diff --git a/examples/threejs-bones.html b/examples/threejs-bones.html
index 97d2640f..5babeb65 100644
--- a/examples/threejs-bones.html
+++ b/examples/threejs-bones.html
@@ -18,6 +18,9 @@
 </body>
 
 <script>
+// note: before implementing based off of this, you can instead grab the boneHand plugin
+// here: js.leapmotion.com
+
   var colors = [0xff0000, 0x00ff00, 0x0000ff];
   var baseBoneRotation = (new THREE.Quaternion).setFromEuler(
       new THREE.Euler(Math.PI / 2, 0, 0)
diff --git a/leap-0.6.3.js b/leap-0.6.3.js
index 0095b829..221a3462 100644
--- a/leap-0.6.3.js
+++ b/leap-0.6.3.js
@@ -1836,14 +1836,25 @@ Frame.prototype.hand = function(id) {
 Frame.prototype.rotationAngle = function(sinceFrame, axis) {
   if (!this.valid || !sinceFrame.valid) return 0.0;
 
+  // A derivation of the following can be found here:
+  // http://en.wikipedia.org/wiki/Axis–angle_representation
   var rot = this.rotationMatrix(sinceFrame);
-  var cs = (rot[0] + rot[4] + rot[8] - 1.0)*0.5;
-  var angle = Math.acos(cs);
+  
+  var axis = [
+    rot[7] - rot[5],
+    rot[2] - rot[6],
+    rot[3] - rot[1]
+  ];
+
+  var sin = Leap.vec3.len(axis);
+  var cos = (rot[0] + rot[4] + rot[8] - 1.0) * 0.5;
+
+  var angle;
+  angle = Math.atan2(sin,cos);
   angle = isNaN(angle) ? 0.0 : angle;
 
   if (axis !== undefined) {
-    var rotAxis = this.rotationAxis(sinceFrame);
-    angle *= vec3.dot(rotAxis, vec3.normalize(vec3.create(), axis));
+    angle *= vec3.dot(sin, vec3.normalize(vec3.create(), axis));
   }
 
   return angle;
@@ -1854,6 +1865,9 @@ Frame.prototype.rotationAngle = function(sinceFrame, axis) {
  * the current frame and the specified frame.
  *
  * The returned direction vector is normalized.
+ * 
+ * In the case of a complete reversal of direction (180 deg / PI rad)
+ * this method will return an undefined axis.
  *
  * The Leap derives frame rotation from the relative change in position and
  * orientation of all objects detected in the field of view.
@@ -1869,10 +1883,14 @@ Frame.prototype.rotationAngle = function(sinceFrame, axis) {
  */
 Frame.prototype.rotationAxis = function(sinceFrame) {
   if (!this.valid || !sinceFrame.valid) return vec3.create();
+
+  var rotation = Leap.mat3.create();
+  Leap.mat3.multiply(rotation, this._rotation, sinceFrame._rotation);
+
   return vec3.normalize(vec3.create(), [
-    this._rotation[7] - sinceFrame._rotation[5],
-    this._rotation[2] - sinceFrame._rotation[6],
-    this._rotation[3] - sinceFrame._rotation[1]
+    rotation[7] - rotation[5],
+    rotation[2] - rotation[6],
+    rotation[3] - rotation[1]
   ]);
 }
 
@@ -2754,15 +2772,29 @@ Hand.prototype.rotationAngle = function(sinceFrame, axis) {
   var sinceHand = sinceFrame.hand(this.id);
   if(!sinceHand.valid) return 0.0;
   var rot = this.rotationMatrix(sinceFrame);
-  var cs = (rot[0] + rot[4] + rot[8] - 1.0)*0.5
-  var angle = Math.acos(cs);
-  angle = isNaN(angle) ? 0.0 : angle;
+
+  var axis = [
+    rot[7] - rot[5],
+    rot[2] - rot[6],
+    rot[3] - rot[1]
+  ];
+
+  var sin = Leap.vec3.len(axis);
+  var cos = (rot[0] + rot[4] + rot[8] - 1.0) * 0.5;
+
+  var angle;
+  if (-1e-7 < sin && sin < 1e-7) {  // small values of sin
+    angle = 0;
+  } else {
+    angle = Math.atan2(sin,cos);
+    angle = isNaN(angle) ? 0.0 : angle;
+  }
+
   if (axis !== undefined) {
-    var rotAxis = this.rotationAxis(sinceFrame);
-    angle *= vec3.dot(rotAxis, vec3.normalize(vec3.create(), axis));
+    angle *= vec3.dot(sin, vec3.normalize(vec3.create(), axis));
   }
   return angle;
-}
+};
 
 /**
  * The axis of rotation derived from the change in orientation of this hand, and
@@ -2783,12 +2815,16 @@ Hand.prototype.rotationAxis = function(sinceFrame) {
   if (!this.valid || !sinceFrame.valid) return vec3.create();
   var sinceHand = sinceFrame.hand(this.id);
   if (!sinceHand.valid) return vec3.create();
+
+  var rotation = Leap.mat3.create();
+  Leap.mat3.multiply(rotation, this._rotation, sinceHand._rotation);
+
   return vec3.normalize(vec3.create(), [
-    this._rotation[7] - sinceHand._rotation[5],
-    this._rotation[2] - sinceHand._rotation[6],
-    this._rotation[3] - sinceHand._rotation[1]
+    rotation[7] - rotation[5],
+    rotation[2] - rotation[6],
+    rotation[3] - rotation[1]
   ]);
-}
+};
 
 /**
  * The transform matrix expressing the rotation derived from the change in
diff --git a/leap-0.6.3.min.js b/leap-0.6.3.min.js
index b97fce8c..f7b7c71b 100644
--- a/leap-0.6.3.min.js
+++ b/leap-0.6.3.min.js
@@ -6,6 +6,6 @@
  * Released under the Apache-2.0 license                                     
  * http://github.com/leapmotion/leapjs/blob/master/LICENSE.txt                 
  */
-!function(a,b,c){function d(c,f){if(!b[c]){if(!a[c]){var g="function"==typeof require&&require;if(!f&&g)return g(c,!0);if(e)return e(c,!0);throw new Error("Cannot find module '"+c+"'")}var h=b[c]={exports:{}};a[c][0].call(h.exports,function(b){var e=a[c][1][b];return d(e?e:b)},h,h.exports)}return b[c].exports}for(var e="function"==typeof require&&require,f=0;f<c.length;f++)d(c[f]);return d}({1:[function(a,b){var c=(a("./pointable"),a("gl-matrix")),d=c.vec3,e=c.mat3,f=c.mat4,g=(a("underscore"),b.exports=function(a,b){this.finger=a,this._center=null,this._matrix=null,this.type=b.type,this.prevJoint=b.prevJoint,this.nextJoint=b.nextJoint,this.width=b.width;var c=new Array(3);d.sub(c,b.nextJoint,b.prevJoint),this.length=d.length(c),this.basis=b.basis});g.prototype.left=function(){return this._left?this._left:(this._left=e.determinant(this.basis[0].concat(this.basis[1]).concat(this.basis[2]))<0,this._left)},g.prototype.matrix=function(){if(this._matrix)return this._matrix;var a=this.basis,b=this._matrix=f.create();return b[0]=a[0][0],b[1]=a[0][1],b[2]=a[0][2],b[4]=a[1][0],b[5]=a[1][1],b[6]=a[1][2],b[8]=a[2][0],b[9]=a[2][1],b[10]=a[2][2],b[3]=this.center()[0],b[7]=this.center()[1],b[11]=this.center()[2],this.left()&&(b[0]*=-1,b[1]*=-1,b[2]*=-1),this._matrix},g.prototype.lerp=function(a,b){d.lerp(a,this.prevJoint,this.nextJoint,b)},g.prototype.center=function(){if(this._center)return this._center;var a=d.create();return this.lerp(a,.5),this._center=a,a},g.prototype.direction=function(){return[-1*this.basis[2][0],-1*this.basis[2][1],-1*this.basis[2][2]]}},{"./pointable":14,"gl-matrix":23,underscore:24}],2:[function(a,b){var c=b.exports=function(a){this.pos=0,this._buf=[],this.size=a};c.prototype.get=function(a){return void 0==a&&(a=0),a>=this.size?void 0:a>=this._buf.length?void 0:this._buf[(this.pos-a-1)%this.size]},c.prototype.push=function(a){return this._buf[this.pos%this.size]=a,this.pos++}},{}],3:[function(a,b){var c=a("../protocol").chooseProtocol,d=a("events").EventEmitter,e=a("underscore"),f=b.exports=function(a){this.opts=e.defaults(a||{},{host:"127.0.0.1",enableGestures:!1,scheme:this.getScheme(),port:this.getPort(),background:!1,optimizeHMD:!1,requestProtocolVersion:f.defaultProtocolVersion}),this.host=this.opts.host,this.port=this.opts.port,this.scheme=this.opts.scheme,this.protocolVersionVerified=!1,this.background=null,this.optimizeHMD=null,this.on("ready",function(){this.enableGestures(this.opts.enableGestures),this.setBackground(this.opts.background),this.setOptimizeHMD(this.opts.optimizeHMD),console.log(this.opts.optimizeHMD?"Optimized for head mounted display usage.":"Optimized for desktop usage.")