u_hand_tracking.h

Go to the documentation of this file.

// Copyright 2019-2020, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Hand Tracking API interface.
 * @author Christoph Haag <christoph.haag@collabora.com>
 * @ingroup aux_util
 */
 
#pragma once
 
#include "xrt/xrt_defines.h"
#include "util/u_misc.h"
 
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
struct u_hand_tracking_finger_value
{
        float splay;
 
        float joint_curls[4];
        int joint_count;
};
 
struct u_hand_tracking_values
{
        struct u_hand_tracking_finger_value little;
        struct u_hand_tracking_finger_value ring;
        struct u_hand_tracking_finger_value middle;
        struct u_hand_tracking_finger_value index;
        struct u_hand_tracking_finger_value thumb;
};
 
/*!
 * Values used for the XRT_HAND_TRACKING_MODEL_FINGERL_CURL model.
 *
 * @ingroup aux_util
 */
struct u_hand_tracking_curl_values
{
        float little;
        float ring;
        float middle;
        float index;
        float thumb;
};
 
/*!
 * A space relation of a single joint.
 *
 * @ingroup aux_util
 */
struct u_joint_space_relation
{
        enum xrt_hand_joint joint_id;
        struct xrt_space_relation relation;
};
 
/*!
 * A set of joints in a single finger.
 *
 * @ingroup aux_util
 */
struct u_finger_joint_set
{
        struct u_joint_space_relation joints[5];
        int joint_count;
};
 
/*!
 * The set of joints in the XR_HAND_JOINT_SET_DEFAULT_EXT.
 *
 * @ingroup aux_util
 */
struct u_hand_joint_default_set
{
        struct u_joint_space_relation palm;
        struct u_joint_space_relation wrist;
 
        struct u_finger_joint_set fingers[XRT_FINGER_COUNT];
};
 
/*!
 * Main struct drivers can use to implement hand and finger tracking.
 *
 * @ingroup aux_util
 */
struct u_hand_tracking
{
        // scales dimensions like bone lengths
        float scale;
 
        union {
                struct u_hand_tracking_values finger_values;
        } model_data;
 
        struct u_hand_joint_default_set joints;
 
        uint64_t timestamp_ns;
};
 
/*!
 * Applies joint width to set.
 * @ingroup aux_util
 */
void
u_hand_joints_apply_joint_width(struct xrt_hand_joint_set *set);
 
/*!
 * @ingroup aux_util
 */
bool
u_hand_joint_is_tip(enum xrt_hand_joint joint);
 
/*!
 * @ingroup aux_util
 */
bool
u_hand_joint_is_metacarpal(enum xrt_hand_joint joint);
 
/*!
 * @ingroup aux_util
 */
bool
u_hand_joint_is_proximal(enum xrt_hand_joint joint);
 
/*!
 * @ingroup aux_util
 */
bool
u_hand_joint_is_intermediate(enum xrt_hand_joint joint);
 
/*!
 * @ingroup aux_util
 */
bool
u_hand_joint_is_distal(enum xrt_hand_joint joint);
 
/*!
 * @ingroup aux_util
 */
bool
u_hand_joint_is_thumb(enum xrt_hand_joint joint);
 
#ifdef __cplusplus
}
#endif