{"id":1046,"date":"2014-09-24T08:41:59","date_gmt":"2014-09-23T23:41:59","guid":{"rendered":"http:\/\/www.rainyman.net\/nest\/?p=1046"},"modified":"2015-09-24T15:29:52","modified_gmt":"2015-09-24T06:29:52","slug":"ogre-leapmotion","status":"publish","type":"post","link":"https:\/\/blog.rainyman.jp\/nest\/?p=1046","title":{"rendered":"OGRE + LeapMotion"},"content":{"rendered":"<div id=\"toc_container\" class=\"no_bullets\"><p class=\"toc_title\">\u76ee\u6b21<\/p><ul class=\"toc_list\"><li><a href=\"#i\"><span class=\"toc_number toc_depth_1\">1<\/span> \u30dd\u30a4\u30f3\u30c8<\/a><\/li><li><a href=\"#i-2\"><span class=\"toc_number toc_depth_1\">2<\/span> \u201c\u59ff\u52e2\u201d\u306e\u8a18\u8ff0<\/a><\/li><li><a href=\"#i-3\"><span class=\"toc_number toc_depth_1\">3<\/span> \u76f8\u5bfe\u7684\u306a\u59ff\u52e2<\/a><\/li><li><a href=\"#OGRE\"><span class=\"toc_number toc_depth_1\">4<\/span> OGRE\u306b\u304a\u3051\u308b\u30b9\u30b1\u30eb\u30bf\u30eb\u30a2\u30cb\u30e1\u30fc\u30b7\u30e7\u30f3<\/a><\/li><\/ul><\/div>\n<p>\u3061\u3087\u3044\u307e\u3048\u306b\uff0c<a href=\"https:\/\/www.leapmotion.com\/product\/vr?lang=jp\">LeapMotion\u306eOculusRift\u7528\u30de\u30a6\u30f3\u30bf<\/a>\u304c\u30ea\u30ea\u30fc\u30b9\u3055\u308c\u307e\u3057\u305f\uff0e\nLeapMotion\u306f\u6b63\u76f4\u7a4d\u307f\u30c7\u30d0\u30a4\u30b9\u3068\u5316\u3057\u3066\u3044\u305f\u306e\u3067\u3059\u304c\uff0c\u9762\u767d\u305d\u3046\u306a\u306e\u3067\u6ce8\u6587\u3057\u3066\u307f\u307e\u3057\u305f\uff0e<\/p>\n\n<p>\u30de\u30a6\u30f3\u30bf\u304c\u5c4a\u304f\u524d\u306bLeapMotion\u306e\u4f7f\u3044\u65b9\u3092\u52c9\u5f37\u3057\u3066\u304a\u3053\u3046\u3068\u601d\u3063\u3066\uff0cOGRE\u3067LeapMotion\u306e\u30ad\u30e3\u30d7\u30c1\u30e3\u30c7\u30fc\u30bf\u3092\n\u53ef\u8996\u5316\u3059\u308b\u30c7\u30e2\u3092\u4f5c\u3063\u3066\u307f\u307e\u3057\u305f\uff0e<\/p>\n\n<iframe width=\"560\" height=\"315\" src=\"\/\/www.youtube.com\/embed\/EkcpPQfpwX0\" frameborder=\"0\" allowfullscreen><\/iframe>\n\n<ul>\n<li><a href=\"wp-content\/uploads\/2014\/09\/OgreLeapHandtracking_bin.7z\">\u30d0\u30a4\u30ca\u30ea(64bit)<\/a><\/li>\n<li><a href=\"https:\/\/bitbucket.org\/i_sparkling\/ogreleaphandtracking\">\u30bd\u30fc\u30b9\u30ea\u30dd\u30b8\u30c8\u30ea<\/a>\n\n<ul>\n<li>LeapSDK\u306f2.1.4+22333\u3092\u4f7f\u7528\u3057\u3066\u3044\u307e\u3059\uff0e<\/li>\n<li>\u30bd\u30fc\u30b9\u306b\u306f\u4f9d\u5b58\u30e9\u30a4\u30d6\u30e9\u30ea(boost\/OGRE\/OIS\/LeapSDK)\u3092\u542b\u3081\u3066\u3044\u306a\u3044\u306e\u3067\uff0c\u81ea\u5206\u3067\u30d3\u30eb\u30c9\u3057\u3066\u307f\u305f\u3044\u5834\u5408\u306b\u306f\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u30a4\u30f3\u30af\u30eb\u30fc\u30c9\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\uff0c\u30e9\u30a4\u30d6\u30e9\u30ea\u30d1\u30b9\uff0c\u30c7\u30d0\u30c3\u30b0\u6642\u306e\u74b0\u5883\u5909\u6570\uff0cplugin(_d).cfg\u306e\u8a18\u8ff0\u306a\u3069\u3092\uff0c\u81ea\u5206\u306e\u74b0\u5883\u306b\u5408\u308f\u305b\u3066\u66f8\u304d\u63db\u3048\u3066\u304f\u3060\u3055\u3044\uff0e<\/li>\n<\/ul><\/li>\n<\/ul>\n\n<p><strong>\u64cd\u4f5c\u65b9\u6cd5<\/strong><\/p>\n\n<dl>\n<dt>Alt+\u5de6\u30de\u30a6\u30b9<\/dt>\n<dd>\u30ab\u30e1\u30e9\u56de\u8ee2<\/dd>\n\n<dt>Alt+Shift+\u5de6\u30de\u30a6\u30b9<\/dt>\n<dd>\u30ab\u30e1\u30e9\u5e73\u884c\u79fb\u52d5<\/dd>\n\n<dt>Alt+Ctrl+\u5de6\u30de\u30a6\u30b9 