})};f.defaultProtocolVersion=6,f.prototype.getUrl=function(){return this.scheme+"//"+this.host+":"+this.port+"/v"+this.opts.requestProtocolVersion+".json"},f.prototype.getScheme=function(){return"ws:"},f.prototype.getPort=function(){return 6437},f.prototype.setBackground=function(a){this.opts.background=a,this.protocol&&this.protocol.sendBackground&&this.background!==this.opts.background&&(this.background=this.opts.background,this.protocol.sendBackground(this,this.opts.background))},f.prototype.setOptimizeHMD=function(a){this.opts.optimizeHMD=a,this.protocol&&this.protocol.sendOptimizeHMD&&this.optimizeHMD!==this.opts.optimizeHMD&&(this.optimizeHMD=this.opts.optimizeHMD,this.protocol.sendOptimizeHMD(this,this.opts.optimizeHMD))},f.prototype.handleOpen=function(){this.connected||(this.connected=!0,this.emit("connect"))},f.prototype.enableGestures=function(a){this.gesturesEnabled=a?!0:!1,this.send(this.protocol.encode({enableGestures:this.gesturesEnabled}))},f.prototype.handleClose=function(a){this.connected&&(this.disconnect(),1001===a&&this.opts.requestProtocolVersion>1&&(this.protocolVersionVerified?this.protocolVersionVerified=!1:this.opts.requestProtocolVersion--),this.startReconnection())},f.prototype.startReconnection=function(){var a=this;this.reconnectionTimer||(this.reconnectionTimer=setInterval(function(){a.reconnect()},500))},f.prototype.stopReconnection=function(){this.reconnectionTimer=clearInterval(this.reconnectionTimer)},f.prototype.disconnect=function(a){return a||this.stopReconnection(),this.socket?(this.socket.close(),delete this.socket,delete this.protocol,delete this.background,delete this.optimizeHMD,delete this.focusedState,this.connected&&(this.connected=!1,this.emit("disconnect")),!0):void 0},f.prototype.reconnect=function(){this.connected?this.stopReconnection():(this.disconnect(!0),this.connect())},f.prototype.handleData=function(a){var b,d=JSON.parse(a);void 0===this.protocol?(b=this.protocol=c(d),this.protocolVersionVerified=!0,this.emit("ready")):b=this.protocol(d),this.emit(b.type,b)},f.prototype.connect=function(){return this.socket?void 0:(this.socket=this.setupSocket(),!0)},f.prototype.send=function(a){this.socket.send(a)},f.prototype.reportFocus=function(a){this.connected&&this.focusedState!==a&&(this.focusedState=a,this.emit(this.focusedState?"focus":"blur"),this.protocol&&this.protocol.sendFocused&&this.protocol.sendFocused(this,this.focusedState))},e.extend(f.prototype,d.prototype)},{"../protocol":15,events:21,underscore:24}],4:[function(a,b){var c=b.exports=a("./base"),d=a("underscore"),e=b.exports=function(a){c.call(this,a);var b=this;this.on("ready",function(){b.startFocusLoop()}),this.on("disconnect",function(){b.stopFocusLoop()})};d.extend(e.prototype,c.prototype),e.__proto__=c,e.prototype.useSecure=function(){return"https:"===location.protocol},e.prototype.getScheme=function(){return this.useSecure()?"wss:":"ws:"},e.prototype.getPort=function(){return this.useSecure()?6436:6437},e.prototype.setupSocket=function(){var a=this,b=new WebSocket(this.getUrl());return b.onopen=function(){a.handleOpen()},b.onclose=function(b){a.handleClose(b.code,b.reason)},b.onmessage=function(b){a.handleData(b.data)},b.onerror=function(){a.useSecure()&&"wss:"===a.scheme&&(a.scheme="ws:",a.port=6437,a.disconnect(),a.connect())},b},e.prototype.startFocusLoop=function(){if(!this.focusDetectorTimer){var a=this,b=null;b="undefined"!=typeof document.hidden?"hidden":"undefined"!=typeof document.mozHidden?"mozHidden":"undefined"!=typeof document.msHidden?"msHidden":"undefined"!=typeof document.webkitHidden?"webkitHidden":void 0,void 0===a.windowVisible&&(a.windowVisible=void 0===b?!0:document[b]===!1);var c=window.addEventListener("focus",function(){a.windowVisible=!0,e()}),d=window.addEventListener("blur",function(){a.windowVisible=!1,e()});this.on("disconnect",function(){window.removeEventListener("focus",c),window.removeEventListener("blur",d)});var e=function(){var c=void 0===b?!0:document[b]===!1;a.reportFocus(c&&a.windowVisible)};e(),this.focusDetectorTimer=setInterval(e,100)}},e.prototype.stopFocusLoop=function(){this.focusDetectorTimer&&(clearTimeout(this.focusDetectorTimer),delete this.focusDetectorTimer)}},{"./base":3,underscore:24}],5:[function(a,b){var c=a("__browserify_process"),d=a("./frame"),e=a("./hand"),f=a("./pointable"),g=a("./finger"),h=a("./circular_buffer"),i=a("./pipeline"),j=a("events").EventEmitter,k=a("./gesture").gestureListener,l=a("./dialog"),m=a("underscore"),n=b.exports=function(b){var e="undefined"!=typeof c&&c.versions&&c.versions.node,f=this;b=m.defaults(b||{},{inNode:e}),this.inNode=b.inNode,b=m.defaults(b||{},{frameEventName:this.useAnimationLoop()?"animationFrame":"deviceFrame",suppressAnimationLoop:!this.useAnimationLoop(),loopWhileDisconnected:!1,useAllPlugins:!1,checkVersion:!0}),this.animationFrameRequested=!1,this.onAnimationFrame=function(){f.emit("animationFrame",f.lastConnectionFrame),f.loopWhileDisconnected&&(f.connection.focusedState||f.connection.opts.background)?window.requestAnimationFrame(f.onAnimationFrame):f.animationFrameRequested=!1},this.suppressAnimationLoop=b.suppressAnimationLoop,this.loopWhileDisconnected=b.loopWhileDisconnected,this.frameEventName=b.frameEventName,this.useAllPlugins=b.useAllPlugins,this.history=new h(200),this.lastFrame=d.Invalid,this.lastValidFrame=d.Invalid,this.lastConnectionFrame=d.Invalid,this.accumulatedGestures=[],this.checkVersion=b.checkVersion,this.connectionType=void 0===b.connectionType?a(this.inBrowser()?"./connection/browser":"./connection/node"):b.connectionType,this.connection=new this.connectionType(b),this.streamingCount=0,this.devices={},this.plugins={},this._pluginPipelineSteps={},this._pluginExtendedMethods={},b.useAllPlugins&&this.useRegisteredPlugins(),this.setupFrameEvents(b),this.setupConnectionEvents()};n.prototype.gesture=function(a,b){var c=k(this,a);return void 0!==b&&c.stop(b),c},n.prototype.setBackground=function(a){return this.connection.setBackground(a),this},n.prototype.setOptimizeHMD=function(a){return this.connection.setOptimizeHMD(a),this},n.prototype.inBrowser=function(){return!this.inNode},n.prototype.useAnimationLoop=function(){return this.inBrowser()&&!this.inBackgroundPage()},n.prototype.inBackgroundPage=function(){return"undefined"!=typeof chrome&&chrome.extension&&chrome.extension.getBackgroundPage&&chrome.extension.getBackgroundPage()===window},n.prototype.connect=function(){return this.connection.connect(),this},n.prototype.streaming=function(){return this.streamingCount>0},n.prototype.connected=function(){return!!this.connection.connected},n.prototype.runAnimationLoop=function(){this.suppressAnimationLoop||this.animationFrameRequested||(this.animationFrameRequested=!0,window.requestAnimationFrame(this.onAnimationFrame))},n.prototype.disconnect=function(){return this.connection.disconnect(),this},n.prototype.frame=function(a){return this.history.get(a)||d.Invalid},n.prototype.loop=function(a){return a&&("function"==typeof a?this.on(this.frameEventName,a):this.setupFrameEvents(a)),this.connect()},n.prototype.addStep=function(a){this.pipeline||(this.pipeline=new i(this)),this.pipeline.addStep(a)},n.prototype.processFrame=function(a){a.gestures&&(this.accumulatedGestures=this.accumulatedGestures.concat(a.gestures)),this.lastConnectionFrame=a,this.runAnimationLoop(),this.emit("deviceFrame",a)},n.prototype.processFinishedFrame=function(a){if(this.lastFrame=a,a.valid&&(this.lastValidFrame=a),a.controller=this,a.historyIdx=this.history.push(a),a.gestures){a.gestures=this.accumulatedGestures,this.accumulatedGestures=[];for(var b=0;b!