
				
				recordArmXML (hand);
				XML.popTag(); // pop H(AND)
			}
		}
	}
}

//--------------------------------------------------------------
void ofApp::draw(){
    string touchStatus;
    stringstream info;
    
    cam.begin();
    
    ofDrawGrid(500, 5, true);
    
    light1.enable();
    light2.enable();
    
    ofSetColor(255, 215, 0);
    Frame frame = controller.frame();
    for (int i=0; i < frame.hands().count(); i++) {
        Hand hand = frame.hands()[i];
        for (int j = 0; j < hand.fingers().count(); j ++) {
            if (j == 0) {
                Finger finger = frame.fingers()[j];
                ofSpherePrimitive sphere;
                sphere.setPosition(finger.tipPosition().x, finger.tipPosition().y, finger.tipPosition().z);
                sphere.draw();
                info << "Finger position x : " << finger.tipPosition().x << " y : " << finger.tipPosition().y <<  " z : " << finger.tipPosition().z << endl;
            }
        }
    }
    cam.end();
    
    
    PointableList pointables = controller.frame().pointables();
    InteractionBox iBox = controller.frame().interactionBox();
    for (int p = 0; p < pointables.count(); p++) {
        Pointable pointable = pointables[p];
        Vector normalizedPosition = iBox.normalizePoint(pointable.stabilizedTipPosition());
        float x = normalizedPosition.x * ofGetWidth();
        float y = ofGetHeight() - normalizedPosition.y * ofGetHeight();
        
        if (pointable.touchDistance() > 0 && pointable.touchZone() != Leap::Pointable::ZONE_NONE) {
            ofSetColor(0, 255, 0);
            touchStatus = "Hover";
        } else if (pointable.touchDistance() <= 0) {
            ofSetColor(255, 0, 0);
            touchStatus = "Touch";
        } else {
            ofSetColor(0, 0, 255);
            touchStatus = "None";
        }
        ofCircle(x, y, 30);
        info << "Point Number : " << p << endl;
        info << "Touch distance : " << ofToString(pointable.touchDistance()) << endl;
        info << "Circle x : " << x << " y : " << y << endl;
    }
    
    ofDrawBitmapString("Touch Status : " + touchStatus, 20, 20);
    ofDrawBitmapString(info.str(), 20, 40);
}

//callback function
void glListener::onFrame(const Controller& controller){
	
	/*memset(pitches, 0,sizeof(pitches));
	memset(rolls, 0,sizeof(rolls));
	memset(yaws, 0,sizeof(yaws));*/
	//Get the most recent frame and report some basic information
	const Frame frame = controller.frame();
	if(!frame.hands().empty()) 
	{
		//get the first hand
		const Hand hand = frame.hands()[0];
		//wrist
		pitches[0] = hand.palmNormal().pitch();
		rolls[0] = hand.palmNormal().roll();
		yaws[0] = hand.palmNormal().yaw();

		/*pitches[0] = hand.direction().pitch();
		rolls[0] = hand.direction().roll();
		yaws[0] = hand.direction().yaw();*/

		//check if the hand has any fingers
		const FingerList fingers = hand.fingers();
		//如果检测到手指且手指的数目等于5
		if (!fingers.empty() && fingers.count() == 5) {
			
			/*for(int i = 0; i < fingers.count(); i++) {
				
			}*/
			//Thumb
			yaws[2] = -fingers.leftmost().direction().pitch();
			//Index
			yaws[5] = -fingers[2].direction().pitch();
			//Middle
			yaws[8]= -fingers[0].direction().pitch();
			//Ring
			yaws[11]= -fingers[1].direction().pitch();
			//Little
			yaws[14]= -fingers.rightmost().direction().pitch();
			float temp = 0;
			//if index is at the right of ring
			if(fingers[2].tipPosition().x > fingers[1].tipPosition().x) {
				//swap the pitch angle of index and ring
				temp = yaws[5];
				yaws[5] = yaws[11];
				yaws[11] = temp;
			}
		}
	}
	pModel->animation(pitches,rolls,yaws);
}