or \u30b9\u30af\u30ed\u30fc\u30eb<\/dt>\n<dd>\u30ba\u30fc\u30e0\u30a4\u30f3\/\u30a2\u30a6\u30c8<\/dd>\n<\/dl>\n\n<p>\u30ad\u30e3\u30d7\u30c1\u30e3\u3057\u3066\u3044\u308b\u624b\u306e\u30d7\u30ed\u30dd\u30fc\u30b7\u30e7\u30f3\u3092\u7121\u8996\u3057\u3066\uff0c\u76f8\u5bfe\u7684\u306a\u30dc\u30fc\u30f3\u306e\u59ff\u52e2\u3060\u3051\u3092\u9069\u7528\u3057\u3066\u30b9\u30ad\u30cb\u30f3\u30b0\u3057\u3066\u3044\u307e\u3059\uff0e\n\u306a\u306e\u3067\uff0c\u3061\u3083\u3093\u3068\u30a6\u30a7\u30a4\u30c8\u30da\u30a4\u30f3\u30c6\u30a3\u30f3\u30b0\u3057\u305f\u30e2\u30c7\u30eb\u3092\u4f7f\u3046\u3053\u3068\u3082\u53ef\u80fd\u3060\u3068\u601d\u3044\u307e\u3059\uff0e<\/p>\n\n<p>\u4ee5\u4e0b\u6280\u8853\u7684\u306a\u5099\u5fd8\u9332\u3067\u3059\uff0e<\/p>\n\n<h3><span id=\"i\">\u30dd\u30a4\u30f3\u30c8<\/span><\/h3>\n\n<p>LeapMotion\u3092\u5f04\u3063\u3066\u3044\u3066\u3061\u3087\u3063\u3068\u6238\u60d1\u3063\u305f\u306e\u306f\uff0c\u3053\u308c\u306f\u30ad\u30e3\u30d7\u30c1\u30e3\u30c7\u30d0\u30a4\u30b9\u3067\u3042\u308b\u304b\u3089\u3057\u3066\uff0c\u6307\u3084\u624b\u306e\u3072\u3089\u306e\u4f4d\u7f6e\u3084\u5411\u304d\u3092\n<strong>\u30ef\u30fc\u30eb\u30c9\u7a7a\u9593\u306e\u5ea7\u6a19\u7cfb\u3067\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306b\u5831\u544a\u3059\u308b\u70b9<\/strong>\u3067\u3059\uff0e<\/p>\n\n<p>\u5404\u30dc\u30fc\u30f3\u306e\u4f4d\u7f6e\u3084\u59ff\u52e2\u3092\u305d\u306e\u307e\u307e\u30ef\u30fc\u30eb\u30c9\u5ea7\u6a19\u306b\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u306a\u3089\u305d\u308c\u3089\u306e\u30c7\u30fc\u30bf\u306f\u305d\u306e\u307e\u307e\u4f7f\u3048\u307e\u3059\u304c\uff0c\n\u3053\u306e\u30c7\u30e2\u306e\u3088\u3046\u306b\u30dc\u30fc\u30f3\u306e\u59ff\u52e2\u306e\u307f\u3092\u65e2\u5b58\u306e\u30e2\u30c7\u30eb\u306b\u9069\u7528\u3059\u308b\u5834\u5408\u306b\u306f\u5c11\u3057\u3060\u3051\u5de5\u592b\u304c\u5fc5\u8981\u3067\u3059\uff0e<br \/>\n\u3064\u307e\u308a\uff0c<em>\u89aa\u30dc\u30fc\u30f3\u306e\u59ff\u52e2\u3068\u76f8\u5bfe\u7684\u306a\u5b50\u30dc\u30fc\u30f3\u306e\u59ff\u52e2<\/em>\u3092\u4f5c\u308b\u5fc5\u8981\u304c\u3042\u308b\u3068\u8a00\u3046\u3053\u3068\u3067\u3059\u306d\uff0e<\/p>\n\n<h3><span id=\"i-2\">\u201c\u59ff\u52e2\u201d\u306e\u8a18\u8ff0<\/span><\/h3>\n\n<p>LeapSDK\u304b\u3089\u53d6\u5f97\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u30dc\u30fc\u30f3\u306e\u59ff\u52e2\u3092\u793a\u3059\u30c7\u30fc\u30bf\u306f\uff0c\u5b9f\u8cea\u7684\u306b<a