=a.gestures.length;b++)this.emit("gesture",a.gestures[b],a)}this.pipeline&&(a=this.pipeline.run(a),a||(a=d.Invalid)),this.emit("frame",a),this.emitHandEvents(a)},n.prototype.emitHandEvents=function(a){for(var b=0;b<a.hands.length;b++)this.emit("hand",a.hands[b])},n.prototype.setupFrameEvents=function(a){a.frame&&this.on("frame",a.frame),a.hand&&this.on("hand",a.hand)},n.prototype.setupConnectionEvents=function(){var a=this;this.connection.on("frame",function(b){a.processFrame(b)}),this.on(this.frameEventName,function(b){a.processFinishedFrame(b)});var b=function(){if(a.connection.opts.requestProtocolVersion<5&&0==a.streamingCount){a.streamingCount=1;var c={attached:!0,streaming:!0,type:"unknown",id:"Lx00000000000"};a.devices[c.id]=c,a.emit("deviceAttached",c),a.emit("deviceStreaming",c),a.emit("streamingStarted",c),a.connection.removeListener("frame",b)}},c=function(){if(a.streamingCount>0){for(var b in a.devices)a.emit("deviceStopped",a.devices[b]),a.emit("deviceRemoved",a.devices[b]);a.emit("streamingStopped",a.devices[b]),a.streamingCount=0;for(var b in a.devices)delete a.devices[b]}};this.connection.on("focus",function(){a.emit("focus")}),this.connection.on("blur",function(){a.emit("blur")}),this.connection.on("protocol",function(b){b.on("beforeFrameCreated",function(b){a.emit("beforeFrameCreated",b)}),b.on("afterFrameCreated",function(b,c){a.emit("afterFrameCreated",b,c)}),a.emit("protocol",b)}),this.connection.on("ready",function(){a.checkVersion&&!a.inNode&&a.checkOutOfDate(),a.emit("ready")}),this.connection.on("connect",function(){a.emit("connect"),a.connection.removeListener("frame",b),a.connection.on("frame",b)}),this.connection.on("disconnect",function(){a.emit("disconnect"),c()}),this.connection.on("deviceConnect",function(d){d.state?(a.emit("deviceConnected"),a.connection.removeListener("frame",b),a.connection.on("frame",b)):(a.emit("deviceDisconnected"),c())}),this.connection.on("deviceEvent",function(b){var c=b.state,d=a.devices[c.id],e={};for(var f in c)d&&d.hasOwnProperty(f)&&d[f]==c[f]||(e[f]=!0);a.devices[c.id]=c,e.attached&&a.emit(c.attached?"deviceAttached":"deviceRemoved",c),e.streaming&&(c.streaming?(a.streamingCount++,a.emit("deviceStreaming",c),1==a.streamingCount&&a.emit("streamingStarted",c),e.attached||a.emit("deviceConnected")):e.attached&&c.attached||(a.streamingCount--,a.emit("deviceStopped",c),0==a.streamingCount&&a.emit("streamingStopped",c),a.emit("deviceDisconnected")))}),this.on("newListener",function(a){("deviceConnected"==a||"deviceDisconnected"==a)&&console.warn(a+" events are depricated.  Consider using 'streamingStarted/streamingStopped' or 'deviceStreaming/deviceStopped' instead")})},n.prototype.checkOutOfDate=function(){console.assert(this.connection&&this.connection.protocol);var a=this.connection.protocol.serviceVersion,b=this.connection.protocol.version,c=this.connectionType.defaultProtocolVersion;return c>b?(console.warn("Your Protocol Version is v"+b+", this app was designed for v"+c),l.warnOutOfDate({sV:a,pV:b}),!0):!1},n._pluginFactories={},n.plugin=function(a,b){return this._pluginFactories[a]&&console.warn('Plugin "'+a+'" already registered'),this._pluginFactories[a]=b},n.plugins=function(){return m.keys(this._pluginFactories)};var o=function(a,b,c){-1!=["beforeFrameCreated","afterFrameCreated"].indexOf(b)?this.on(b,c):(this.pipeline||(this.pipeline=new i(this)),this._pluginPipelineSteps[a]||(this._pluginPipelineSteps[a]=[]),this._pluginPipelineSteps[a].push(this.pipeline.addWrappedStep(b,c)))},p=function(a,b,c){var h;switch(this._pluginExtendedMethods[a]||(this._pluginExtendedMethods[a]=[]),b){case"frame":h=d;break;case"hand":h=e;break;case"pointable":h=f,m.extend(g.prototype,c),m.extend(g.Invalid,c);break;case"finger":h=g;break;default:throw a+' specifies invalid object type "'+b+'" for prototypical extension'}m.extend(h.prototype,c),m.extend(h.Invalid,c),this._pluginExtendedMethods[a].push([h,c])};n.prototype.use=function(a,b){var c,d,e,f;if(d="function"==typeof a?a:n._pluginFactories[a],!d)throw"Leap Plugin "+a+" not found.";if(b||(b={}),this.plugins[a])return m.extend(this.plugins[a],b),this;this.plugins[a]=b,f=d.call(this,b);for(e in f)c=f[e],"function"==typeof c?o.call(this,a,e,c):p.call(this,a,e,c);return this},n.prototype.stopUsing=function(a){var b,c,d=this._pluginPipelineSteps[a],e=this._pluginExtendedMethods[a],f=0;if(this.plugins[a]){if(d)for(f=0;f<d.length;f++)this.pipeline.removeStep(d[f]);if(e)for(f=0;f<e.length;f++){b=e[f][0],c=e[f][1];for(var g in c)delete b.prototype[g],delete b.Invalid[g]}return delete this.plugins[a],this}},n.prototype.useRegisteredPlugins=function(){for(var a in n._pluginFactories)this.use(a)},m.extend(n.prototype,j.prototype)},{"./circular_buffer":2,"./connection/browser":4,"./connection/node":20,"./dialog":6,"./finger":7,"./frame":8,"./gesture":9,"./hand":10,"./pipeline":13,"./pointable":14,__browserify_process:22,events:21,underscore:24}],6:[function(a,b){var c=a("__browserify_process"),d=b.exports=function(a,b){this.options=b||{},this.message=a,this.createElement()};d.prototype.createElement=function(){this.element=document.createElement("div"),this.element.className="leapjs-dialog",this.element.style.position="fixed",this.element.style.top="8px",this.element.style.left=0,this.element.style.right=0,this.element.style.textAlign="center",this.element.style.zIndex=1e3;var a=document.createElement("div");this.element.appendChild(a),a.style.className="leapjs-dialog",a.style.display="inline-block",a.style.margin="auto",a.style.padding="8px",a.style.color="#222",a.style.background="#eee",a.style.borderRadius="4px",a.style.border="1px solid #999",a.style.textAlign="left",a.style.cursor="pointer",a.style.whiteSpace="nowrap",a.style.transition="box-shadow 1s linear",a.innerHTML=this.message,this.options.onclick&&a.addEventListener("click",this.options.onclick),this.options.onmouseover&&a.addEventListener("mouseover",this.options.onmouseover),this.options.onmouseout&&a.addEventListener("mouseout",this.options.onmouseout),this.options.onmousemove&&a.addEventListener("mousemove",this.options.onmousemove)},d.prototype.show=function(){return document.body.appendChild(this.element),this},d.prototype.hide=function(){return document.body.removeChild(this.element),this},d.warnOutOfDate=function(a){a||(a={});var b="http://developer.leapmotion.com?";a.returnTo=window.location.href;for(var c in a)b+=c+"="+encodeURIComponent(a[c])+"&";var e,f=function(a){if("leapjs-decline-upgrade"!=a.target.id){var c=window.open(b,"_blank","height=800,width=1000,location=1,menubar=1,resizable=1,status=1,toolbar=1,scrollbars=1");window.focus&&c.focus()}return e.hide(),!0},g="This site requires Leap Motion Tracking V2.