handpose.h

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#pragma once
#include "sr/types.h"
 
#include <math.h>
 
#ifdef __cplusplus
enum SR_handSide : uint64_t {
    LeftHand = 0, 
    RightHand = 1 
};
#else
typedef uint64_t SR_handSide;
#endif
 
typedef union {
    struct {
        SR_point3d metacarpal; 
        SR_point3d proximal;   
        SR_point3d distal;     
    }; 
    struct {
        SR_point3d a; 
        SR_point3d b; 
        SR_point3d tip; 
    }; 
    SR_point3d joints[3]; 
} SR_thumb;
 
typedef union {
    struct {
        SR_point3d metacarpal;   
        SR_point3d proximal;     
        SR_point3d intermediate; 
        SR_point3d distal;       
    }; 
    struct {
        SR_point3d a; 
        SR_point3d b; 
        SR_point3d c; 
        SR_point3d tip; 
    }; 
    SR_point3d joints[4]; 
} SR_finger;
 
#ifdef __cplusplus
enum SR_handJoints : uint64_t {
    Wrist               = 0, 
    Palm                = 1, 
    Thumb_Metacarpal    = 2, 
    Thumb_Proximal      = 3, 
    Thumb_Distal        = 4, 
    Index_Metacarpal    = 5, 
    Index_Proximal      = 6, 
    Index_Intermediate  = 7, 
    Index_Distal        = 8, 
    Middle_Metacarpal   = 9, 
    Middle_Proximal     = 10, 
    Middle_Intermediate = 11, 
    Middle_Distal       = 12, 
    Ring_Metacarpal     = 13, 
    Ring_Proximal       = 14, 
    Ring_Intermediate   = 15, 
    Ring_Distal         = 16, 
    Pinky_Metacarpal    = 17, 
    Pinky_Proximal      = 18, 
    Pinky_Intermediate  = 19, 
    Pinky_Distal        = 20  
};
#else
typedef uint64_t SR_handJoints;
#endif
 
typedef struct {
    uint64_t frameId; 
    uint64_t time; 
    uint64_t handId; 
    SR_handSide side; 
    union {
        struct {
            SR_point3d wrist; 
            SR_point3d palm; 
            SR_thumb thumb; 
            union {
                struct {
                    SR_finger index; 
                    SR_finger middle; 
                    SR_finger ring; 
                    SR_finger pinky; 
                };
                SR_finger fingers[4]; 
            };
        };
        SR_point3d joints[21]; 
    }; 
} SR_handPose;
 
static float getGrabbing(SR_handPose pose) {
    return 0;
}
 
static float getPinching(SR_handPose pose) {
    SR_point3d d = {pose.index.tip.x - pose.thumb.tip.x, pose.index.tip.y - pose.thumb.tip.y, pose.index.tip.z - pose.thumb.tip.z};
    return (float)sqrt(d.x*d.x + d.y*d.y + d.z*d.z);
}