href=\"https:\/\/developer.leapmotion.com\/documentation\/skeletal\/cpp\/api\/Leap.Bone.html#cppclass_leap_1_1_bone_1a8cf9153b5f55c95ea44d0e0a3bdc8a75\">Leap::Bone::direction()<\/a>\u306e\u307f\u3067\u3059\uff0e\n\u305f\u3060\uff0cSDK\u306e\u30d0\u30b0\u306a\u306e\u304b\u4f55\u306a\u306e\u304b\u5206\u304b\u308a\u307e\u305b\u3093\u304c\u3053\u306e\u30e1\u30bd\u30c3\u30c9\u306f\u30e9\u30a4\u30d6\u30e9\u30ea\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306e\u8a18\u8ff0\u3068\u306f\u9006\u306e\u5411\u304d\u2015<em>\u6307\u5148\u304b\u3089\u624b\u9996\u306b\u8fd1\u3044\u65b9\u5411\u306e\u30d9\u30af\u30c8\u30eb<\/em>\u3092\u8fd4\u3059\u3088\u3046\u3067\u3059\uff0e<\/p>\n\n<p>\u4e0a\u8ff0\u306e\u30e1\u30bd\u30c3\u30c9\u306f\u305d\u306e\u307e\u307e\u4f7f\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u305b\u3093\u304c\uff0c\u30dc\u30fc\u30f3\u306e\u59cb\u70b9\u3068\u7d42\u70b9\u4f4d\u7f6e\u306f\u305d\u308c\u305e\u308c<a href=\"https:\/\/developer.leapmotion.com\/documentation\/skeletal\/cpp\/api\/Leap.Bone.html#cppclass_leap_1_1_bone_1a1ea100c811f82f66d7b366509f1e3d52\">Leap::Bone::prevJoint()<\/a>,<a href=\"https:\/\/developer.leapmotion.com\/documentation\/skeletal\/cpp\/api\/Leap.Bone.html#cppclass_leap_1_1_bone_1ad33308349f4bd68e844803a70168c1ed\">Leap::Bone::nextJoint()<\/a>\u3092\u4f7f\u3063\u3066\u5f97\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e\u305d\u308c\u3092\u5143\u306b\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u4f5c\u308a\uff0c\u3055\u3089\u306b\u305d\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u4f7f\u3063\u3066\n<strong>\u76f4\u4ea4\u57fa\u5e95\u884c\u5217(\u56de\u8ee2\u884c\u5217)\u3092\u4f5c\u308a\u307e\u3059<\/strong>\uff0e\n\u76f4\u4ea4\u57fa\u5e95\u884c\u5217\uff0c\u3064\u307e\u308a<strong>\u4e09\u500b\u4e00\u7d44\u306e\u4e92\u3044\u306b\u76f4\u884c\u3059\u308b\u30d9\u30af\u30c8\u30eb\u3092\u5217\u6210\u5206\u306b\u6301\u3064\u884c\u5217\u306f\u56de\u8ee2\u884c\u5217<\/strong>\u3068\u3057\u3066\u4f7f\u7528\u3067\u304d\u307e\u3059\uff0e<\/p>\n\n<p>\u30c7\u30e2\u306e\u4e2d\u3067\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\uff0c\u59ff\u52e2\u306e\u57fa\u6e96\u3068\u306a\u308b\u30d9\u30af\u30c8\u30eb\u304b\u3089<strong>\u30d9\u30af\u30c8\u30eb\u306e\u30af\u30ed\u30b9\u7a4d\u30922\u56de\u4f7f\u3063\u3066<\/strong>\n\u76f4\u4ea4\u57fa\u5e95\u30d9\u30af\u30c8\u30eb\u3092\u5f97\u3066\uff0c\u56de\u8ee2\u884c\u5217\u3092\u4f5c\u3063\u3066\u3044\u307e\u3059\uff0e\u30ab\u30e1\u30e9\u5236\u5fa1\u306a\u3093\u304b\u306e\u6642\u306b\u3082\u3088\u304f\u3053\u306e\u624b\u306e\u65b9\u6cd5\u306f\u4f7f\u3044\u307e\u3059\u306d\uff0e<\/p>\n\n<div><pre class=\"brush: cpp; title: ; notranslate\" title=\"\">\nconst Ogre::Matrix4 CreateCurrentPoseMatrix(Leap::Bone&amp; b, Leap::Hand&amp; h)\n{\n    using namespace Ogre;\n    Matrix3 rot;\n    \/\/ \u57fa\u5e95\u30d9\u30af\u30c8\u30eb1\n    Vector3 yBasis = (b.nextJoint() - b.prevJoint()).toVector3&lt;Vector3&gt;();\n    yBasis.normalise();\n    Vector3 palmNml = h.palmNormal().toVector3&lt;Vector3&gt;();\n    Vector3 palmFwd = h.direction().toVector3&lt;Vector3&gt;();\n    Vector3 pinkyDir = palmNml.crossProduct(palmFwd);\/\/ \u5c0f\u6307\u65b9\u5411\n    Vector3 zBasis = pinkyDir.crossProduct(yBasis);\/\/ \u57fa\u5e95\u30d9\u30af\u30c8\u30eb2\n    zBasis.normalise();\n    Vector3 xBasis = yBasis.crossProduct(zBasis);\/\/ \u57fa\u5e95\u30d9\u30af\u30c8\u30eb3\n    xBasis.normalise();\n    rot = Matrix3(\n        xBasis.x, yBasis.x, zBasis.x,\n        xBasis.y, yBasis.y, zBasis.y,\n        xBasis.z, yBasis.z, zBasis.z\n        );\n    if (h.isLeft())\n    {\n        Matrix3 flip;\n        flip.FromAngleAxis(Vector3::UNIT_Y, Degree(180));\n        rot = rot * flip;\n    }\n    Ogre::Matrix4 res(rot);\n\n    return res;\n}\n<\/pre><\/div>\n\n<p>\u6570\u5f0f\u7684\u306b\u66f8\u304f\u3068\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n\n<div>\\(\n\n\\begin{eqnarray}\n\\begin{array}{l}\n\\vec{\\bf D_{forward}} \\\\\n\\vec{\\bf U}\\left( \\vec{\\bf D_{forward}}\\cdot\\vec{\\bf U} \\neq 1 \\right) \\\\\n\\vec{\\bf D_{right}} = \\vec{\\bf D_{forward}}\\times\\vec{\\bf U} \\\\\n\\vec{\\bf D_{up}} = \\vec{\\bf D_{right}}\\times\\vec{\\bf D_{forward}} \\\\\n\\end{array}\n\\end{eqnarray}\n\n\\)<\/div>\n\n<p><br><\/p>\n\n<div>\\(\n{\\bf M} = \\left(\\begin{array}{lll} \n\\vec{\\bf D_{right}} \\vec{\\bf D_{forward}} \\vec{\\bf D_{up}} \\\\\n\\end{array}\\right)\n\\)<\/div>\n\n<p><br><\/p>\n\n<p>\u3053\u306e\u30af\u30ed\u30b9\u7a4d\u30922\u56de\u4f7f\u3046\u65b9\u6cd5\u3060\u3068\uff0c\u30b8\u30f3\u30d0\u30eb\u30ed\u30c3\u30af\u304c\u767a\u751f\u3057\u5f97\u307e\u3059\uff0e<br \/>\n\u65b9\u5411\u30d9\u30af\u30c8\u30eb$$\\vec{\\bf D_{forward}}$$\u304b\u3089\u30af\u30ed\u30b9\u7a4d\u3092\u4f7f\u3063\u3066\u4e8c\u3064\u76ee\u306e\u57fa\u5e95\u30d9\u30af\u30c8\u30eb\n$$\\vec{\\bf D_{right}}$$\u3092\u4f5c\u308b\u3068\u304d\u306b\uff0c$$\\vec{\\bf U}$$\u3068\u3044\u3046\u30d9\u30af\u30c8\u30eb\u3092\u4f7f\u3063\u3066\u3044\u307e\u3059(\u3088\u304fY\u65b9\u5411\u306e\u5358\u4f4d\u30d9\u30af\u30c8\u30eb\u3092\u4f7f\u3044\u307e\u3059)\uff0e \n\u3053\u306e$$\\vec{\\bf U}$$\u306f\u3069\u3093\u306a\u30d9\u30af\u30c8\u30eb\u3067\u3082\u3088\u3044\u306e\u3067\u3059\u304c\uff0c\u4f8b\u5916\u3068\u3057\u3066$$\\vec{\\bf D_{forward}}$$\u3068\n\u540c\u3058\u5411\u304d(\u3042\u308b\u3044\u306f\u9006\u5411\u304d)\u306e\u5834\u5408\u306b\u30af\u30ed\u30b9\u7a4d\u306e\u7d50\u679c\u304c\u30bc\u30ed\u30d9\u30af\u30c8\u30eb\u3068\u306a\u3063\u3066\u3057\u307e\u3046\u306e\u3067\u3059\uff0e<\/p>\n\n<p>\u30b3\u30fc\u30c9\u3067\u306f\u5c0f\u6307\u65b9\u5411\u3092\u5272\u308a\u51fa\u3057\u3066\u5148\u306b$$\\vec{\\bf D_{up}}$$(<code>zBasis<\/code>)\u3092\u4f5c\u3063\u3066\u3044\u307e\u3059\uff0e\n<strong>\u6307\u304c\u624b\u306e\u3072\u3089\u306b\u5bfe\u3057\u3066\u771f\u6a2a\u3092\u5411\u304f\u3088\u3046\u306a\u3053\u3068\u306f\uff0c(\u7279\u6b8a\u306a\u4eba\u3092\u9664\u3044\u3066)\u305f\u3076\u3093\u7121\u3044\u3068\u601d\u3046\u306e\u3067\u3053\u308c\u3067\u30b8\u30f3\u30d0\u30eb\u30ed\u30c3\u30af\u3092\u56de\u907f\u3057\u3066\u3044\u307e\u3059\uff0e<\/strong><\/p>\n\n<p>\u5b9f\u306f\uff0c\u3053\u308c\u3068\u540c\u69d8\u306e\u3053\u3068\u3092\u3084\u3063\u3066\u304f\u308c\u308b\u30e1\u30bd\u30c3\u30c9\u3057\u3066<a