<button id='leapjs-accept-upgrade'  style='color: #444; transition: box-shadow 100ms linear; cursor: pointer; vertical-align: baseline; margin-left: 16px;'>Upgrade</button><button id='leapjs-decline-upgrade' style='color: #444; transition: box-shadow 100ms linear; cursor: pointer; vertical-align: baseline; margin-left: 8px; '>Not Now</button>";return e=new d(g,{onclick:f,onmousemove:function(a){a.target==document.getElementById("leapjs-decline-upgrade")?(document.getElementById("leapjs-decline-upgrade").style.color="#000",document.getElementById("leapjs-decline-upgrade").style.boxShadow="0px 0px 2px #5daa00",document.getElementById("leapjs-accept-upgrade").style.color="#444",document.getElementById("leapjs-accept-upgrade").style.boxShadow="none"):(document.getElementById("leapjs-accept-upgrade").style.color="#000",document.getElementById("leapjs-accept-upgrade").style.boxShadow="0px 0px 2px #5daa00",document.getElementById("leapjs-decline-upgrade").style.color="#444",document.getElementById("leapjs-decline-upgrade").style.boxShadow="none")},onmouseout:function(){document.getElementById("leapjs-decline-upgrade").style.color="#444",document.getElementById("leapjs-decline-upgrade").style.boxShadow="none",document.getElementById("leapjs-accept-upgrade").style.color="#444",document.getElementById("leapjs-accept-upgrade").style.boxShadow="none"}}),e.show()},d.hasWarnedBones=!1,d.warnBones=function(){this.hasWarnedBones||(this.hasWarnedBones=!0,console.warn("Your Leap Service is out of date"),"undefined"!=typeof c&&c.versions&&c.versions.node||this.warnOutOfDate({reason:"bones"}))}},{__browserify_process:22}],7:[function(a,b){var c=a("./pointable"),d=a("./bone"),e=a("./dialog"),f=a("underscore"),g=b.exports=function(a){c.call(this,a),this.dipPosition=a.dipPosition,this.pipPosition=a.pipPosition,this.mcpPosition=a.mcpPosition,this.carpPosition=a.carpPosition,this.extended=a.extended,this.type=a.type,this.finger=!0,this.positions=[this.carpPosition,this.mcpPosition,this.pipPosition,this.dipPosition,this.tipPosition],a.bases?this.addBones(a):e.warnBones()};f.extend(g.prototype,c.prototype),g.prototype.addBones=function(a){this.metacarpal=new d(this,{type:0,width:this.width,prevJoint:this.carpPosition,nextJoint:this.mcpPosition,basis:a.bases[0]}),this.proximal=new d(this,{type:1,width:this.width,prevJoint:this.mcpPosition,nextJoint:this.pipPosition,basis:a.bases[1]}),this.medial=new d(this,{type:2,width:this.width,prevJoint:this.pipPosition,nextJoint:this.dipPosition,basis:a.bases[2]}),this.distal=new d(this,{type:3,width:this.width,prevJoint:this.dipPosition,nextJoint:a.btipPosition,basis:a.bases[3]}),this.bones=[this.metacarpal,this.proximal,this.medial,this.distal]},g.prototype.toString=function(){return"Finger [ id:"+this.id+" "+this.length+"mmx | width:"+this.width+"mm | direction:"+this.direction+" ]"},g.Invalid={valid:!1}},{"./bone":1,"./dialog":6,"./pointable":14,underscore:24}],8:[function(a,b){var c=a("./hand"),d=a("./pointable"),e=a("./gesture").createGesture,f=a("gl-matrix"),g=f.mat3,h=f.vec3,i=a("./interaction_box"),j=a("./finger"),k=a("underscore"),l=b.exports=function(a){if(this.valid=!0,this.id=a.id,this.timestamp=a.timestamp,this.hands=[],this.handsMap={},this.pointables=[],this.tools=[],this.fingers=[],a.interactionBox&&(this.interactionBox=new i(a.interactionBox)),this.gestures=[],this.pointablesMap={},this._translation=a.t,this._rotation=k.flatten(a.r),this._scaleFactor=a.s,this.data=a,this.type="frame",this.currentFrameRate=a.currentFrameRate,a.gestures)for(var b=0,c=a.gestures.length;b!=c;b++)this.gestures.push(e(a.gestures[b]));this.postprocessData(a)};l.prototype.postprocessData=function(a){a||(a=this.data);for(var b=0,e=a.hands.length;b!=e;b++){var f=new c(a.hands[b]);f.frame=this,this.hands.push(f),this.handsMap[f.id]=f}a.pointables=k.sortBy(a.pointables,function(a){return a.id});for(var g=0,h=a.pointables.length;g!=h;g++){var i=a.pointables[g],l=i.dipPosition?new j(i):new d(i);l.frame=this,this.addPointable(l)}},l.prototype.addPointable=function(a){if(this.pointables.push(a),this.pointablesMap[a.id]=a,(a.tool?this.tools:this.fingers).push(a),void 0!==a.handId&&this.handsMap.hasOwnProperty(a.handId)){var b=this.handsMap[a.handId];switch(b.pointables.push(a),(a.tool?b.tools:b.fingers).push(a),a.type){case 0:b.thumb=a;break;case 1:b.indexFinger=a;break;case 2:b.middleFinger=a;break;case 3:b.ringFinger=a;break;case 4:b.pinky=a}}},l.prototype.tool=function(a){var b=this.pointable(a);return b.tool?b:d.Invalid},l.prototype.pointable=function(a){return this.pointablesMap[a]||d.Invalid},l.prototype.finger=function(a){var b=this.pointable(a);return b.tool?d.Invalid:b},l.prototype.hand=function(a){return this.handsMap[a]||c.Invalid},l.prototype.rotationAngle=function(a,b){if(!this.valid||!a.valid)return 0;var c=this.rotationMatrix(a),d=.5*(c[0]+c[4]+c[8]-1),e=Math.acos(d);if(e=isNaN(e)?0:e,void 0!==b){var f=this.rotationAxis(a);e*=h.dot(f,h.normalize(h.create(),b))}return e},l.prototype.rotationAxis=function(a){return this.valid&&a.valid?h.normalize(h.create(),[this._rotation[7]-a._rotation[5],this._rotation[2]-a._rotation[6],this._rotation[3]-a._rotation[1]]):h.create()},l.prototype.rotationMatrix=function(a){if(!this.valid||!a.valid)return g.create();var b=g.transpose(g.create(),this._rotation);return g.multiply(g.create(),a._rotation,b)},l.prototype.scaleFactor=function(a){return this.valid&&a.valid?Math.exp(this._scaleFactor-a._scaleFactor):1},l.prototype.translation=function(a){return this.valid&&a.valid?h.subtract(h.create(),this._translation,a._translation):h.create()},l.prototype.toString=function(){var a="Frame [ id:"+this.id+" | timestamp:"+this.timestamp+" | Hand count:("+this.hands.length+") | Pointable count:("+this.pointables.length+")";return this.gestures&&(a+=" | Gesture count:("+this.gestures.length+")"),a+=" ]"},l.prototype.dump=function(){var a="";a+="Frame Info:<br/>",a+=this.toString(),a+="<br/><br/>Hands:<br/>";for(var b=0,c=this.hands.length;b!=c;b++)a+="  "+this.hands[b].toString()+"<br/>";a+="<br/><br/>Pointables:<br/>";for(var d=0,e=this.pointables.length;d!=e;d++)a+="  "+this.pointables[d].toString()+"<br/>";if(this.gestures){a+="<br/><br/>Gestures:<br/>";for(var f=0,g=this.gestures.length;f!=g;f++)a+="  "+this.gestures[f].toString()+"<br/>"}return a+="<br/><br/>Raw JSON:<br/>",a+=JSON.stringify(this.data)},l.Invalid={valid:!1,hands:[],fingers:[],tools:[],gestures:[],pointables:[],pointable:function(){return d.Invalid},finger:function(){return d.Invalid},hand:function(){return c.Invalid},toString:function(){return"invalid frame"},dump:function(){return this.toString()},rotationAngle:function(){return 0},rotationMatrix:function(){return g.create()},rotationAxis:function(){return h.create()},scaleFactor:function(){return 1},translation:function(){return h.create()}}},{"./finger":7,"./gesture":9,"./hand":10,"./interaction_box":12,"./pointable":14,"gl-matrix":23,underscore:24}],9:[function(a,b,c){var d=a("gl-matrix"),e=d.vec3,f=a("events").EventEmitter,g=a("underscore"),h=(c.createGesture=function(a){var b;switch(a.type){case"circle":b=new i(a);break;case"swipe":b=new j(a);break;case"screenTap":b=new k(a);break;case"keyTap":b=new l(a);break;default:throw"unknown gesture type"}return b.id=a.id,b.handIds=a.handIds.slice(),b.pointableIds=a.pointableIds.slice(),b.duration=a.duration,b.state=a.state,b.type=a.type,b},c.gestureListener=function(a,b){var c={},d={};a.on("gesture",function(a,e){if(a.type==b){if(("start"==a.state||"stop"==a.state)&&void 