bool Detect::getGesture(std::string& ret)
{
	if(false == LeapController->isConnected())
	{
		return false;
	}
	HandList HL = LeapController->frame().hands();
	Hand     hand = HL[0];
	FingerList fingers = hand.fingers();
	GestureModel * gm = new GestureModel;
	Leap::Matrix handTransform = hand.basis();
	handTransform.origin = hand.palmPosition();
	handTransform = handTransform.rigidInverse();
	//get gesture data
	int i = 0;
	for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
		const Finger finger = *fl;
		// Get finger bones
		for (int b = 0; b < 4; ++b) {
			Bone::Type boneType = static_cast<Bone::Type>(b);
			Bone bone = finger.bone(boneType);
			Leap::Vector ori = bone.prevJoint();
			Leap::Vector tP = handTransform.transformPoint(ori);
			gm->GestureData[i][b][0][0] = tP[0];
			gm->GestureData[i][b][0][1] = tP[1];
			gm->GestureData[i][b][0][2] = tP[2];
			tP = handTransform.transformPoint(bone.nextJoint());
			gm->GestureData[i][b][1][0] = tP[0];
			gm->GestureData[i][b][1][1] = tP[1];
			gm->GestureData[i][b][1][2] = tP[2];
			tP = handTransform.transformPoint(bone.direction());
			gm->GestureData[i][b][2][0] = gm->GestureData[i][b][1][0] - gm->GestureData[i][b][0][0];
			gm->GestureData[i][b][2][1] = gm->GestureData[i][b][1][1] - gm->GestureData[i][b][0][1];
			gm->GestureData[i][b][2][2] = gm->GestureData[i][b][1][2] - gm->GestureData[i][b][0][2];
		}
		i++;
	}

	//compare
	for (int index = 0; index < GestureList.size(); index++)
	{
		if (true == compareGesture(GestureList[index], gm))
		{
			ret = GestureList[index]->GestureName;
			return true;
		}
	}
	ret = " ";
	return false;
}

//--------------------------------------------------------------
void LeapVisualizer::drawFingers (Hand & hand,ofxLeapMotion & leap){
	
	// For each finger in the Hand,
	FingerList fingers = hand.fingers();
	for (int f=0; f<fingers.count(); f++){
		
		// Get the current finger, and it's type (index, thumb, etc.);
		const Finger & finger = fingers[f];
		if (finger.isValid()){
			
			drawFinger(finger,leap);
			
		} //end if finger isValid()
	} // end for each finger
}

void LeapBrowser::updateCursorLocation()
{
	bool is_index_found = false;

	Frame frame = leap_controller.frame();	
	HandList hands = frame.hands();
	for( int h=0; h < hands.count(); h++ )
	{
		Hand hand = hands[h];
		FingerList fingers = hand.fingers();
		for( int f=0; f < fingers.count(); f++ )
		{
			Finger finger = fingers[f];
			if( finger.type() == Finger::Type::TYPE_INDEX )
			{
				is_index_found = true;

				Vector position = finger.tipPosition();
				cursor_location = math::position(position.x, position.y, position.z) * leap_transform;

				break;
			}
		}
		if( is_index_found )
		{
			break;
		}
	}

	if( !is_index_found )
	{
		cursor_location = math::position(0,0,0);
		is_cursor_located = false;
	}
	else
	{
		is_cursor_located = true;
	}
}

void LeapListener::onFrame(const Controller & controller) {
    // Get the most recent frame and report some basic information
    const Frame frame = controller.frame();
    std::cout << "Frame id: " << frame.id()
    << ", timestamp: " << frame.timestamp()
    << ", hands: " << frame.hands().count()
    << ", extended fingers: " << frame.fingers().extended().count()
    << ", tools: " << frame.tools().count()
    << ", gestures: " << frame.gestures().count() << std::endl;

    HandList hands = frame.hands();
    for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
        // Get the first hand
        const Hand hand = *hl;
        std::string handType = hand.isLeft() ? "Left hand" : "Right hand";
        std::cout << std::string(2, ' ') << handType << ", id: " << hand.id()
        << ", palm position: " << hand.palmPosition() << std::endl;
        // Get the hand's normal vector and direction
        const Vector normal = hand.palmNormal();
        const Vector direction = hand.direction();

        // Calculate the hand's pitch, roll, and yaw angles
        std::cout << std::string(2, ' ') <<  "pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
        << "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
        << "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << std::endl;

        // Get the Arm bone
        Arm arm = hand.arm();
        std::cout << std::string(2, ' ') <<  "Arm direction: " << arm.direction()
        << " wrist position: " << arm.wristPosition()
        << " elbow position: " << arm.elbowPosition() << std::endl;