href=\"https:\/\/developer.leapmotion.com\/documentation\/skeletal\/cpp\/api\/Leap.Bone.html#cppclass_leap_1_1_bone_1a4ff50b291a30106f8306ba26d55ada76\">Leap::Bone::basis()<\/a>\u3068\u3044\u3046\u306e\u3082\u3042\u308b\u306e\u3067\u3059\u304c\uff0c\u3053\u308c\u306f\u305d\u306e\u307e\u307e\u3067\u306f\u4f7f\u3048\u307e\u305b\u3093\uff0e\n\u30dc\u30fc\u30f3\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u304c<strong>Z\u306e\u57fa\u5e95\u30d9\u30af\u30c8\u30eb\u3068\u3057\u3066\u4f7f\u308f\u308c\u3066\u3044\u308b<\/strong>\u305f\u3081\u3067\u3059(\u30dc\u30fc\u30f3\u304cZ-up\u3067\u306f\u306a\u3044\u5834\u5408\u306f\u4f7f\u3048\u306a\u3044)\uff0e\n\u307e\u305f\uff0c\u3053\u306eZ\u306e\u57fa\u5e95\u30d9\u30af\u30c8\u30eb\u3082\u5185\u90e8\u7684\u306bLeap::Bone::direction()\u306b\u4f9d\u5b58\u3057\u3066\u3044\u308b\u306e\u304b\uff0c\u9006\u3092\u5411\u3044\u3066\u3044\u307e\u3059\uff0e<\/p>\n\n<p>\u3061\u306a\u307f\u306b\uff0cLeap::Matrix::toMatrix4x4<T>()\u3067Ogre::Matrix4\u306a\u3069\u306b\u5909\u63db\u3059\u308b\u3068\uff0c\u8ee2\u7f6e\u884c\u5217\u304c\u8fd4\u3063\u3066\u304d\u307e\u3059\uff0e\nDirectX\u306a\u3069\u5217\u512a\u5148\u306a\u884c\u5217\u3092\u4f7f\u3046\u74b0\u5883\u3092\u60f3\u5b9a\u3057\u3066\u3044\u308b\u305f\u3081\u306e\u3088\u3046\u3067\u3059\u304c\uff0cOGRE\u306f\u57fa\u672c\u7684\u306b\u884c\u512a\u5148\u306a\u306e\u3067\u3053\u306e\n\u95a2\u6570\u30c6\u30f3\u30d7\u30ec\u30fc\u30c8\u3082\u4f7f\u7528\u306b\u306f\u6ce8\u610f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u305d\u3046\u3067\u3059\uff0e<\/p>\n\n<h3><span id=\"i-3\">\u76f8\u5bfe\u7684\u306a\u59ff\u52e2<\/span><\/h3>\n\n<p>\u4e0a\u8a18\u307e\u3067\u3067\uff0c\u5404\u30dc\u30fc\u30f3\u306e\u30ef\u30fc\u30eb\u30c9\u7a7a\u9593\u4e0a\u306e\u59ff\u52e2\u3092\u3068\u308b\u3053\u3068\u306f\u3067\u304d\u307e\u3057\u305f\uff0e<br \/>\n\u89aa\u30dc\u30fc\u30f3\u306b\u5bfe\u3059\u308b\u5b50\u30dc\u30fc\u30f3\u306e\u59ff\u52e2\u3092\u5f97\u308b\u306b\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3057\u307e\u3059\uff0e<\/p>\n\n<p>\u3042\u308b\u30dc\u30fc\u30f3\u306e\u89aa\u30dc\u30fc\u30f3\u306b\u5bfe\u3059\u308b\u30ed\u30fc\u30ab\u30eb\u306a\u5411\u304d(\u56de\u8ee2\u884c\u5217)\u3092$${\\bf R_i}$$\u3068\n\u8868\u3059\u3053\u3068\u306b\u3057\u307e\u3057\u3087\u3046\uff0e\u30a4\u30f3\u30c7\u30c3\u30af\u30b9\u304c\u5c0f\u3055\u304f\u306a\u308b\u307b\u3069\u30b9\u30b1\u30eb\u30c8\u30f3\u306e\n\u30eb\u30fc\u30c8\u306b\u8fd1\u304f\u306a\u3063\u3066\u3044\u304f\u3082\u306e\u3068\u3057\u307e\u3059\uff0e\n\u4e0a\u8a18\u307e\u3067\u306e\u65b9\u6cd5\u3067LeapMotion\u304b\u3089\u5f97\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u306e\u306f\uff0c\n\u305d\u306e\u30dc\u30fc\u30f3\u304b\u3089\u30b9\u30b1\u30eb\u30c8\u30f3\u306e\u30eb\u30fc\u30c8\u306b\u81f3\u308b\u307e\u3067\u306e\u9014\u4e2d\u306b\u3042\u308b\u5168\u3066\u306e\n\u7956\u5148\u30dc\u30fc\u30f3\u306e\u56de\u8ee2\u884c\u5217\u304c\u306f\u3058\u3081\u304b\u3089\u639b\u3051\u5408\u308f\u3055\u308c\u305f\u56de\u8ee2\u884c\u5217\u3067\u3059\uff0e<\/p>\n\n<p>LeapMotion\u304b\u3089\u5f97\u3089\u308c\u308b\u30dc\u30fc\u30f3\u306e\u30ef\u30fc\u30eb\u30c9\u7a7a\u9593\u306b\u304a\u3051\u308b\u56de\u8ee2\u884c\u5217\u3092$${\\bf