0===d[a.id]){var f=new h(a,e);d[a.id]=f,g.each(c,function(a,b){f.on(b,a)})}d[a.id].update(a,e),"stop"==a.state&&delete d[a.id]}});var e={start:function(a){return c.start=a,e},stop:function(a){return c.stop=a,e},complete:function(a){return c.stop=a,e},update:function(a){return c.update=a,e}};return e},c.Gesture=function(a,b){this.gestures=[a],this.frames=[b]});h.prototype.update=function(a,b){this.lastGesture=a,this.lastFrame=b,this.gestures.push(a),this.frames.push(b),this.emit(a.state,this)},h.prototype.translation=function(){return e.subtract(e.create(),this.lastGesture.startPosition,this.lastGesture.position)},g.extend(h.prototype,f.prototype);var i=function(a){this.center=a.center,this.normal=a.normal,this.progress=a.progress,this.radius=a.radius};i.prototype.toString=function(){return"CircleGesture ["+JSON.stringify(this)+"]"};var j=function(a){this.startPosition=a.startPosition,this.position=a.position,this.direction=a.direction,this.speed=a.speed};j.prototype.toString=function(){return"SwipeGesture ["+JSON.stringify(this)+"]"};var k=function(a){this.position=a.position,this.direction=a.direction,this.progress=a.progress};k.prototype.toString=function(){return"ScreenTapGesture ["+JSON.stringify(this)+"]"};var l=function(a){this.position=a.position,this.direction=a.direction,this.progress=a.progress};l.prototype.toString=function(){return"KeyTapGesture ["+JSON.stringify(this)+"]"}},{events:21,"gl-matrix":23,underscore:24}],10:[function(a,b){var c=a("./pointable"),d=a("./bone"),e=a("gl-matrix"),f=e.mat3,g=e.vec3,h=a("underscore"),i=b.exports=function(a){this.id=a.id,this.palmPosition=a.palmPosition,this.direction=a.direction,this.palmVelocity=a.palmVelocity,this.palmNormal=a.palmNormal,this.sphereCenter=a.sphereCenter,this.sphereRadius=a.sphereRadius,this.valid=!0,this.pointables=[],this.fingers=[],this.arm=a.armBasis?new d(this,{type:4,width:a.armWidth,prevJoint:a.elbow,nextJoint:a.wrist,basis:a.armBasis}):null,this.tools=[],this._translation=a.t,this._rotation=h.flatten(a.r),this._scaleFactor=a.s,this.timeVisible=a.timeVisible,this.stabilizedPalmPosition=a.stabilizedPalmPosition,this.type=a.type,this.grabStrength=a.grabStrength,this.pinchStrength=a.pinchStrength,this.confidence=a.confidence};i.prototype.finger=function(a){var b=this.frame.finger(a);return b&&b.handId==this.id?b:c.Invalid},i.prototype.rotationAngle=function(a,b){if(!this.valid||!a.valid)return 0;var c=a.hand(this.id);if(!c.valid)return 0;var d=this.rotationMatrix(a),e=.5*(d[0]+d[4]+d[8]-1),f=Math.acos(e);if(f=isNaN(f)?0:f,void 0!==b){var h=this.rotationAxis(a);f*=g.dot(h,g.normalize(g.create(),b))}return f},i.prototype.rotationAxis=function(a){if(!this.valid||!a.valid)return g.create();var b=a.hand(this.id);return b.valid?g.normalize(g.create(),[this._rotation[7]-b._rotation[5],this._rotation[2]-b._rotation[6],this._rotation[3]-b._rotation[1]]):g.create()},i.prototype.rotationMatrix=function(a){if(!this.valid||!a.valid)return f.create();var b=a.hand(this.id);if(!b.valid)return f.create();var c=f.transpose(f.create(),this._rotation),d=f.multiply(f.create(),b._rotation,c);return d},i.prototype.scaleFactor=function(a){if(!this.valid||!a.valid)return 1;var b=a.hand(this.id);return b.valid?Math.exp(this._scaleFactor-b._scaleFactor):1},i.prototype.translation=function(a){if(!this.valid||!a.valid)return g.create();var b=a.hand(this.id);return b.valid?[this._translation[0]-b._translation[0],this._translation[1]-b._translation[1],this._translation[2]-b._translation[2]]:g.create()},i.prototype.toString=function(){return"Hand ("+this.type+") [ id: "+this.id+" | palm velocity:"+this.palmVelocity+" | sphere center:"+this.sphereCenter+" ] "},i.prototype.pitch=function(){return Math.atan2(this.direction[1],-this.direction[2])},i.prototype.yaw=function(){return Math.atan2(this.direction[0],-this.direction[2])},i.prototype.roll=function(){return Math.atan2(this.palmNormal[0],-this.palmNormal[1])},i.Invalid={valid:!1,fingers:[],tools:[],pointables:[],left:!1,pointable:function(){return c.Invalid},finger:function(){return c.Invalid},toString:function(){return"invalid frame"},dump:function(){return this.toString()},rotationAngle:function(){return 0},rotationMatrix:function(){return f.create()},rotationAxis:function(){return g.create()},scaleFactor:function(){return 1},translation:function(){return g.create()}}},{"./bone":1,"./pointable":14,"gl-matrix":23,underscore:24}],11:[function(a,b){b.exports={Controller:a("./controller"),Frame:a("./frame"),Gesture:a("./gesture"),Hand:a("./hand"),Pointable:a("./pointable"),Finger:a("./finger"),InteractionBox:a("./interaction_box"),CircularBuffer:a("./circular_buffer"),UI:a("./ui"),JSONProtocol:a("./protocol").JSONProtocol,glMatrix:a("gl-matrix"),mat3:a("gl-matrix").mat3,vec3:a("gl-matrix").vec3,loopController:void 0,version:a("./version.js"),loop:function(a,b){return!a||void 0!==b||a.frame||a.hand||(b=a,a={}),this.loopController?a&&this.loopController.setupFrameEvents(a):this.loopController=new this.Controller(a),this.loopController.loop(b),this.loopController},plugin:function(a,b){this.Controller.plugin(a,b)}}},{"./circular_buffer":2,"./controller":5,"./finger":7,"./frame":8,"./gesture":9,"./hand":10,"./interaction_box":12,"./pointable":14,"./protocol":15,"./ui":16,"./version.js":19,"gl-matrix":23}],12:[function(a,b){var c=a("gl-matrix"),d=c.vec3,e=b.exports=function(a){this.valid=!0,this.center=a.center,this.size=a.size,this.width=a.size[0],this.height=a.size[1],this.depth=a.size[2]};e.prototype.denormalizePoint=function(a){return d.fromValues((a[0]-.5)*this.size[0]+this.center[0],(a[1]-.5)*this.size[1]+this.center[1],(a[2]-.5)*this.size[2]+this.center[2])},e.prototype.normalizePoint=function(a,b){var c=d.fromValues((a[0]-this.center[0])/this.size[0]+.5,(a[1]-this.center[1])/this.size[1]+.5,(a[2]-this.center[2])/this.size[2]+.5);return b&&(c[0]=Math.min(Math.max(c[0],0),1),c[1]=Math.min(Math.max(c[1],0),1),c[2]=Math.min(Math.max(c[2],0),1)),c},e.prototype.toString=function(){return"InteractionBox [ width:"+this.width+" | height:"+this.height+" | depth:"+this.depth+" ]"},e.Invalid={valid:!1}},{"gl-matrix":23}],13:[function(a,b){var c=b.exports=function(a){this.steps=[],this.controller=a};c.prototype.addStep=function(a){this.steps.push(a)},c.prototype.run=function(a){for(var b=this.steps.length,c=0;c!=b&&a;c++)a=this.steps[c](a);return a},c.prototype.removeStep=function(a){var b=this.steps.indexOf(a);if(-1===b)throw"Step not found in pipeline";this.steps.splice(b,1)},c.prototype.addWrappedStep=function(a,b){var c=this.controller,d=function(d){var e,f,g;for(e="frame"==a?