        // Get fingers
        const FingerList fingers = hand.fingers();
        for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
            const Finger finger = *fl;
            std::cout << std::string(4, ' ') <<  fingerNames[finger.type()]
            << " finger, id: " << finger.id()
            << ", length: " << finger.length()
            << "mm, width: " << finger.width() << std::endl;

            // Get finger bones
            for (int b = 0; b < 4; ++b) {
                Bone::Type boneType = static_cast<Bone::Type>(b);
                Bone bone = finger.bone(boneType);
                std::cout << std::string(6, ' ') <<  boneNames[boneType]
                << " bone, start: " << bone.prevJoint()
                << ", end: " << bone.nextJoint()
                << ", direction: " << bone.direction() << std::endl;
            }
        }
    }

    // Get tools
    const ToolList tools = frame.tools();
    for (ToolList::const_iterator tl = tools.begin(); tl != tools.end(); ++tl) {
        const Tool tool = *tl;
        std::cout << std::string(2, ' ') <<  "Tool, id: " << tool.id()
        << ", position: " << tool.tipPosition()
        << ", direction: " << tool.direction() << std::endl;
    }

    // Get gestures
    const GestureList gestures = frame.gestures();
    for (int g = 0; g < gestures.count(); ++g) {
        Gesture gesture = gestures[g];

        switch (gesture.type()) {
            case Gesture::TYPE_CIRCLE: {
                CircleGesture circle = gesture;
                std::string clockwiseness;

                if (circle.pointable().direction().angleTo(circle.normal()) <= PI/2) {
                    clockwiseness = "clockwise";
                } else {
                    clockwiseness = "counterclockwise";
                }

                // Calculate angle swept since last frame
                float sweptAngle = 0;
                if (circle.state() != Gesture::STATE_START) {
                    CircleGesture previousUpdate = CircleGesture(controller.frame(1).gesture(circle.id()));
                    sweptAngle = (circle.progress() - previousUpdate.progress()) * 2 * PI;
                }
                std::cout << std::string(2, ' ')
                << "Circle id: " << gesture.id()
                << ", state: " << stateNames[gesture.state()]
                << ", progress: " << circle.progress()
                << ", radius: " << circle.radius()
                << ", angle " << sweptAngle * RAD_TO_DEG
                <<  ", " << clockwiseness << std::endl;
                break;
            }
            case Gesture::TYPE_SWIPE: {
                SwipeGesture swipe = gesture;
                std::cout << std::string(2, ' ')
                << "Swipe id: " << gesture.id()
                << ", state: " << stateNames[gesture.state()]
                << ", direction: " << swipe.direction()
                << ", speed: " << swipe.speed() << std::endl;
//.........这里部分代码省略.........

void SampleListener::onFrame(const Controller& controller)
{
    bool thand, index = false;

    // Get the most recent frame and report some basic information
    const Frame frame = controller.frame();

    // Receive Hand List
    HandList hands = frame.hands();

    // For all hands
    for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl)
    {
        // Get the first hand
        const Hand hand         = *hl;

        // Only for right hand
        if( hand.isRight() )
        {
            // Get fingers
            const FingerList fingers = hand.fingers();
            // For all fingers in the list
            for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl)
            {
                      Bone      bone;
                const Finger    finger = *fl;

                // If thamb or Index finger
                if( finger.type() == Finger::TYPE_THUMB )
                {
                    // Receive nided bone
                    bone        = finger.bone(Bone::TYPE_DISTAL);
                    m_vThand    = bone.center();

                    thand = true;
                }
                else if( finger.type() == Finger::TYPE_INDEX )
                {
                    // Receive nided bone
                    bone        = finger.bone(Bone::TYPE_DISTAL);
                    m_vIndex    = bone.center();

                    index = true;
                }
            }
        }
    }

    bool newState;
    if( !thand || !index )
    {
        newState = false;
    }
    else
    {
        float distance = m_vThand.distanceTo(m_vIndex);
        qDebug () << "Distance: " << distance;

        if( distance < 40 )
        {
            newState = true;
        }
        else
        {
            newState = false;
        }
    }

    if( newState != m_bLastState )
    {
        Q_EMIT releySignal( newState );
        m_bLastState = newState;
    }
}

//.........这里部分代码省略.........
			throw std::runtime_error("Unable to find a Myo!");
		}

		// We've found a Myo.
		std::cout << "Connected to a Myo armband!" << std::endl << std::endl;