W_i}$$\uff0c\n\u3068\u3059\u308b\u306a\u3089\u3070\uff0c<\/p>\n\n<div>\n\\(\n\\begin{array}{lll}\n{\\bf W_i} &#038; = &#038; {\\bf R_0} {\\bf R_1} {\\bf R_2} \\cdots {\\bf R_i} \\\\\n &#038; = &#038; {\\bf W_{i-1}} {\\bf R_i}  \\\\\n\\end{array}\n\\)\n<\/div>\n\n<p>\u3068\u306a\u308a\u307e\u3059\uff0e\u3042\u308b\u30dc\u30fc\u30f3\u306e\u56de\u8ee2\u884c\u5217\u306f$$i-1$$\u756a\u76ee\u306e\u56de\u8ee2\u884c\u5217\uff0c\u3064\u307e\u308a\u89aa\u30dc\u30fc\u30f3\u306e\n\u30ef\u30fc\u30eb\u30c9\u7a7a\u9593\u306b\u304a\u3051\u308b\u56de\u8ee2\u884c\u5217\u306b\uff0c\u81ea\u8eab\u306e\u30ed\u30fc\u30ab\u30eb\u56de\u8ee2\u3092\u639b\u3051\u305f\u3082\u306e\u306b\u306a\u308b\u308f\u3051\u3067\u3059\u306d\uff0e<\/p>\n\n<p>\u3044\u307e\u5f97\u308b\u3053\u3068\u304c\u3067\u304d\u3066\u3044\u308b\u306e\u306f$${\\bf W_i}$$, $${\\bf W_{i-1}}$$\u306a\u3069\u306e\n\u30ef\u30fc\u30eb\u30c9\u7a7a\u9593\u306b\u304a\u3051\u308b\u56de\u8ee2\u884c\u5217\u306e\u307f\u3067\u3059\uff0e\u3053\u308c\u3089\u304b\u3089$$R_i$$\u3092\u7279\u5b9a\u3059\u308b\u306b\u306f\n<strong>\u4e0a\u8a18\u306e\u4e21\u8fba\u306b$${\\bf W_{i-1}}$$\u306e\u9006\u884c\u5217\u3092\u5de6\u304b\u3089\u639b\u3051\u3066\u3042\u3052\u307e\u3059\uff0e<\/strong><\/p>\n\n<div>\\(\\begin{array}{lll}\n{\\bf W_i} &#038; = &#038; {\\bf W_{i-1}} {\\bf R_i}  \\\\\n{\\bf W_{i-1}^{-1}}{\\bf W_i} &#038; = &#038; {\\bf W_{i-1}^{-1}}{\\bf W_{i-1}} {\\bf R_i}  \\\\\n{\\bf W_{i-1}^{-1}}{\\bf W_i} &#038; = &#038; {\\bf I}{\\bf R_i}  \\\\\n{\\bf W_{i-1}^{-1}}{\\bf W_i} &#038; = &#038; {\\bf R_i}  \\\\\n\\end{array}\n\\)<\/div>\n\n<p>\u203b $${\\bf I}$$\u306f\u5358\u4f4d\u884c\u5217\uff0e<\/p>\n\n<p>$${\\bf W_i}$$\u306a\u3069\u306f\u5168\u3066\u56de\u8ee2\u884c\u5217\u3067\u3042\u308b\u3053\u3068\u304c\u5206\u304b\u3063\u3066\u3044\u308b\u306e\u3067\uff0c\n\u5b9f\u88c5\u4e0a\u306f\u8ee2\u7f6e\u884c\u5217\u3092\u4f7f\u3048\u3070\u826f\u3044\u3053\u3068\u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n\n<p>\u5b9f\u969b\u306b\u30ed\u30fc\u30ab\u30eb\u30dd\u30fc\u30ba\u3092\u8a08\u7b97\u3059\u308b\u5834\u5408\u306f\uff0c\u66f4\u306b\u3053\u306e\u56de\u8ee2\u884c\u5217\u306b\u30d0\u30a4\u30f3\u30c9\u30dd\u30fc\u30ba\u306b\n\u304a\u3051\u308b\u30dc\u30fc\u30f3\u306e\u56de\u8ee2\u884c\u5217\u3092\u639b\u3051\u308b\u5fc5\u8981\u304c\u3042\u308b\u3088\u3046\u3067\u3059\uff0e<\/p>\n\n<h3><span id=\"OGRE\">OGRE\u306b\u304a\u3051\u308b\u30b9\u30b1\u30eb\u30bf\u30eb\u30a2\u30cb\u30e1\u30fc\u30b7\u30e7\u30f3<\/span><\/h3>\n\n<p>OGRE\u306b\u306f\u30b9\u30b1\u30eb\u30bf\u30eb\u30a2\u30cb\u30e1\u30fc\u30b7\u30e7\u30f3\u3092\u8aad\u307f\u8fbc\u3093\u3067\u518d\u751f\u3059\u308b\u6a5f\u80fd\u304c\u3042\u308a\u307e\u3059\uff0e\n\u3057\u304b\u3057\u4eca\u56de\u306e\u5834\u5408<strong>\u30a2\u30cb\u30e1\u30fc\u30b7\u30e7\u30f3\u306e\u30d5\u30ec\u30fc\u30e0\u304c\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306b\u5165\u3063\u3066\u304f\u308b<\/strong>\u308f\u3051\u3067\n\u3053\u306e\u4ed5\u7d44\u307f\u306f\u4