[d]:d[a+"s"]||[],f=0,g=e.length;g>f;f++)b.call(c,e[f]);return d};return this.addStep(d),d}},{}],14:[function(a,b){var c=a("gl-matrix"),d=(c.vec3,b.exports=function(a){this.valid=!0,this.id=a.id,this.handId=a.handId,this.length=a.length,this.tool=a.tool,this.width=a.width,this.direction=a.direction,this.stabilizedTipPosition=a.stabilizedTipPosition,this.tipPosition=a.tipPosition,this.tipVelocity=a.tipVelocity,this.touchZone=a.touchZone,this.touchDistance=a.touchDistance,this.timeVisible=a.timeVisible});d.prototype.toString=function(){return"Pointable [ id:"+this.id+" "+this.length+"mmx | width:"+this.width+"mm | direction:"+this.direction+" ]"},d.prototype.hand=function(){return 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c=b[1],d=b[2],e=b[3],f=b[6],g=b[7],h=b[11];a[1]=b[4],a[2]=b[8],a[3]=b[12],a[4]=c,a[6]=b[9],a[7]=b[13],a[8]=d,a[9]=f,a[11]=b[14],a[12]=e,a[13]=g,a[14]=h}else a[0]=b[0],a[1]=b[4],a[2]=b[8],a[3]=b[12],a[4]=b[1],a[5]=b[5],a[6]=b[9],a[7]=b[13],a[8]=b[2],a[9]=b[6],a[10]=b[10],a[11]=b[14],a[12]=b[3],a[13]=b[7],a[14]=b[11],a[15]=b[15];return a},m.invert=function(a,b){var c=b[0],d=b[1],e=b[2],f=b[3],g=b[4],h=b[5],i=b[6],j=b[7],k=b[8],l=b[9],m=b[10],n=b[11],o=b[12],p=b[13],q=b[14],r=b[15],s=c*h-d*g,t=c*i-e*g,u=c*j-f*g,v=d*i-e*h,w=d*j-f*h,x=e*j-f*i,y=k*p-l*o,z=k*q-m*o,A=k*r-n*o,B=l*q-m*p,C=l*r-n*p,D=m*r-n*q,E=s*D-t*C+u*B+v*A-w*z+x*y;return E?(E=1/E,a[0]=(h*D-i*C+j*B)*E,a[1]=(e*C-d*D-f*B)*E,a[2]=(p*x-q*w+r*v)*E,a[3]=(m*w-l*x-n*v)*E,a[4]=(i*A-g*D-j*z)*E,a[5]=(c*D-e*A+f*z)*E,a[6]=(q*u-o*x-r*t)*E,a[7]=(k*x-m*u+n*t)*E,a[8]=(g*C-h*A+j*y)*E,a[9]=(d*A-c*C-f*y)*E,a[10]=(o*w-p*u+r*s)*E,a[11]=(l*u-k*w-n*s)*E,a[12]=(h*z-g*B-i*y)*E,a[13]=(c*B-d*z+e*y)*E,a[14]=(p*t-o*v-q*s)*E,a[15]=(k*v-l*t+m*s)*E,a):null},m.adjoint=function(a,b){var c=b[0],d=b[1],e=b[2],f=b[3],g=b[4],h=b[5],i=b[6],j=b[7],k=b[8],l=b[9],m=b[10],n=b[11],o=b[12],p=b[13],q=b[14],r=b[15];return a[0]=h*(m*r-n*q)-l*(i*r-j*q)+p*(i*n-j*m),a[1]=-(d*(m*r-n*q)-l*(e*r-f*q)+p*(e*n-f*m)),a[2]=d*(i*r-j*q)-h*(e*r-f*q)+p*(e*j-f*i),a[3]=-(d*(i*n-j*m)-h*(e*n-f*m)+l*(e*j-f*i)),a[4]=-(g*(m*r-n*q)-k*(i*r-j*q)+o*(i*n-j*m)),a[5]=c*(m*r-n*q)-k*(e*r-f*q)+o*(e*n-f*m),a[6]=-(c*(i*r-j*q)-g*(e*r-f*q)+o*(e*j-f*i)),a[7]=c*(i*n-j*m)-g*(e*n-f*m)+k*(e*j-f*i),a[8]=g*(l*r-n*p)-k*(h*r-j*p)+o*(h*n-j*l),a[9]=-(c*(l*r-n*p)-k*(d*r-f*p)+o*(d*n-f*l)),a[10]=c*(h*r-j*p)-g*(d*r-f*p)+o*(d*j-f*h),a[11]=-(c*(h*n-j*l)-g*(d*n-f*l)+k*(d*j-f*h)),a[12]=-(g*(l*q-m*p)-k*(h*q-i*p)+o*(h*m-i*l)),a[13]=c*(l*q-m*p)-k*(d*q-e*p)+o*(d*m-e*l),a[14]=-(c*(h*q-i*p)-g*(d*q-e*p)+o*(d*i-e*h)),a[15]=c*(h*m-i*l)-g*(d*m-e*l)+k*(d*i-e*h),a},m.determinant=function(a){var b=a[0],c=a[1],d=a[2],e=a[3],f=a[4],g=a[5],h=a[6],i=a[7],j=a[8],k=a[9],l=a[10],m=a[11],n=a[12],o=a[13],p=a[14],q=a[15],r=b*g-c*f,s=b*h-d*f,t=b*i-e*f,u=c*h-d*g,v=c*i-e*g,w=d*i-e*h,x=j*o-k*n,y=j*p-l*n,z=j*q-m*n,A=k*p-l*o,B=k*q-m*o,C=l*q-m*p;return r*C-s*B+t*A+u*z-v*y+w*x},m.multiply=function(a,b,c){var d=b[0],e=b[1],f=b[2],g=b[3],h=b[4],i=b[5],j=b[6],k=b[7],l=b[8],m=b[9],n=b[10],o=b[11],p=b[12],q=b[13],r=b[14],s=b[15],t=c[0],u=c[1],v=c[2],w=c[3];return a[0]=t*d+u*h+v*l+w*p,a[1]=t*e+u*i+v*m+w*q,a[2]=t*f+u*j+v*n+w*r,a[3]=t*g+u*k+v*o+w*s,t=c[4],u=c[5],v=c[6],w=c[7],a[4]=t*d+u*h+v*l+w*p,a[5]=t*e+u*i+v*m+w*q,a[6]=t*f+u*j+v*n+w*r,a[7]=t*g+u*k+v*o+w*s,t=c[8],u=c[9],v=c[10],w=c[11],a[8]=t*d+u*h+v*l+w*p,a[9]=t*e+u*i+v*m+w*q,a[10]=t*f+u*j+v*n+w*r,a[11]=t*g+u*k+v*o+w*s,t=c[12],u=c[13],v=c[14],w=c[15],a[12]=t*d+u*h+v*l+w*p,a[13]=t*e+u*i+v*m+w*q,a[14]=t*f+u*j+v*n+w*r,a[15]=t*g+u*k+v*o+w*s,a},m.mul=m.multiply,m.translate=function(a,b,c){var d,e,f,g,h,i,j,k,l,m,n,o,p=c[0],q=c[1],r=c[2];return b===a?(a[12]=b[0]*p+b[4]*q+b[8]*r+b[12],a[13]=b[1]*p+b[5]*q+b[9]*r+b[13],a[14]=b[2]*p+b[6]*q+b[10]*r+b[14],a[15]=b[3]*p+b[7]*q+b[11]*r+b[15]):(d=b[0],e=b[1],f=b[2],g=b[3],h=b[4],i=b[5],j=b[6],k=b[7],l=b[8],m=b[9],n=b[10],o=b[11],a[0]=d,a[1]=e,a[2]=f,a[3]=g,a[4]=h,a[5]=i,a[6]=j,a[7]=k,a[8]=l,a[9]=m,a[10]=n,a[11]=o,a[12]=d*p+h*q+l*r+b[12],a[13]=e*p+i*q+m*r+b[13],a[14]=f*p+j*q+n*r+b[14],a[15]=g*p+k*q+o*r+b[15]),a},m.scale=function(a,b,c){var d=c[0],e=c[1],f=c[2];return a[0]=b[0]*d,a[1]=b[1]*d,a[2]=b[2]*d,a[3]=b[3]*d,a[4]=b[4]*e,a[5]=b[5]*e,a[6]=b[6]*e,a[7]=b[7]*e,a[8]=b[8]*f,a[9]=b[9]*f,a[10]=b[10]*f,a[11]=b[11]*f,a[12]=b[12],a[13]=b[13],a[14]=b[14],a[15]=b[15],a},m.rotate=function(a,c,d,e){var f,g,h,i,j,k,l,m,n,o,p,q,r,s,t,u,v,w,x,y,z,A,B,C,D=e[0],E=e[1],F=e[2],G=Math.sqrt(D*D+E*E+F*F);return Math.abs(G)<b?null:(G=1/G,D*=G,E*=G,F*=G,f=Math.sin(d),g=Math.cos(d),h=1-g,i=c[0],j=c[1],k=c[2],l=c[3],m=c[4],n=c[5],o=c[6],p=c[7],q=c[8],r=c[9],s=c[10],t=c[11],u=D*D*h+g,v=E*D*h+F*f,w=F*D*h-E*f,x=D*E*h-F*f,y=E*E*h+g,z=F*E*h+D*f,A=D*F*h+E*f,B=E*F*h-D*f,C=F*F*h+g,a[0]=i*u+m*v+q*w,a[1]=j*u+n*v+r*w,a[2]=k*u+o*v+s*w,a[3]=l*u+p*v+t*w,a[4]=i*x+m*y+q*z,a[5]=j*x+n*y+r*z,a[6]=k*x+o*y+s*z,a[7]=l*x+p*y+t*z,a[8]=i*A+m*B+q*C,a[9]=j*A+n*B+r*C,a[10]=k*A+o*B+s*C,a[11]=l*A+p*B+t*C,c!==a&&(a[12]=c[12],a[13]=c[13],a[14]=c[14],a[15]=c[15]),a)},m.rotateX=function(a,b,c){var d=Math.sin(c),e=Math.cos(c),f=b[4],g=b[5],h=b[6],i=b[7],j=b[8],k=b[9],l=b[10],m=b[11];return b!==a&&(a[0]=b[0],a[1]=b[1],a[2]=b[2],a[3]=b[3],a[12]=b[12],a[13]=b[13],a[14]=b[14],a[15]=b[15]),a[4]=f*e+j*d,a[5]=g*e+k*d,a[6]=h*e+l*d,a[7]=i*e+m*d,a[8]=j*e-f*d,a[9]=k*e-g*d,a[10]=l*e-h*d,a[11]=m*e-i*d,a},m.rotateY=function(a,b,c){var d=Math.sin(c),e=Math.cos(c),f=b[0],g=b[1],h=b[2],i=b[3],j=b[8],k=b[9],l=b[10],m=b[11];return b!==a&&(a[4]=b[4],a[5]=b[5],a[6]=b[6],a[7]=b[7],a[12]=b[12],a[13]=b[13],a[14]=b[14],a[15]=b[15]),a[0]=f*e-j*d,a[1]=g*e-k*d,a[2]=h*e-l*d,a[3]=i*e-m*d,a[8]=f*d+j*e,a[9]=g*d+k*e,a[10]=h*d+l*e,a[11]=i*d+m*e,a},m.rotateZ=function(a,b,c){var d=Math.sin(c),e=Math.cos(c),f=b[0],g=b[1],h=b[2],i=b[3],j=b[4],k=b[5],l=b[6],m=b[7];return b!==a&&(a[8]=b[8],a[9]=b[9],a[10]=b[10],a[11]=b[11],a[12]=b[12],a[13]=b[13],a[14]=b[14],a[15]=b[15]),a[0]=f*e+j*d,a[1]=g*e+k*d,a[2]=h*e+l*d,a[3]=i*e+m*d,a[4]=j*e-f*d,a[5]=k*e-g*d,a[6]=l*e-h*d,a[7]=m*e-i*d,a},m.fromRotationTranslation=function(a,b,c){var d=b[0],e=b[1],f=b[2],g=b[3],h=d+d,i=e+e,j=f+f,k=d*h,l=d*i,m=d*j,n=e*i,o=e*j,p=f*j,q=g*h,r=g*i,s=g*j;return a[0]=1-(n+p),a[1]=l+s,a[2]=m-r,a[3]=0,a[4]=l-s,a[5]=1-(k+p),a[6]=o+q,a[7]=0,a[8]=m+r,a[9]=o-q,a[10]=1-(k+n),a[11]=0,a[12]=c[0],a[13]=c[1],a[14]=c[2],a[15]=1,a},m.fromQuat=function(a,b){var c=b[0],d=b[1],e=b[2],f=b[3],g=c+c,h=d+d,i=e+e,j=c*g,k=d*g,l=d*h,m=e*g,n=e*h,o=e*i,p=f*g,q=f*h,r=f*i;return a[0]=1-l-o,a[1]=k+r,a[2]=m-q,a[3]=0,a[4]=k-r,a[5]=1-j-o,a[6]=n+p,a[7]=0,a[8]=m+q,a[9]=n-p,a[10]=1-j-l,a[11]=0,a[12]=0,a[13]=0,a[14]=0,a[15]=1,a},m.frustum=function(a,b,c,d,e,f,g){var h=1/(c-b),i=1/(e-d),j=1/(f-g);return a[0]=2*f*h,a[1]=0,a[2]=0,a[3]=0,a[4]=0,a[5]=2*f*i,a[6]=0,a[7]=0,a[8]=(c+b)*h,a[9]=(e+d)*i,a[10]=(g+f)*j,a[11]=-1,a[12]=0,a[13]=0,a[14]=g*f*2*j,a[15]=0,a},m.perspective=function(a,b,c,d,e){var f=1/Math.tan(b/2),g=1/(d-e);return a[0]=f/c,a[1]=0,a[2]=0,a[3]=0,a[4]=0,a[5]=f,a[6]=0,a[7]=0,a[8]=0,a[9]=0,a[10]=(e+d)*g,a[11]=-1,a[12]=0,a[13]=0,a[14]=2*e*d*g,a[15]=0,a},m.ortho=function(a,b,c,d,e,f,g){var h=1/(b-c),i=1/(d-e),j=1/(f-g);return a[0]=-2*h,a[1]=0,a[2]=0,a[3]=0,a[4]=0,a[5]=-2*i,a[6]=0,a[7]=0,a[8]=0,a[9]=0,a[10]=2*j,a[11]=0,a[12]=(b+c)*h,a[13]=(e+d)*i,a[14]=(g+f)*j,a[15]=1,a},m.lookAt=function(a,c,d,e){var f,g,h,i,j,k,l,n,o,p,q=c[0],r=c[1],s=c[2],t=e[0],u=e[1],v=e[2],w=d[0],x=d[1],y=d[2];return Math.abs(q-w)<b&&Math.abs(r-x)<b&&Math.abs(s-y)<b?m.identity(a):(l=q-w,n=r-x,o=s-y,p=1/Math.sqrt(l*l+n*n+o*o),l*=p,n*=p,o*=p,f=u*o-v*n,g=v*l-t*o,h=t*n-u*l,p=Math.sqrt(f*f+g*g+h*h),p?(p=1/p,f*=p,g*=p,h*=p):(f=0,g=0,h=0),i=n*h-o*g,j=o*f-l*h,k=l*g-n*f,p=Math.sqrt(i*i+j*j+k*k),p?(p=1/p,i*=p,j*=p,k*=p):(i=0,j=0,k=0),a[0]=f,a[1]=i,a[2]=l,a[3]=0,a[4]=g,a[5]=j,a[6]=n,a[7]=0,a[8]=h,a[9]=k,a[10]=o,a[11]=0,a[12]=-(f*q+g*r+h*s),a[13]=-(i*q+j*r+k*s),a[14]=-(l*q+n*r+o*s),a[15]=1,a)},m.str=function(a){return"mat4("+a[0]+", "+a[1]+", "+a[2]+", "+a[3]+", "+a[4]+", "+a[5]+", "+a[6]+", "+a[7]+", "+a[8]+", "+a[9]+", "+a[10]+", "+a[11]+", "+a[12]+", "+a[13]+", "+a[14]+", "+a[15]+")"},m.frob=function(a){return Math.sqrt(Math.pow(a[0],2)+Math.pow(a[1],2)+Math.pow(a[2],2)+Math.pow(a[3],2)+Math.pow(a[4],2)+Math.pow(a[5],2)+Math.pow(a[6],2)+Math.pow(a[6],2)+Math.pow(a[7],2)+Math.pow(a[8],2)+Math.pow(a[9],2)+Math.pow(a[10],2)+Math.pow(a[11],2)+Math.pow(a[12],2)+Math.pow(a[13],2)+Math.pow(a[14],2)+Math.pow(a[15],2))},"undefined"!