		// Next we enable EMG streaming on the found Myo.
		myo->setStreamEmg(myo::Myo::streamEmgEnabled);

		// Create a sample listener and controller for Leap Motion
		SampleListener listener;
		Controller controller;

		// Next we construct an instance of our DeviceListener, so that we can register it with the Hub.
		DataCollector collector;
		double timeElasped = 0.000;
		const double minMax[10] = { 32, 85, 36, 100, 37, 107, 36, 100, 36, 90 }; //T.I.M.R.P

		// Hub::addListener() takes the address of any object whose class inherits from DeviceListener, and will cause
		// Hub::run() to send events to all registered device listeners.
		hub.addListener(&collector);

		//controller.addListener(listener);

		if (argc > 1 && strcmp(argv[1], "--bg") == 0)
			controller.setPolicy(Leap::Controller::POLICY_BACKGROUND_FRAMES);
		
		myfile << std::fixed;
		myfile << std::setprecision(2);

		// Finally we enter our main loop.
		while (1) {
			//collector.tic();
			// In each iteration of our main loop, we run the Myo event loop for a set number of milliseconds.
			// In this case, we wish to update our display 50 times a second, so we run for 1000/20 milliseconds.
			hub.run(1000 / 100);
			// After processing events, we call the print() member function we defined above to print out the values we've
			// obtained from any events that have occurred.
			collector.print();
			int i = 0;
			int j = 1;
			int h = 0;
			double fingDis[5];
			const Frame frame = controller.frame();
			HandList hands = frame.hands();
			for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
				// Get the first hand
				const Hand hand = *hl;
				// Get fingers
				const FingerList fingers = hand.fingers();
				
				for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
					const Finger finger = *fl;

					//myfile << " " << hand.palmPosition().distanceTo(finger.tipPosition());
					/*myfile << std::string(4, ' ') << fingerNames[finger.type()]
						<< ": " << listener.mapping(hand.palmPosition().distanceTo(finger.tipPosition()), minMax[i + i], minMax[i + j]);*/
					fingDis[h] = listener.mapping(hand.palmPosition().distanceTo(finger.tipPosition()), minMax[i + i], minMax[i + j]);
					//fingDis[h] = hand.palmPosition().distanceTo(finger.tipPosition());
					i++;
					j++;
					h++;
						if (i == 5 && j == 6 && h == 5)
						{
							string tmp = to_string(fingDis[0]) + " " + to_string(fingDis[1]) + " " + to_string(fingDis[2]) + " " + to_string(fingDis[3]) + " " + to_string(fingDis[4]);
							//string tmp = to_string('0');
							strcpy_s(message, tmp.c_str());
							//send message
							if (sendto(s, message, strlen(message), 0, (struct sockaddr *) &si_other, slen) == SOCKET_ERROR)
							{
								printf("sendto() failed with error code : %d", WSAGetLastError());
								//exit(EXIT_FAILURE);
							}
							std::cout << "Data Sent";
							i = 0;
							j = 1;
							h = 0;
						}
				}
			}

			//timeElasped = timeElasped + ((double)(clock() - tictoc_stack.top())) / CLOCKS_PER_SEC;
			/*myfile << " Time elapsed: "
				<< ((double)(clock() - tictoc_stack.top())) / CLOCKS_PER_SEC;*/
			//tictoc_stack.pop();
			//myfile << " " << timeElasped << endl;

		}
		
		// If a standard exception occurred, we print out its message and exit.
	}
	catch (const std::exception& e) {
		std::cerr << "Error: " << e.what() << std::endl;
		std::cerr << "Press enter to continue.";
		std::cin.ignore();
		return 1;
	}
	closesocket(s);
	WSACleanup();
}

void LeapInput::onFrame(const Controller& controller)
{
	Frame frame = controller.frame();
	HandList hands = frame.hands();
	this->hands = hands.count();
	if(hands.count() == 2)
	{
		Hand leftHand = hands.leftmost();
		Hand rightHand = hands.rightmost();
		leftHandY = leftHand.palmPosition().y;
		rightHandY = rightHand.palmPosition().y;
		leftFingers = leftHand.fingers().count();
		rightFingers = rightHand.fingers().count();

