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main.py
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main.py
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# Python 2.7
from __future__ import print_function
import random
from ConfigParser import SafeConfigParser
from lib import Leap
from math import pi
import visual as vs
def save_settings(settings_file, width, height):
parser = SafeConfigParser()
parser.add_section("Display")
parser.set("Display", "width", str(width))
parser.set("Display", "height", str(height))
with open(settings_file, "w") as f:
parser.write(f)
def load_settings(settings_file):
# Use these defaults if the settings file is missing or doesn't contain the options
width = 1024
height = 720
parser = SafeConfigParser()
found = parser.read(settings_file)
if found and parser.has_section("Display"):
if parser.has_option("Display", "width"):
width = parser.getint("Display", "width")
if parser.has_option("Display", "height"):
height = parser.getint("Display", "height")
else:
save_settings(settings_file, width, height)
return width, height
def setup():
settings_file = "settings.ini"
width, height = load_settings(settings_file)
# VPython Setup
win = vs.window(width=width, height=height, menus=False, title="Leap Motion")
scene = vs.display(window=win, width=width, height=height)
# Camera
scene.center = (3, 5, 5)
scene.forward = (0, -0.18, -1)
scene.range = 8
scene.fov = pi/5
# scene.userspin = False
# scene.userzoom = False
scene.ambient = vs.color.gray(0.25)
scene.lights = [vs.distant_light(direction=(0.8, 0.2, 1), color=vs.color.gray(0.4)),
vs.distant_light(direction=(-0.8, 0.2, 1), color=vs.color.gray(0.4))]
def to_norm_vpython(lm_vector, i_box):
# Uses the interaction box in a frame to normalise a point
# returns a VPython vector in the range of [0-10)
normalized = i_box.normalize_point(lm_vector)
return vs.vector(normalized.x, normalized.y, normalized.z)*10
def create_open_box(dimensions, pos=(0, 0, 0), color=vs.color.gray(0.8),
material=vs.materials.rough, frame=None, middle=True):
x, y, z = pos # Position of the centre of the box
width, height, depth = dimensions
floor = vs.box(pos=(x, y-height/2.0+0.025, z), length=width, height=0.05,
width=depth, color=color, material=material, frame=frame)
back = vs.box(pos=(x, y, z-depth/2.0+0.025), length=width, height=height,
width=0.05, color=color, material=material, frame=frame)
roof = vs.box(pos=(x, y+height/2.0-0.025, z), length=width, height=0.05,
width=depth, color=color, material=material, frame=frame)
left = vs.box(pos=(x-width/2.0+0.025, y, z), length=0.05, height=height,
width=depth, color=color, material=material, frame=frame)
right = vs.box(pos=(x+width/2.0-0.025, y, z), length=0.05, height=height,
width=depth, color=color, material=material, frame=frame)
if middle:
middle = vs.box(pos=(x, y, z), length=width, height=0.05,
width=depth, color=color, material=material, frame=frame)
return [floor, back, roof, left, right, middle]
return [floor, back, roof, left, right]
class Button(vs.frame):
def __init__(self, pos, label, on_press):
super(Button, self).__init__(pos=pos)
self.on_press = on_press
self.box = vs.box(length=2, height=0.5, width=0.3, color=vs.color.white, frame=self)
self.label = vs.text(pos=(0, -0.15, 0), text=str(label), height=0.3, align="center",