=typeof a&&(a.mat4=m);var n={};n.create=function(){var a=new c(4);return a[0]=0,a[1]=0,a[2]=0,a[3]=1,a},n.rotationTo=function(){var a=h.create(),b=h.fromValues(1,0,0),c=h.fromValues(0,1,0);return function(d,e,f){var g=h.dot(e,f);return-.999999>g?(h.cross(a,b,e),h.length(a)<1e-6&&h.cross(a,c,e),h.normalize(a,a),n.setAxisAngle(d,a,Math.PI),d):g>.999999?(d[0]=0,d[1]=0,d[2]=0,d[3]=1,d):(h.cross(a,e,f),d[0]=a[0],d[1]=a[1],d[2]=a[2],d[3]=1+g,n.normalize(d,d))}}(),n.setAxes=function(){var a=l.create();return function(b,c,d,e){return a[0]=d[0],a[3]=d[1],a[6]=d[2],a[1]=e[0],a[4]=e[1],a[7]=e[2],a[2]=-c[0],a[5]=-c[1],a[8]=-c[2],n.normalize(b,n.fromMat3(b,a))}}(),n.clone=i.clone,n.fromValues=i.fromValues,n.copy=i.copy,n.set=i.set,n.identity=function(a){return a[0]=0,a[1]=0,a[2]=0,a[3]=1,a},n.setAxisAngle=function(a,b,c){c=.5*c;var d=Math.sin(c);return a[0]=d*b[0],a[1]=d*b[1],a[2]=d*b[2],a[3]=Math.cos(c),a
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a=this.basis,b=this._matrix=f.create();return b[0]=a[0][0],b[1]=a[0][1],b[2]=a[0][2],b[4]=a[1][0],b[5]=a[1][1],b[6]=a[1][2],b[8]=a[2][0],b[9]=a[2][1],b[10]=a[2][2],b[3]=this.center()[0],b[7]=this.center()[1],b[11]=this.center()[2],this.left()&&(b[0]*=-1,b[1]*=-1,b[2]*=-1),this._matrix},g.prototype.lerp=function(a,b){d.lerp(a,this.prevJoint,this.nextJoint,b)},g.prototype.center=function(){if(this._center)return this._center;var a=d.create();return this.lerp(a,.5),this._center=a,a},g.prototype.direction=function(){return[-1*this.basis[2][0],-1*this.basis[2][1],-1*this.basis[2][2]]}},{"./pointable":14,"gl-matrix":23,underscore:24}],2:[function(a,b){var c=b.exports=function(a){this.pos=0,this._buf=[],this.size=a};c.prototype.get=function(a){return void 0==a&&(a=0),a>=this.size?void 0:a>=this._buf.length?void 0:this._buf[(this.pos-a-1)%this.size]},c.prototype.push=function(a){return this._buf[this.pos%this.size]=a,this.pos++}},{}],3:[function(a,b){var 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6437},f.prototype.setBackground=function(a){this.opts.background=a,this.protocol&&this.protocol.sendBackground&&this.background!==this.opts.background&&(this.background=this.opts.background,this.protocol.sendBackground(this,this.opts.background))},f.prototype.setOptimizeHMD=function(a){this.opts.optimizeHMD=a,this.protocol&&this.protocol.sendOptimizeHMD&&this.optimizeHMD!==this.opts.optimizeHMD&&(this.optimizeHMD=this.opts.optimizeHMD,this.protocol.sendOptimizeHMD(this,this.opts.optimizeHMD))},f.prototype.handleOpen=function(){this.connected||(this.connected=!0,this.emit("connect"))},f.prototype.enableGestures=function(a){this.gesturesEnabled=a?!0:!1,this.send(this.protocol.encode({enableGestures:this.gesturesEnabled}))},f.prototype.handleClose=function(a){this.connected&&(this.disconnect(),1001===a&&this.opts.requestProtocolVersion>1&&(this.protocolVersionVerified?this.protocolVersionVerified=!1:this.opts.requestProtocolVersion--),this.startReconnection())},f.prototype.startReconnection=function(){var a=this;this.reconnectionTimer||(this.reconnectionTimer=setInterval(function(){a.reconnect()},500))},f.prototype.stopReconnection=function(){this.reconnectionTimer=clearInterval(this.reconnectionTimer)},f.prototype.disconnect=function(a){return a||this.stopReconnection(),this.socket?(this.socket.close(),delete this.socket,delete this.protocol,delete this.background,delete this.optimizeHMD,delete this.focusedState,this.connected&&(this.connected=!1,this.emit("disconnect")),!0):void 0},f.prototype.reconnect=function(){this.connected?this.stopReconnection():(this.disconnect(!0),this.connect())},f.prototype.handleData=function(a){var b,d=JSON.parse(a);void 0===this.protocol?(b=this.protocol=c(d),this.protocolVersionVerified=!0,this.emit("ready")):b=this.protocol(d),this.emit(b.type,b)},f.prototype.connect=function(){return this.socket?void 0:(this.socket=this.setupSocket(),!0)},f.prototype.send=function(a){this.socket.send(a)},f.prototype.reportFocus=function(a){this.connected&&this.focusedState!==a&&(this.focusedState=a,this.emit(this.focusedState?"focus":"blur"),this.protocol&&this.protocol.sendFocused&&this.protocol.sendFocused(this,this.focusedState))},e.extend(f.prototype,d.prototype)},{"../protocol":15,events:21,underscore:24}],4:[function(a,b){var c=b.exports=a("./base"),d=a("underscore"),e=b.exports=function(a){c.call(this,a);var b=this;this.on("ready",function(){b.startFocusLoop()}),this.on("disconnect",function(){b.stopFocusLoop()})};d.extend(e.prototype,c.prototype),e.__proto__=c,e.prototype.useSecure=function(){return"https:"===location.protocol},e.prototype.getScheme=function(){return this.useSecure()?"wss:":"ws:"},e.prototype.getPort=function(){return this.useSecure()?6436:6437},e.prototype.setupSocket=function(){var a=this,b=new WebSocket(this.getUrl());return 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0===b.connectionType?a(this.inBrowser()?"./connection/browser":"./connection/node"):b.connectionType,this.connection=new this.connectionType(b),this.streamingCount=0,this.devices={},this.plugins={},this._pluginPipelineSteps={},this._pluginExtendedMethods={},b.useAllPlugins&&this.useRegisteredPlugins(),this.setupFrameEvents(b),this.setupConnectionEvents()};n.prototype.gesture=function(a,b){var c=k(this,a);return void 0!==b&&c.stop(b),c},n.prototype.setBackground=function(a){return this.connection.setBackground(a),this},n.prototype.setOptimizeHMD=function(a){return this.connection.setOptimizeHMD(a),this},n.prototype.inBrowser=function(){return!this.inNode},n.prototype.useAnimationLoop=function(){return this.inBrowser()&&!this.inBackgroundPage()},n.prototype.inBackgroundPage=function(){return"undefined"!=typeof chrome&&chrome.extension&&chrome.extension.getBackgroundPage&&chrome.extension.getBackgroundPage()===window},n.prototype.connect=function(){return this.connection.connect(),this},n.prototype.streaming=function(){return this.streamingCount>0},n.prototype.connected=function(){return!!this.connection.connected},n.prototype.runAnimationLoop=function(){this.suppressAnimationLoop||this.animationFrameRequested||(this.animationFrameRequested=!0,window.requestAnimationFrame(this.onAnimationFrame))},n.prototype.disconnect=function(){return this.connection.disconnect(),this},n.prototype.frame=function(a){return this.history.get(a)||d.Invalid},n.prototype.loop=function(a){return a&&("function"==typeof a?this.on(this.frameEventName,a):this.setupFrameEvents(a)),this.connect()},n.prototype.addStep=function(a){this.pipeline||(this.pipeline=new i(this)),this.pipeline.addStep(a)},n.prototype.processFrame=function(a){a.gestures&&(this.accumulatedGestures=this.accumulatedGestures.concat(a.gestures)),this.lastConnectionFrame=a,this.runAnimationLoop(),this.emit("deviceFrame",a)},n.prototype.processFinishedFrame=function(a){if(this.lastFrame=a,a.valid&&(this.lastValidFrame=a),a.controller=this,a.historyIdx=this.history.push(a),a.gestures){a.gestures=this.accumulatedGestures,this.accumulatedGestures=[];for(var b=0;b!