		float threshold = tanf(5* 3.141592f / 180.0f);
		float maxTan = tanf(45 * 3.141592f / 180.0f);
		if(leftHand.palmPosition().x != rightHand.palmPosition().x){
			float tanValue = fabs((leftHand.palmPosition().y - rightHand.palmPosition().y) / (leftHand.palmPosition().x - rightHand.palmPosition().x));
			if(tanValue > threshold){
				curve = tanValue  / maxTan;
				if(curve > 1)
					curve = 1;
			}else
				curve = 0;
		}else
			curve = 0;
	}
	else
	{
		leftHandY = rightHandY = 0;
	}

	boost = false;
	GestureList gestureList = frame.gestures();
	for(GestureList::const_iterator i = gestureList.begin(); i != gestureList.end(); ++i)
	{
		Gesture gesture = *i;
		if(gesture.state() != Gesture::State::STATE_INVALID)
		{
			switch(gesture.type())
			{
			case Gesture::Type::TYPE_SCREEN_TAP:
				boost = true;
				break;
			}
			
		}
	}

	back = false;
	if(hands.count() == 2 && leftFingers == 1 && rightFingers == 1 &&
		hands.leftmost().fingers()[0].direction().z > 0 &&
		hands.rightmost().fingers()[0].direction().z > 0)
	{
		back = true;
	}

	//accelGesture = brakeGesture = false;
	//GestureList gestureList = frame.gestures();
	//for(GestureList::const_iterator i = gestureList.begin(); i != gestureList.end(); ++i)
	//{
	//	Gesture gesture = *i;
	//	if(gesture.state() != Gesture::State::STATE_INVALID)
	//	{
	//		if(typeid(gesture) == typeid(MyGesture))
	//		{
	//			accelGesture = true;
	//		}
	//		
	//	}
	//}
}

void LeapHander::frame(pugi::xml_node &frameNode){
	Leap::Frame currentFrame = m_sampleListener.frame();
	m_lock.lock();
	frameNode.append_attribute("id").set_value(currentFrame.id());
	pugi::xml_node handList = frameNode.append_child("hands");
	HandList hands = currentFrame.hands();
	
	for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
		// Get the first hand
		const Hand hand = *hl;
		pugi::xml_node handNode = handList.append_child("hand");
		handNode.append_attribute("id").set_value(hand.id());
		std::string handType;
		if (hand.isLeft()) {
			handType = "Left";
		}
		else {
			handType = "Right";
		}
		handNode.append_attribute("type").set_value(handType.c_str());
		
		pugi::xml_node positionNode = handNode.append_child("position");
		positionToXml(positionNode, hand.palmPosition());
		
		/*pugi::xml_node normalNode = handNode.append_child("normal");
		positionToXml(normalNode, hand.palmNormal());

		pugi::xml_node directionNode = handNode.append_child("direction");
		positionToXml(directionNode, hand.direction());

		pugi::xml_node rotationNode = handNode.append_child("basis");
		rotationToXml(rotationNode, hand.basis());*/
		//// Get fingers
		pugi::xml_node fingerList = handNode.append_child("fingers");
		const FingerList fingers = hand.fingers();
		for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
			const Finger finger = *fl;
			pugi::xml_node fingerNode = fingerList.append_child("finger");
			fingerNode.append_attribute("id").set_value(finger.id());
			fingerNode.append_attribute("name").set_value(fingerNames[finger.type()].c_str());
			pugi::xml_node boneList = fingerNode.append_child("bones");
			

			// Get finger bones
			for (int b = 0; b < 4; ++b) {
				Bone::Type boneType = static_cast<Bone::Type>(b);
				Bone bone = finger.bone(boneType);
				pugi::xml_node boneNode = boneList.append_child("bone");
				boneNode.append_attribute("length").set_value(bone.length());
				boneNode.append_attribute("name").set_value(boneNames[boneType].c_str());

				pugi::xml_node prevJoint = boneNode.append_child("prevJoint");
				positionToXml(prevJoint, bone.prevJoint());

				pugi::xml_node nextJoint = boneNode.append_child("nextJoint");
				positionToXml(nextJoint, bone.nextJoint());

