Ultrahaptics座標変換マトリックスメモ

Unity＋UHDK5正方形

通常配置

    Ultrahaptics.Vector3 LeapToUHVector(Leap.Vector vec)
    {
        UnityEngine.Matrix4x4 leapToU5 = new UnityEngine.Matrix4x4();
        leapToU5.SetRow(0, new Vector4(0.001f, 0.0f,   0.0f,   0.0f));
        leapToU5.SetRow(1, new Vector4(0.0f,   0.0f,  -0.001f, 0.1105f));
        leapToU5.SetRow(2, new Vector4(0.0f,   0.001f, 0.0f,   0.0f));
        leapToU5.SetRow(3, new Vector4(0.0f,   0.0f,   0.0f,   1.0f));

        UnityEngine.Vector4 leapVec = new UnityEngine.Vector4();
        leapVec.x = vec.x;
        leapVec.y = vec.y;
        leapVec.z = vec.z;
        leapVec.w = 1;

        UnityEngine.Vector4 UHVec = leapToU5 * leapVec;

        return new Ultrahaptics.Vector3(UHVec.x, UHVec.y, UHVec.z);
    }

LeapMotionを反転させて設置

    Ultrahaptics.Vector3 LeapToUHVector(Leap.Vector vec)
    {
        UnityEngine.Matrix4x4 leapToU5 = new UnityEngine.Matrix4x4();
        leapToU5.SetRow(0, new Vector4(-0.001f, 0.0f, 0.0f, 0.0f));
        leapToU5.SetRow(1, new Vector4(0.0f, 0.0f, -0.001f, 0.1105f));
        leapToU5.SetRow(2, new Vector4(0.0f, 0.001f, 0.0f, 0.0f));
        leapToU5.SetRow(3, new Vector4(0.0f, 0.0f, 0.0f, 1.0f));

        UnityEngine.Vector4 leapVec = new UnityEngine.Vector4();
        leapVec.x = vec.x;
        leapVec.y = vec.y;
        leapVec.z = vec.z;
        leapVec.w = 1;

        UnityEngine.Vector4 UHVec = leapToU5 * leapVec;

        return new Ultrahaptics.Vector3(UHVec.x, UHVec.y, UHVec.z);
    }

使い方例 leapとUltrahapticsのSDKの導入とunity用assetsのインポートが必要 using Ultrahaptics;も宣言必要

    AmplitudeModulationEmitter _emitter;
    Alignment _alignment;
    Leap.Controller _leap;

    void Start()
    {
        // Initialize the emitter
        _emitter = new AmplitudeModulationEmitter();
        _emitter.initialize();
        _leap = new Leap.Controller();

        // Load the appropriate alignment file for the currently-used device
        _alignment = _emitter.getDeviceInfo().getDefaultAlignment();
    }

    void Update()
    {

        if (_leap.IsConnected)
        {
            var frame = _leap.Frame ();
            if (frame.Hands.Count > 0)
            {
                Leap.Vector leapPalmPosition = frame.Hands[0].PalmPosition;

                Ultrahaptics.Vector3 uhPalmPosition0 = LeapToUHVector(leapPalmPosition);

                AmplitudeModulationControlPoint point0 = new AmplitudeModulationControlPoint(uhPalmPosition0, 1.0f, 200.0f);

                _emitter.update(new List<AmplitudeModulationControlPoint> { point0 });
            }
            else
            {
                Debug.LogWarning ("No hands detected");
                _emitter.stop();
            }
        }
        else
        {
            Debug.LogWarning ("No Leap connected");
            _emitter.stop();
        }
    }