Merge remote-tracking branch 'origin/model-comp' into v7.1.0

ultraleap · Sep 5, 2024 · 510d9cb · 510d9cb
2 parents bcc5a94 + c3df7f4
commit 510d9cb
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diff --git a/Packages/Tracking/CHANGELOG.md b/Packages/Tracking/CHANGELOG.md
@@ -31,6 +31,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Fixed the default float height for UIInputCursor
 - Increased timeout and retry delay in ServerStatus to reduce GetServerStatus fails
 - Fixed an instance where ServerStatus would report a nullref if the devices array fails to populate
+- Fixed MRTK integration (updated finger/bone methods for new 7.0.0 implementation)
 
 
 ## [7.0.0] - 22/07/2024

diff --git a/Packages/Tracking/Core/Runtime/Scripts/MRTK Support/LeapMRTKSubsystem.cs b/Packages/Tracking/Core/Runtime/Scripts/MRTK Support/LeapMRTKSubsystem.cs
@@ -138,53 +138,53 @@ Pose GetJointFromLeapHand(TrackedHandJoint joint, Leap.Hand hand)
                     case TrackedHandJoint.Wrist:
                         return new Pose(hand.WristPosition, hand.Arm.Rotation);
                     case TrackedHandJoint.ThumbMetacarpal:
-                        return new Pose(hand.GetThumb().Bone(Leap.Bone.BoneType.TYPE_PROXIMAL).PrevJoint, hand.GetThumb().Bone(Leap.Bone.BoneType.TYPE_PROXIMAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.THUMB].bones[(int)Bone.BoneType.PROXIMAL].PrevJoint, hand.fingers[(int)Finger.FingerType.THUMB].bones[(int)Bone.BoneType.PROXIMAL].Rotation);
                     case TrackedHandJoint.ThumbProximal:
-                        return new Pose(hand.GetThumb().Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).PrevJoint, hand.GetThumb().Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.THUMB].bones[(int)Bone.BoneType.INTERMEDIATE].PrevJoint, hand.fingers[(int)Finger.FingerType.THUMB].bones[(int)Bone.BoneType.INTERMEDIATE].Rotation);
                     case TrackedHandJoint.ThumbDistal:
-                        return new Pose(hand.GetThumb().Bone(Leap.Bone.BoneType.TYPE_DISTAL).PrevJoint, hand.GetThumb().Bone(Leap.Bone.BoneType.TYPE_DISTAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.THUMB].bones[(int)Bone.BoneType.DISTAL].PrevJoint, hand.fingers[(int)Finger.FingerType.THUMB].bones[(int)Bone.BoneType.DISTAL].Rotation);
                     case TrackedHandJoint.ThumbTip:
-                        return new Pose(hand.GetThumb().Bone(Leap.Bone.BoneType.TYPE_DISTAL).NextJoint, hand.GetThumb().Bone(Leap.Bone.BoneType.TYPE_DISTAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.THUMB].bones[(int)Bone.BoneType.DISTAL].NextJoint, hand.fingers[(int)Finger.FingerType.THUMB].bones[(int)Bone.BoneType.DISTAL].Rotation);
                     case TrackedHandJoint.IndexMetacarpal:
-                        return new Pose(hand.GetIndex().Bone(Leap.Bone.BoneType.TYPE_METACARPAL).PrevJoint, hand.GetIndex().Bone(Leap.Bone.BoneType.TYPE_METACARPAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.INDEX].bones[(int)Bone.BoneType.METACARPAL].PrevJoint, hand.fingers[(int)Finger.FingerType.INDEX].bones[(int)Bone.BoneType.METACARPAL].Rotation);
                     case TrackedHandJoint.IndexProximal:
-                        return new Pose(hand.GetIndex().Bone(Leap.Bone.BoneType.TYPE_PROXIMAL).PrevJoint, hand.GetIndex().Bone(Leap.Bone.BoneType.TYPE_PROXIMAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.INDEX].bones[(int)Bone.BoneType.PROXIMAL].PrevJoint, hand.fingers[(int)Finger.FingerType.INDEX].bones[(int)Bone.BoneType.PROXIMAL].Rotation);
                     case TrackedHandJoint.IndexIntermediate:
-                        return new Pose(hand.GetIndex().Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).PrevJoint, hand.GetIndex().Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.INDEX].bones[(int)Bone.BoneType.INTERMEDIATE].PrevJoint, hand.fingers[(int)Finger.FingerType.INDEX].bones[(int)Bone.BoneType.INTERMEDIATE].Rotation);
                     case TrackedHandJoint.IndexDistal:
-                        return new Pose(hand.GetIndex().Bone(Leap.Bone.BoneType.TYPE_DISTAL).PrevJoint, hand.GetIndex().Bone(Leap.Bone.BoneType.TYPE_DISTAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.INDEX].bones[(int)Bone.BoneType.DISTAL].PrevJoint, hand.fingers[(int)Finger.FingerType.INDEX].bones[(int)Bone.BoneType.DISTAL].Rotation);
                     case TrackedHandJoint.IndexTip:
-                        return new Pose(hand.GetIndex().Bone(Leap.Bone.BoneType.TYPE_DISTAL).NextJoint, hand.GetIndex().Bone(Leap.Bone.BoneType.TYPE_DISTAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.INDEX].bones[(int)Bone.BoneType.DISTAL].NextJoint, hand.fingers[(int)Finger.FingerType.INDEX].bones[(int)Bone.BoneType.DISTAL].Rotation);
                     case TrackedHandJoint.MiddleMetacarpal:
-                        return new Pose(hand.GetMiddle().Bone(Leap.Bone.BoneType.TYPE_METACARPAL).PrevJoint, hand.GetMiddle().Bone(Leap.Bone.BoneType.TYPE_METACARPAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.MIDDLE].bones[(int)Bone.BoneType.METACARPAL].PrevJoint, hand.fingers[(int)Finger.FingerType.MIDDLE].bones[(int)Bone.BoneType.METACARPAL].Rotation);
                     case TrackedHandJoint.MiddleProximal:
-                        return new Pose(hand.GetMiddle().Bone(Leap.Bone.BoneType.TYPE_PROXIMAL).PrevJoint, hand.GetMiddle().Bone(Leap.Bone.BoneType.TYPE_PROXIMAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.MIDDLE].bones[(int)Bone.BoneType.PROXIMAL].PrevJoint, hand.fingers[(int)Finger.FingerType.MIDDLE].bones[(int)Bone.BoneType.PROXIMAL].Rotation);
                     case TrackedHandJoint.MiddleIntermediate:
-                        return new Pose(hand.GetMiddle().Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).PrevJoint, hand.GetMiddle().Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.MIDDLE].bones[(int)Bone.BoneType.INTERMEDIATE].PrevJoint, hand.fingers[(int)Finger.FingerType.MIDDLE].bones[(int)Bone.BoneType.INTERMEDIATE].Rotation);
                     case TrackedHandJoint.MiddleDistal:
-                        return new Pose(hand.GetMiddle().Bone(Leap.Bone.BoneType.TYPE_DISTAL).PrevJoint, hand.GetMiddle().Bone(Leap.Bone.BoneType.TYPE_DISTAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.MIDDLE].bones[(int)Bone.BoneType.DISTAL].PrevJoint, hand.fingers[(int)Finger.FingerType.MIDDLE].bones[(int)Bone.BoneType.DISTAL].Rotation);
                     case TrackedHandJoint.MiddleTip:
-                        return new Pose(hand.GetMiddle().Bone(Leap.Bone.BoneType.TYPE_DISTAL).NextJoint, hand.GetMiddle().Bone(Leap.Bone.BoneType.TYPE_DISTAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.MIDDLE].bones[(int)Bone.BoneType.DISTAL].NextJoint, hand.fingers[(int)Finger.FingerType.MIDDLE].bones[(int)Bone.BoneType.DISTAL].Rotation);
                     case TrackedHandJoint.RingMetacarpal:
-                        return new Pose(hand.GetRing().Bone(Leap.Bone.BoneType.TYPE_METACARPAL).PrevJoint, hand.GetRing().Bone(Leap.Bone.BoneType.TYPE_METACARPAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.RING].bones[(int)Bone.BoneType.METACARPAL].PrevJoint, hand.fingers[(int)Finger.FingerType.RING].bones[(int)Bone.BoneType.METACARPAL].Rotation);
                     case TrackedHandJoint.RingProximal:
-                        return new Pose(hand.GetRing().Bone(Leap.Bone.BoneType.TYPE_PROXIMAL).PrevJoint, hand.GetRing().Bone(Leap.Bone.BoneType.TYPE_PROXIMAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.RING].bones[(int)Bone.BoneType.PROXIMAL].PrevJoint, hand.fingers[(int)Finger.FingerType.RING].bones[(int)Bone.BoneType.PROXIMAL].Rotation);
                     case TrackedHandJoint.RingIntermediate:
-                        return new Pose(hand.GetRing().Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).PrevJoint, hand.GetRing().Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.RING].bones[(int)Bone.BoneType.INTERMEDIATE].PrevJoint, hand.fingers[(int)Finger.FingerType.RING].bones[(int)Bone.BoneType.INTERMEDIATE].Rotation);
                     case TrackedHandJoint.RingDistal:
-                        return new Pose(hand.GetRing().Bone(Leap.Bone.BoneType.TYPE_DISTAL).PrevJoint, hand.GetRing().Bone(Leap.Bone.BoneType.TYPE_DISTAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.RING].bones[(int)Bone.BoneType.DISTAL].PrevJoint, hand.fingers[(int)Finger.FingerType.RING].bones[(int)Bone.BoneType.DISTAL].Rotation);
                     case TrackedHandJoint.RingTip:
-                        return new Pose(hand.GetRing().Bone(Leap.Bone.BoneType.TYPE_DISTAL).NextJoint, hand.GetRing().Bone(Leap.Bone.BoneType.TYPE_DISTAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.RING].bones[(int)Bone.BoneType.DISTAL].NextJoint, hand.fingers[(int)Finger.FingerType.RING].bones[(int)Bone.BoneType.DISTAL].Rotation);
                     case TrackedHandJoint.LittleMetacarpal:
-                        return new Pose(hand.GetPinky().Bone(Leap.Bone.BoneType.TYPE_METACARPAL).PrevJoint, hand.GetPinky().Bone(Leap.Bone.BoneType.TYPE_METACARPAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.PINKY].bones[(int)Bone.BoneType.METACARPAL].PrevJoint, hand.fingers[(int)Finger.FingerType.PINKY].bones[(int)Bone.BoneType.METACARPAL].Rotation);
                     case TrackedHandJoint.LittleProximal:
-                        return new Pose(hand.GetPinky().Bone(Leap.Bone.BoneType.TYPE_PROXIMAL).PrevJoint, hand.GetPinky().Bone(Leap.Bone.BoneType.TYPE_PROXIMAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.PINKY].bones[(int)Bone.BoneType.PROXIMAL].PrevJoint, hand.fingers[(int)Finger.FingerType.PINKY].bones[(int)Bone.BoneType.PROXIMAL].Rotation);
                     case TrackedHandJoint.LittleIntermediate:
-                        return new Pose(hand.GetPinky().Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).PrevJoint, hand.GetPinky().Bone(Leap.Bone.BoneType.TYPE_INTERMEDIATE).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.PINKY].bones[(int)Bone.BoneType.INTERMEDIATE].PrevJoint, hand.fingers[(int)Finger.FingerType.PINKY].bones[(int)Bone.BoneType.INTERMEDIATE].Rotation);
                     case TrackedHandJoint.LittleDistal:
-                        return new Pose(hand.GetPinky().Bone(Leap.Bone.BoneType.TYPE_DISTAL).PrevJoint, hand.GetPinky().Bone(Leap.Bone.BoneType.TYPE_DISTAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.PINKY].bones[(int)Bone.BoneType.DISTAL].PrevJoint, hand.fingers[(int)Finger.FingerType.PINKY].bones[(int)Bone.BoneType.DISTAL].Rotation);
                     case TrackedHandJoint.LittleTip:
-                        return new Pose(hand.GetPinky().Bone(Leap.Bone.BoneType.TYPE_DISTAL).NextJoint, hand.GetPinky().Bone(Leap.Bone.BoneType.TYPE_DISTAL).Rotation);
+                        return new Pose(hand.fingers[(int)Finger.FingerType.PINKY].bones[(int)Bone.BoneType.DISTAL].NextJoint, hand.fingers[(int)Finger.FingerType.PINKY].bones[(int)Bone.BoneType.DISTAL].Rotation);
                 }
 
                 return new Pose(hand.PalmPosition, hand.Rotation);