				/*pugi::xml_node rotation = boneNode.append_child("basis");
				rotationToXml(rotation, bone.basis());*/
			}
		}
	}
	m_lock.unlock();
}

void LeapController::update() {   
    hands = leap.getLeapHands();
    
    if(leap.isFrameNew() && hands.size()){
        
        for(int i = 0; i < hands.size(); i++){
            
            Hand hand = hands[i];
            
            if (handsPrevious.size() == hands.size() && hand.fingers().count() == 3){
                
                float dx =  hand.palmPosition().x - handsPrevious[i].palmPosition().x;
                float dy =  hand.palmPosition().z - handsPrevious[i].palmPosition().z;
                float dz = -hand.palmPosition().y + handsPrevious[i].palmPosition().y;
                int numFingers = hands[i].fingers().count();
                
//                horizontalPan = (numFingers == 2);
                horizontalPan = false;
                verticalPan = true;
                
                pan(dx,dy,dz);
            }
        }
    }
    
    Frame frame = controller.frame();
    GestureList gestures =  framePrevious.isValid()       ?
    frame.gestures(framePrevious) :
    frame.gestures();
    framePrevious = frame;
    
    for (size_t i=0; i < gestures.count(); i++) {
        if (gestures[i].type() == Gesture::TYPE_SCREEN_TAP) {
            ScreenTapGesture tap = gestures[i];
            static GestureEventArgs args;
            args.pos = ofVec3f(tap.position().x, tap.position().y, tap.position().z);
            ofNotifyEvent(onTapScreen, args, this);
        } else if (gestures[i].type() == Gesture::TYPE_KEY_TAP) {
            KeyTapGesture tap = gestures[i];
            static GestureEventArgs args;
            args.pos = ofVec3f(tap.position().x, tap.position().y, tap.position().z);
            ofNotifyEvent(onTapDown, args, this);
            
            //cout << "LEAP TAP GESTURE AT: " << pos << endl;
        
        } else if (gestures[i].type() == Gesture::TYPE_SWIPE) {
            SwipeGesture swipe = gestures[i];
            Vector diff = 0.004f*(swipe.position() - swipe.startPosition());
            static GestureEventArgs args;
            args.pos = ofVec3f(swipe.position().x, swipe.position().y, swipe.position().z);
            args.startPos = ofVec3f(swipe.startPosition().x, swipe.startPosition().y, swipe.startPosition().z);
            args.state = swipe.state();
            ofNotifyEvent(onSwipe, args, this);
            
            //cout << "LEAP SWIPE GESTURE" << endl;
        
        } else if (gestures[i].type() == Gesture::TYPE_CIRCLE) {
            CircleGesture circle = gestures[i];
            float progress = circle.progress();
            
            if (progress >= 1.0f) {
                double curAngle = 6.5;
                
                //cout << "LEAP CIRCLE GESTURE" << endl;
            }
            static GestureEventArgs args;
            args.pos = ofVec3f(circle.center().x, circle.center().y, circle.center().z);
            args.normal = ofVec3f(circle.normal().x, circle.normal().y, circle.normal().z);
            args.progress = circle.progress();
            ofNotifyEvent(onCircle, args, this);
        }
    }
    
    handsPrevious = hands;
    
	leap.markFrameAsOld();
    
    SceneController::update();
}

void LeapBrowser::drawHands()
{
	Frame frame = leap_controller.frame();

	math::vector trans = leap_transform.translation;
	math::quater rot_quat = leap_transform.rotation;
	math::vector rot_vect = math::ln( rot_quat );
	
	double angle = rot_vect.length() * 2.0;
	math::vector axis = ( angle != 0 ? rot_vect / angle : rot_vect );

	glMatrixMode( GL_MODELVIEW );
	glPushMatrix();
	glTranslatef( trans.x(), trans.y(), trans.z() );
	if( angle != 0 )
	{
		glRotatef( angle * 180.0 / M_PI, axis.x(), axis.y(), axis.z() );
	}

	HandList hands = frame.hands();
	for( HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl )
	{
		const Hand hand = *hl;

		float joint_radius = 5.0f;
		float bone_radius = 4.5f;

		Vector prev_palm_start(0,0,0);
		Vector prev_palm_end(0,0,0);

		int f = 0;
		const FingerList fingers = hand.fingers();
		for( FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl, ++f )
		{
			const Finger finger = *fl;

			Vector curr_palm_start(0,0,0);
			Vector curr_palm_end(0,0,0);

			for( int b=0; b < 4; b++ )
			{
				Bone::Type bone_type = static_cast<Bone::Type>( b );
				Bone bone = finger.bone( bone_type );

