u_hand_simulation.h

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