f7f\u3048\u307e\u305b\u3093\uff0e<\/p>\n\n<p>\u306a\u306e\u3067\uff0c\u30ab\u30ec\u30f3\u30c8\u30dd\u30fc\u30ba\u3092\u683c\u7d0d\u3059\u308b\u884c\u5217\u30d1\u30ec\u30c3\u30c8\u3092\u81ea\u5206\u3067\u4f5c\u3063\u3066\uff0c\u624b\u52d5\u3067\n\u30b7\u30a7\u30fc\u30c0\u306b\u30d0\u30a4\u30f3\u30c9\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e\u3053\u3046\u306a\u3063\u3066\u304f\u308b\u3068\uff0c\n\u3082\u3046\u6b86\u3069OGRE\u95a2\u4fc2\u306a\u3044\u3067\u3059\u306d\u2026<\/p>\n\n<p>\u305f\u3060\u3057\uff0cOGRE\u3067\u3053\u308c\u3092\u3084\u308b\u305f\u3081\u306b\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u30b7\u30a7\u30fc\u30c0\u5ba3\u8a00\u3067<code>include_skeletal_animation<\/code>\u3092<code>true<\/code>\u306b\u8a2d\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e\n\u3053\u306e\u30d5\u30e9\u30b0\u304c\u7acb\u3063\u3066\u3044\u306a\u3044\u3068OGRE\u306f\u9802\u70b9\u306b\u95a2\u9023\u4ed8\u3044\u3066\u3044\u308b\n\u30d6\u30ec\u30f3\u30c9\u30a4\u30f3\u30c7\u30c3\u30af\u30b9\u3068\u30d6\u30ec\u30f3\u30c9\u30a6\u30a7\u30a4\u30c8\u3092\u30b7\u30a7\u30fc\u30c0\u306b\u6e21\u3057\u3066\u304f\u308c\u307e\u305b\u3093\uff0e<\/p>\n\n<pre><code>vertex_program SimpleHandVP cg\n{\n  source SimpleHand.cg\n  entry_point SimpleHandVP\n  profiles vs_4_0 vs_3_0 arbvp1\n  includes_skeletal_animation true \/\/ REQUIRED!\n\n  default_params{ ... }\n}\n<\/code><\/pre>\n\n<p>\u30d7\u30ed\u30b0\u30e9\u30e0\u5185\u3067\u30b7\u30a7\u30fc\u30c0\u5b9a\u6570\u306b\u5024\u3092\u30d0\u30a4\u30f3\u30c9\u3059\u308b\u306b\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3057\u307e\u3059\uff0e<\/p>\n\n<div><pre class=\"brush: cpp; title: ; notranslate\" title=\"\">\n\nauto mat = Ogre::MaterialManager::getSingleton().getByName(&quot;Hoge&quot;);\nauto pass = mat-&gt;getTechnique(0)-&gt;getPass(0);\nauto params = pass-&gt;getVertexProgramParameters();\nparams-&gt;setNamedConstant(&quot;piyo&quot;, ...);\n\n<\/pre><\/div>\n\n<p>\u4e0a\u8a18\u306e\u3088\u3046\u306b<a href=\"http:\/\/www.ogre3d.org\/docs\/api\/1.9\/class_ogre_1_1_gpu_program_parameters.html#ac9913009755ab399d73e8a6b878b2a14\"><code>Ogre::GpuProgramParameters::setNamedConstant()<\/code><\/a>\u3092\u4f7f\u3044\u307e\u3059\uff0e\u4e0a\u306e\u4f8b\u3060\u3068\u30de\u30c6\u30ea\u30a2\u30eb&#8221;Hoge&#8221;\u304c\u5b58\u5728\u3057\u3066\u3044\u3066\uff0c\u30d0\u30fc\u30c6\u30c3\u30af\u30b9\u30b7\u30a7\u30fc\u30c0\u304c\u95a2\u9023\u3065\u3051\u3089\u308c\u3066\u3044\u308b\u3053\u3068\u304c\u524d\u63d0\u3067\u3059\uff0e<\/p>\n\n<p>\u884c\u5217\u306e\u914d\u5217\u3092\u30d0\u30a4\u30f3\u30c9\u3059\u308b\u5834\u5408\u306f\u4ee5\u4e0b\u306e\u30aa\u30fc\u30d0\u30fc\u30ed\u30fc\u30c9\u3092\u4f7f\u3044\u307e\u3059\uff0e<\/p>\n\n<div><pre class=\"brush: cpp; title: ; notranslate\" title=\"\">\nconst int N = ...;\nOgre::Matrix4 mtx[N] = {...