				Vector start = bone.prevJoint();
				Vector end = bone.nextJoint();

				math::position p0( start.x, start.y, start.z );
				math::position p1( end.x, end.y, end.z );

				if( is_tracking_pose == true && finger.type() == Finger::Type::TYPE_INDEX && b==3 )
				{
					drawing_tool.setColor( 1, 0, 0, 1 );
				}
				else
				{
					drawing_tool.setColor( 0.5, 0.7, 0.5, 1 );
				}
				drawing_tool.drawSphere( p1, joint_radius );
				
				drawing_tool.setColor( 0.5, 0.7, 0.5, 1 );
				drawing_tool.drawSphere( p0, joint_radius );
				drawing_tool.drawCylinder( p0, p1, bone_radius );

				//
				if( b == 0 && fl != fingers.begin() || b == 1 && fl == fingers.begin() )
				{
					curr_palm_start = start;
					curr_palm_end = end;
				}
			}

			if( f > 1 )	//fl != fingers.begin() )
			{
				drawing_tool.setColor( 0.5, 0.7, 0.5, 1 );
				drawing_tool.applyColor();

				glBegin( GL_QUADS );
				glVertex3f( prev_palm_start.x, prev_palm_start.y, prev_palm_start.z );
				glVertex3f( prev_palm_end.x, prev_palm_end.y, prev_palm_end.z );
				glVertex3f( curr_palm_end.x, curr_palm_end.y, curr_palm_end.z );
				glVertex3f( curr_palm_start.x, curr_palm_start.y, curr_palm_start.z );
				glEnd();
			}

			prev_palm_start = curr_palm_start;
			prev_palm_end = curr_palm_end;
		}
	}

	glPopMatrix();
}

//--------------------------------------------------------------
void LeapVisualizer::drawPalm (Hand & hand,ofxLeapMotion & leap){
	// This draws the palm as a gray region.
	
	// Collect the palm vertices into an ofMesh.
	ofMesh palmMesh;
	int nVertices = 0;
	float averageBoneWidth = 0;
	
	// For each finger,
	FingerList fingers = hand.fingers();
	for (int f=0; f<fingers.count(); f++){
		
		// Get the current finger, and it's type (index, thumb, etc.);
		const Finger & finger = fingers[f];
		if (finger.isValid()){
			
			Finger::Type fingerType = finger.type();
			Bone bone;
			if (fingerType == Finger::TYPE_THUMB){
				bone = finger.bone(Bone::TYPE_PROXIMAL);
			} else {
				bone = finger.bone(Bone::TYPE_METACARPAL);
			}
			
			// If we've found the bones we want, add their vertices to the mesh.
			if (bone.isValid()){
				float boneLength = bone.length();
				if (boneLength > 0){
					
					ofPoint pt0 = leap.getofPoint ( bone.prevJoint());
					ofPoint pt1 = leap.getofPoint ( bone.nextJoint());
					
					palmMesh.addVertex(pt0);
					palmMesh.addVertex(pt1);
					
					averageBoneWidth += bone.width();
					nVertices += 2;
				}
			}
		}
	}
	averageBoneWidth /= (nVertices/2);
	
	// Render the palm as a triangle strip surface,
	// (optionally) bordered by cylinders.
	if (nVertices > 3){
		ofSetColor(ofColor::gray);
		
		// Draw the palm as a mesh of triangles.
		int nPalmMeshVertices = palmMesh.getNumVertices();
		for (int i=0; i<(nPalmMeshVertices-2); i++){
			palmMesh.addTriangle(i, i+1, i+2);
		}
		palmMesh.drawFaces();
		
		// Add optional cylinders.
		if (!bDrawSimple){
			float rad = averageBoneWidth / 2.0;
			
			if (nPalmMeshVertices == 10){
				for (int i=0; i<4; i++){
					ofVec3f p0 = palmMesh.getVertex( i   *2);
					ofVec3f p1 = palmMesh.getVertex((i+1)*2);
					drawOrientedCylinder (p0, p1, 10);
					ofDrawSphere(p0, rad);
					ofDrawSphere(p1, rad);
				}
				
				for (int i=0; i<4; i++){
					ofVec3f p0 = palmMesh.getVertex( i   *2 + 1);
					ofVec3f p1 = palmMesh.getVertex((i+1)*2 + 1);
					drawOrientedCylinder (p0, p1, 10);
					ofDrawSphere(p0, rad);
					ofDrawSphere(p1, rad);
				}
			}
		}
		
	}
}