color=vs.color.green, font="monospace", frame=self)
# Extended bounding box
self.max_x = self.box.length/2.0 + 0.5
self.max_y = self.box.height/2.0 + 0.7
self.max_z = self.box.width/2.0 + 1
def collision(self, pos):
local_pos = self.world_to_frame(pos)
if -self.max_x < local_pos.x < self.max_x and \
-self.max_y < local_pos.y < self.max_y and \
-self.max_z < local_pos.z < self.max_z:
return True
else:
return False
class VariableBox(vs.frame):
def __init__(self, pos, label):
super(VariableBox, self).__init__(pos=pos)
self.size = 1.6
self.half_size = self.size/2.0
text_height = 0.3
self.label = label
self.value = random.randint(10, 20)
# Container box
self.box = create_open_box((self.size, self.size, 0.6), color=vs.color.red, frame=self)
self.code = vs.text(height=0.4, align="left", color=vs.color.green, font="monospace")
# Labels containing the label and value text
self.label_text = vs.text(text=str(self.label), height=text_height, align="center",
color=vs.color.green, font="monospace", frame=self)
self.label_text.pos = (0, -self.half_size/2.0 - text_height/2.0, 0)
self.value_text = vs.text(height=text_height, align="center",
color=vs.color.green, font="monospace", frame=self)
self.value_text.pos = (0, self.half_size/2.0 - text_height/2.0, 0)
self.set_value(self.value, None, 0)
# Arrow that defines what the value of the label is
self.arrow = vs.arrow(shaftwidth=0.1, frame=self)
self.set_arrow_pos()
self.connected_to = None
self.connected_to_this = []
def set_value(self, value, label, to_type):
self.value = value
if to_type is 0:
# Value assignment
if label is not None:
self.value_text.text = str(self.value)
self.code.text = "int " + str(self.label) + " = " + str(label)
else:
self.value_text.text = str(self.value)
self.code.text = "int " + str(self.label) + " = " + str(self.value)
elif to_type is 1:
# Address assignment
self.value_text.text = hex(self.value)
self.code.text = "int* " + str(self.label) + " = &" + str(label)
elif to_type is 2:
# Dereference assignment
self.value_text.text = str(self.value)
self.code.text = "int " + str(self.label) + " = *" + str(label)
def intersect_pos(self, pos, limit=False):
# Finds the intersection point on the box of a line from the center of the box to the given pos
rel_pos = self.world_to_frame(pos)
if limit:
rel_pos.y = min(rel_pos.y, 0)
factor = self.half_size / max(abs(rel_pos.x), abs(rel_pos.y))
intersect_pos = vs.vector(rel_pos * factor)
intersect_pos.z = 0
return self.frame_to_world(intersect_pos)
def get_arrow_pos(self):
# Returns the position of the tip of the arrow in world coords
return self.frame_to_world(self.arrow.pos + self.arrow.axis)
def set_arrow_pos(self, pos=None):
# Sets the position of the tip of the arrow from world coords
if pos:
intersect_pos = self.world_to_frame(self.intersect_pos(pos))
rel_pos = self.world_to_frame(pos)
self.arrow.pos = intersect_pos
self.arrow.axis = rel_pos - self.arrow.pos
else:
# Default pos
self.arrow.pos = (0, self.half_size, 0)
self.arrow.axis = (0, 0.6, 0)
def update_box(self, new_pos):
# arrow_pos = self.get_arrow_pos()
self.pos = new_pos
# Update arrow pos after moving the box
if self.connected_to:
self.set_arrow_pos(self.connected_to.intersect_pos(self.pos, limit=True))
for box in self.connected_to_this:
box.set_arrow_pos(self.intersect_pos(box.pos, limit=True))
def drop_arrow(self, other_object=None):
# If dropped onto value or empty space snap back to default pos
if other_object:
# TODO: add action to trigger dereference
if self.get_arrow_pos().y > other_object.pos.y:
# Value assignment
if self.connected_to:
if self in self.connected_to.connected_to_this:
self.connected_to.connected_to_this.remove(self)
self.connected_to = None
self.set_value(other_object.value, other_object.label, to_type=0)
self.set_arrow_pos()
else:
# Address assignment
self.connected_to = other_object
other_object.connected_to_this.append(self)
self.set_value(0x01000 + 4 * (ord(other_object.label) - ord("i")),
other_object.label, to_type=1)
self.set_arrow_pos(self.connected_to.intersect_pos(self.pos, limit=True))
else:
if self.connected_to:
if self in self.connected_to.connected_to_this:
self.connected_to.connected_to_this.remove(self)
self.connected_to = None
self.set_value(random.randint(10, 20), None, to_type=0)
self.set_arrow_pos()
def delete(self):
self.visible = False
self.code.visible = False
if self.connected_to:
self.drop_arrow()
for item in self.connected_to_this:
item.drop_arrow()
class Hand:
def __init__(self, controller, color):
self.pinching = False
self.grabbed_object = None
self.grabbed_arrow = False
self.pinch_trigger_strength = 0.9
self.pinch_distance = 0.6
self.controller = controller
starting_pos = (0, 0, 20) # Start behind the camera
self.palm = vs.sphere(pos=starting_pos, radius=0.3, color=color)
self.fingers = [[vs.sphere(pos=starting_pos, radius=0.2, color=color),
vs.sphere(pos=starting_pos, radius=0.15, color=color)] for _ in xrange(5)]
self.bones = [[vs.cylinder(pos=starting_pos, radius=0.1, color=color),
vs.cylinder(pos=starting_pos, radius=0.1, color=color)] for _ in xrange(5)]
def update_pos(self, hand_frame):
# Hand position with smoothing
frames = 4
count = 0
average = Leap.Vector()
for j in xrange(frames):
hand_from_frame = self.controller.frame(j).hand(hand_frame.id)
if hand_from_frame.is_valid:
average += hand_from_frame.palm_position
count += 1
if count > 0:
self.palm.pos = to_norm_vpython(average/count, hand_frame.frame.interaction_box)
# Finger position with smoothing
for i in xrange(5):
count = 0
average_tip = Leap.Vector()
average_pip = Leap.Vector()
finger_to_average = hand_frame.fingers[i]
for j in xrange(frames):
finger_from_frame = self.controller.frame(j).finger(finger_to_average.id)
if finger_from_frame.is_valid:
average_tip += finger_from_frame.tip_position
average_pip += finger_from_frame.bone(Leap.Bone.TYPE_PROXIMAL).center
count += 1
if count > 0:
average_tip = to_norm_vpython(average_tip/count, hand_frame.frame.interaction_box)
average_pip = to_norm_vpython(average_pip/count, hand_frame.frame.interaction_box)
self.fingers[i][0].pos = average_tip
self.fingers[i][1].pos = average_pip
self.bones[i][0].pos = average_pip
self.bones[i][0].axis = average_tip - average_pip
self.bones[i][1].pos = self.palm.pos
self.bones[i][1].axis = average_pip - self.palm.pos
def update_pinch(self, hand_frame, grabbable_objects):
# Thumb tip is the pinch position.
thumb_tip = self.fingers[0][0].pos
if hand_frame.pinch_strength > self.pinch_trigger_strength:
# Only trigger pinch if not already pinching
if not self.pinching:
# Pinched
self.pinching = True
# Check if we pinched a movable object and grab the closest one.
distance = vs.vector(self.pinch_distance, 0.0, 0.0)
for grabbable_object in grabbable_objects.itervalues():
# Check box
new_distance = thumb_tip - grabbable_object.pos
if new_distance.mag2 < distance.mag2:
self.grabbed_object = grabbable_object
self.grabbed_arrow = False
distance = new_distance
# Check the arrow tip
new_distance = thumb_tip - grabbable_object.get_arrow_pos()
if new_distance.mag2 < distance.mag2:
self.grabbed_object = grabbable_object
self.grabbed_arrow = True
distance = new_distance
else:
# Released
self.pinching = False
# If released arrow figure out if it was dropped onto another object
if self.grabbed_object and self.grabbed_arrow:
arrow_pos = self.grabbed_object.get_arrow_pos()
for box in grabbable_objects.itervalues():
# Check arrow position against an approximate sphere around the other objects
if box is not self.grabbed_object and vs.mag(box.pos-arrow_pos) < box.half_size*1.1:
self.grabbed_object.drop_arrow(box)
break
else:
self.grabbed_object.drop_arrow()
self.grabbed_object = None
# Move grabbed object
if self.grabbed_object:
# Still pinched
if self.grabbed_arrow:
self.grabbed_object.set_arrow_pos(thumb_tip)
elif 0.1 < thumb_tip.x < 9.9 and 0.1 < thumb_tip.y < 9.9 and 0.1 < thumb_tip.z < 9.9:
self.grabbed_object.update_box(thumb_tip)
else:
# remove the object if close to the border
self.grabbed_object.delete()
try:
del grabbable_objects[self.grabbed_object.label]
except KeyError:
pass
self.grabbed_object = None
# Reorder code lines
for i, key in enumerate(sorted(grabbable_objects.keys())):
grabbable_objects[key].code.pos = (-5, 8.4-i*0.7, 3)
class Game:
def __init__(self):
self.exit = False
# Code box
create_open_box((5, 10, 0.6), pos=(-3, 5, 3), color=vs.color.gray(0.35), middle=False)
vs.text(text="Code:", pos=(-5, 9.2, 3), height=0.45, align="left", color=vs.color.green, font="monospace")
self.variables = {}
self.add_var(pos=(2, 7, 3))
self.add_var(pos=(8, 7, 3))
self.buttons = [Button((1, 1, 3), "Add Var", self.add_var),
Button((9, 1, 3), "Exit", vs.exit)]
# Leap setup
self.controller = Leap.Controller()
self.controller.enable_gesture(Leap.Gesture.TYPE_SCREEN_TAP)
self.controller.config.set("Gesture.ScreenTap.MinForwardVelocity", 10.0)
self.controller.config.set("Gesture.ScreenTap.HistorySeconds", 0.8)
self.controller.config.set("Gesture.ScreenTap.MinDistance", 0.7)
self.controller.config.save()
self.last_frame_id = 0
self.left_hand = Hand(self.controller, vs.color.green)
self.right_hand = Hand(self.controller, vs.color.red)
def update(self):
lm_frame = self.controller.frame()
for hand_frame in lm_frame.hands:
if hand_frame.is_left:
self.left_hand.update_pos(hand_frame)
self.left_hand.update_pinch(hand_frame, self.variables)
elif hand_frame.is_right:
self.right_hand.update_pos(hand_frame)
self.right_hand.update_pinch(hand_frame, self.variables)
# Check for tap gestures on UI elements on any frames that haven't already been processed
i = 0
while i < 5:
# If frame is not valid or has already been processed stop
frame = self.controller.frame(i)
if not frame.is_valid or frame.id == self.last_frame_id:
break
for gesture in frame.gestures():
if gesture.type is Leap.Gesture.TYPE_SCREEN_TAP:
print("Tap")
screen_tap = Leap.ScreenTapGesture(gesture)
tap_pos = to_norm_vpython(screen_tap.position, frame.interaction_box)
for button in self.buttons:
if button.collision(tap_pos):
print("Button tap")
button.on_press()
break
i += 1
self.last_frame_id = lm_frame.id
def add_var(self, pos=(5, 5, 3)):
# Add the next free variable to the list
# starts at 'i' and stops at 't' (11 characters from 'i')
i = 0
while i < 12 and chr(ord("i")+i) in self.variables:
i += 1
# Don't add a var if we have run out of space
if i < 12:
self.variables[chr(ord("i")+i)] = (VariableBox(pos, chr(ord("i")+i)))
# Reorder code lines
for i, key in enumerate(sorted(self.variables.keys())):
self.variables[key].code.pos = (-5, 8.4-i*0.7, 3)
def main():
setup()
game = Game()
# Wait for the Leap Motion controller to register as connected
while not game.controller.is_connected:
vs.sleep(0.1)
print("Leap Motion Connected")
# # Main game loop # #
while not game.exit:
# Limit the game loop to running 30 times per second
vs.rate(30)
game.update()
if __name__ == '__main__':
main()