};\n\nparams-&gt;setNamedConstant(&quot;piyo&quot;, mtx, N);\n<\/pre><\/div>\n\n<p>\u524d\u7bc0\u307e\u3067\u306e\u65b9\u6cd5\u3067\u884c\u5217\u30d1\u30ec\u30c3\u30c8\u3092\u69cb\u7bc9\u3059\u308b\u3053\u3068\u306f\u53ef\u80fd\u3067\u3059\uff0e\u30d5\u30ec\u30fc\u30e0\u6bce\u306bLeapMotion\u304b\u3089\u30dc\u30fc\u30f3\u306e\u59ff\u52e2\u60c5\u5831\u3092\u5f97\u3066\uff0c\u884c\u5217\u30d1\u30ec\u30c3\u30c8\u3092\u66f4\u65b0\u3057\u3066\uff0c\u30b7\u30a7\u30fc\u30c0\u5b9a\u6570\u3092\u66f4\u65b0\u3059\u308b\uff0c\u3068\u3044\u3063\u305f\u624b\u9806\u3067\u3059\uff0e<\/p>\n\n<p>\u884c\u5217\u30d1\u30ec\u30c3\u30c8\u306e\u69cb\u7bc9\u65b9\u6cd5\u306f\u3069\u3061\u3089\u304b\u3068\u3044\u3046\u3068\u30bd\u30fc\u30b9\u3092\u898b\u3066\u3082\u3089\u3063\u305f\u65b9\u304c\u65e9\u3044\u306e\u3067\u3059\u304c\uff0c\n\u6700\u521d\u306b\u9006\u30d0\u30a4\u30c9\u30dd\u30fc\u30ba\u884c\u5217\u3092\u639b\u3051\u3066\uff0c\u5b50\u30dc\u30fc\u30f3\u304b\u3089\u89aa\u30dc\u30fc\u30f3\u306b\u5411\u304b\u3063\u3066\u56de\u8ee2\uff0c\u5e73\u884c\u79fb\u52d5\uff0c\u56de\u8ee2\uff0c\u5e73\u884c\u79fb\u52d5\u2026\u3068\u5909\u63db\u3092\u639b\u3051\u5408\u308f\u305b\u3066\u3044\u304f\u611f\u3058\u3067\u3059\u306d\uff0e<br 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href=\"http:\/\/www.rainyman.net\/nest\/wp-content\/uploads\/2014\/09\/bone.png\"><img loading=\"lazy\" src=\"http:\/\/www.rainyman.net\/nest\/wp-content\/uploads\/2014\/09\/bone-251x300.png\" alt=\"bone\" width=\"251\" height=\"300\" class=\"alignnone size-medium wp-image-1097\" srcset=\"https:\/\/blog.rainyman.jp\/nest\/wp-content\/uploads\/2014\/09\/bone-251x300.png 251w, https:\/\/blog.rainyman.jp\/nest\/wp-content\/uploads\/2014\/09\/bone.png 646w\" sizes=\"(max-width: 251px) 100vw, 251px\" \/><\/a><\/p>\n\n<p>\u203b 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[&hellip;]<\/p>","protected":false},"author":2,"featured_media":1099,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[12,17,15],"tags":[],"_links":{"self":[{"href":"https:\/\/blog.rainyman.jp\/nest\/index.php?rest_route=\/wp\/v2\/posts\/1046"}],"collection":[{"href":"https:\/\/blog.rainyman.jp\/nest\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.rainyman.jp\/nest\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.rainyman.jp\/nest\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.rainyman.jp\/nest\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1046"}],"version-history":[{"count":63,"href":"https:\/\/blog.rainyman.jp\/nest\/index.php?rest_route=\/wp\/v2\/posts\/1046\/revisions"}],"predecessor-version":[{"id":1351,"href":"https:\/\/blog.rainyman.jp\/nest\/index.php?rest_route=\/wp\/v2\/posts\/1046\/revisions\/1351"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/blog.rainyman.jp\/nest\/index.php?rest_route=\/wp\/v2\/media\/1099"}],"wp:attachment":[{"href":"https:\/\/blog.rainyman.jp\/nest\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1046"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.rainyman.jp\/nest\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1046"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.rainyman.jp\/nest\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1046"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}