--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Orchestland/Assets/LeapMotion/Scripts/Hands/RigidHand.cs	Fri Jul 17 23:09:20 2015 +0900
@@ -0,0 +1,106 @@
+/******************************************************************************\
+* Copyright (C) Leap Motion, Inc. 2011-2014.                                   *
+* Leap Motion proprietary. Licensed under Apache 2.0                           *
+* Available at http://www.apache.org/licenses/LICENSE-2.0.html                 *
+\******************************************************************************/
+
+using UnityEngine;
+using System.Collections;
+using Leap;
+
+// The model for our rigid hand made out of various polyhedra.
+public class RigidHand : SkeletalHand {
+
+  public float filtering = 0.5f;
+
+  public override void InitHand() {
+    base.InitHand();
+  }
+
+  public override void UpdateHand() {
+    for (int f = 0; f < fingers.Length; ++f) {
+      if (fingers[f] != null)
+        fingers[f].UpdateFinger();
+    }
+
+    if (palm != null) {
+      bool useVelocity = false;
+      Rigidbody palmBody = palm.GetComponent<Rigidbody>();
+      if (palmBody) {
+        if (!palmBody.isKinematic) {
+          useVelocity = true;
+
+          // Set palm velocity.
+          Vector3 target_position = GetPalmCenter();
+          palmBody.velocity = (target_position - palm.position) * (1 - filtering) / Time.deltaTime;
+
+          // Set palm angular velocity.
+          Quaternion target_rotation = GetPalmRotation();
+          Quaternion delta_rotation = target_rotation * Quaternion.Inverse(palm.rotation);
+          float angle = 0.0f;
+          Vector3 axis = Vector3.zero;
+          delta_rotation.ToAngleAxis(out angle, out axis);
+
+          if (angle >= 180) {
+            angle = 360 - angle;
+            axis = -axis;
+          }
+          if (angle != 0) {
+            float delta_radians = (1 - filtering) * angle * Mathf.Deg2Rad;
+            palmBody.angularVelocity = delta_radians * axis / Time.deltaTime;
+          }
+        }
+      }
+      if (!useVelocity) {
+        palm.position = GetPalmCenter();
+        palm.rotation = GetPalmRotation();
+      }
+    }
+    
+    if (forearm != null) {
+      // Set arm dimensions.
+      CapsuleCollider capsule = forearm.GetComponent<CapsuleCollider> ();
+      if (capsule != null) {
+        // Initialization
+        capsule.direction = 2;
+        forearm.localScale = new Vector3 (1f, 1f, 1f);
+        
+        // Update
+        capsule.radius = GetArmWidth () / 2f;
+        capsule.height = GetArmLength () + GetArmWidth ();
+      }
+      
+      bool useVelocity = false;
+      Rigidbody forearmBody = forearm.GetComponent<Rigidbody> ();
+      if (forearmBody) {
+        if (!forearmBody.isKinematic) {
+          useVelocity = true;
+
+          // Set arm velocity.
+          Vector3 target_position = GetArmCenter ();
+          forearmBody.velocity = (target_position - forearm.position) * (1 - filtering) / Time.deltaTime;
+
+          // Set arm velocity.
+          Quaternion target_rotation = GetArmRotation ();
+          Quaternion delta_rotation = target_rotation * Quaternion.Inverse (forearm.rotation);
+          float angle = 0.0f;
+          Vector3 axis = Vector3.zero;
+          delta_rotation.ToAngleAxis (out angle, out axis);
+
+          if (angle >= 180) {
+            angle = 360 - angle;
+            axis = -axis;
+          }
+          if (angle != 0) {
+            float delta_radians = (1 - filtering) * angle * Mathf.Deg2Rad;
+            forearmBody.angularVelocity = delta_radians * axis / Time.deltaTime;
+          }
+        }
+      }
+      if (!useVelocity) {
+        forearm.position = GetArmCenter();
+        forearm.rotation = GetArmRotation();
+      }
+    }
+  }
+}