=a.gestures.length;b++)this.emit("gesture",a.gestures[b],a)}this.pipeline&&(a=this.pipeline.run(a),a||(a=d.Invalid)),this.emit("frame",a),this.emitHandEvents(a)},n.prototype.emitHandEvents=function(a){for(var b=0;b<a.hands.length;b++)this.emit("hand",a.hands[b])},n.prototype.setupFrameEvents=function(a){a.frame&&this.on("frame",a.frame),a.hand&&this.on("hand",a.hand)},n.prototype.setupConnectionEvents=function(){var a=this;this.connection.on("frame",function(b){a.processFrame(b)}),this.on(this.frameEventName,function(b){a.processFinishedFrame(b)});var b=function(){if(a.connection.opts.requestProtocolVersion<5&&0==a.streamingCount){a.streamingCount=1;var c={attached:!0,streaming:!0,type:"unknown",id:"Lx00000000000"};a.devices[c.id]=c,a.emit("deviceAttached",c),a.emit("deviceStreaming",c),a.emit("streamingStarted",c),a.connection.removeListener("frame",b)}},c=function(){if(a.streamingCount>0){for(var b in a.devices)a.emit("deviceStopped",a.devices[b]),a.emit("deviceRemoved",a.devices[b]);a.emit("streamingStopped",a.devices[b]),a.streamingCount=0;for(var b in a.devices)delete a.devices[b]}};this.connection.on("focus",function(){a.emit("focus")}),this.connection.on("blur",function(){a.emit("blur")}),this.connection.on("protocol",function(b){b.on("beforeFrameCreated",function(b){a.emit("beforeFrameCreated",b)}),b.on("afterFrameCreated",function(b,c){a.emit("afterFrameCreated",b,c)}),a.emit("protocol",b)}),this.connection.on("ready",function(){a.checkVersion&&!a.inNode&&a.checkOutOfDate(),a.emit("ready")}),this.connection.on("connect",function(){a.emit("connect"),a.connection.removeListener("frame",b),a.connection.on("frame",b)}),this.connection.on("disconnect",function(){a.emit("disconnect"),c()}),this.connection.on("deviceConnect",function(d){d.state?(a.emit("deviceConnected"),a.connection.removeListener("frame",b),a.connection.on("frame",b)):(a.emit("deviceDisconnected"),c())}),this.connection.on("deviceEvent",function(b){var c=b.state,d=a.devices[c.id],e={};for(var f in c)d&&d.hasOwnProperty(f)&&d[f]==c[f]||(e[f]=!0);a.devices[c.id]=c,e.attached&&a.emit(c.attached?"deviceAttached":"deviceRemoved",c),e.streaming&&(c.streaming?(a.streamingCount++,a.emit("deviceStreaming",c),1==a.streamingCount&&a.emit("streamingStarted",c),e.attached||a.emit("deviceConnected")):e.attached&&c.attached||(a.streamingCount--,a.emit("deviceStopped",c),0==a.streamingCount&&a.emit("streamingStopped",c),a.emit("deviceDisconnected")))}),this.on("newListener",function(a){("deviceConnected"==a||"deviceDisconnected"==a)&&console.warn(a+" events are depricated.  Consider using 'streamingStarted/streamingStopped' or 'deviceStreaming/deviceStopped' instead")})},n.prototype.checkOutOfDate=function(){console.assert(this.connection&&this.connection.protocol);var a=this.connection.protocol.serviceVersion,b=this.connection.protocol.version,c=this.connectionType.defaultProtocolVersion;return c>b?(console.warn("Your Protocol Version is v"+b+", this app was designed for v"+c),l.warnOutOfDate({sV:a,pV:b}),!0):!1},n._pluginFactories={},n.plugin=function(a,b){return this._pluginFactories[a]&&console.warn('Plugin "'+a+'" already registered'),this._pluginFactories[a]=b},n.plugins=function(){return m.keys(this._pluginFactories)};var o=function(a,b,c){-1!=["beforeFrameCreated","afterFrameCreated"].indexOf(b)?this.on(b,c):(this.pipeline||(this.pipeline=new i(this)),this._pluginPipelineSteps[a]||(this._pluginPipelineSteps[a]=[]),this._pluginPipelineSteps[a].push(this.pipeline.addWrappedStep(b,c)))},p=function(a,b,c){var h;switch(this._pluginExtendedMethods[a]||(this._pluginExtendedMethods[a]=[]),b){case"frame":h=d;break;case"hand":h=e;break;case"pointable":h=f,m.extend(g.prototype,c),m.extend(g.Invalid,c);break;case"finger":h=g;break;default:throw a+' specifies invalid object type "'+b+'" for prototypical extension'}m.extend(h.prototype,c),m.extend(h.Invalid,c),this._pluginExtendedMethods[a].push([h,c])};n.prototype.use=function(a,b){var c,d,e,f;if(d="function"==typeof a?a:n._pluginFactories[a],!d)throw"Leap Plugin "+a+" not found.";if(b||(b={}),this.plugins[a])return m.extend(this.plugins[a],b),this;this.plugins[a]=b,f=d.call(this,b);for(e in f)c=f[e],"function"==typeof c?o.call(this,a,e,c):p.call(this,a,e,c);return this},n.prototype.stopUsing=function(a){var b,c,d=this._pluginPipelineSteps[a],e=this._pluginExtendedMethods[a],f=0;if(this.plugins[a]){if(d)for(f=0;f<d.length;f++)this.pipeline.removeStep(d[f]);if(e)for(f=0;f<e.length;f++){b=e[f][0],c=e[f][1];for(var g in c)delete b.prototype[g],delete b.Invalid[g]}return delete this.plugins[a],this}},n.prototype.useRegisteredPlugins=function(){for(var a in n._pluginFactories)this.use(a)},m.extend(n.prototype,j.prototype)},{"./circular_buffer":2,"./connection/browser":4,"./connection/node":20,"./dialog":6,"./finger":7,"./frame":8,"./gesture":9,"./hand":10,"./pipeline":13,"./pointable":14,__browserify_process:22,events:21,underscore:24}],6:[function(a,b){var c=a("__browserify_process"),d=b.exports=function(a,b){this.options=b||{},this.message=a,this.createElement()};d.prototype.createElement=function(){this.element=document.createElement("div"),this.element.className="leapjs-dialog",this.element.style.position="fixed",this.element.style.top="8px",this.element.style.left=0,this.element.style.right=0,this.element.style.textAlign="center",this.element.style.zIndex=1e3;var a=document.createElement("div");this.element.appendChild(a),a.style.className="leapjs-dialog",a.style.display="inline-block",a.style.margin="auto",a.style.padding="8px",a.style.color="#222",a.style.background="#eee",a.style.borderRadius="4px",a.style.border="1px solid #999",a.style.textAlign="left",a.style.cursor="pointer",a.style.whiteSpace="nowrap",a.style.transition="box-shadow 1s linear",a.innerHTML=this.message,this.options.onclick&&a.addEventListener("click",this.options.onclick),this.options.onmouseover&&a.addEventListener("mouseover",this.options.onmouseover),this.options.onmouseout&&a.addEventListener("mouseout",this.options.onmouseout),this.options.onmousemove&&a.addEventListener("mousemove",this.options.onmousemove)},d.prototype.show=function(){return document.body.appendChild(this.element),this},d.prototype.hide=function(){return document.body.removeChild(this.element),this},d.warnOutOfDate=function(a){a||(a={});var b="http://developer.leapmotion.com?";a.returnTo=window.location.href;for(var c in a)b+=c+"="+encodeURIComponent(a[c])+"&";var e,f=function(a){if("leapjs-decline-upgrade"!=a.target.id){var c=window.open(b,"_blank","height=800,width=1000,location=1,menubar=1,resizable=1,status=1,toolbar=1,scrollbars=1");window.focus&&c.focus()}return e.hide(),!0},g="This site requires Leap Motion Tracking V2.<button id='leapjs-accept-upgrade'  style='color: #444; transition: box-shadow 100ms linear; cursor: pointer; vertical-align: baseline; margin-left: 16px;'>Upgrade</button><button id='leapjs-decline-upgrade' style='color: #444; transition: box-shadow 100ms linear; cursor: pointer; vertical-align: baseline; margin-left: 8px; '>Not Now</button>";return e=new d(g,{onclick:f,onmousemove:function(a){a.target==document.getElementById("leapjs-decline-upgrade")?(document.getElementById("leapjs-decline-upgrade").style.color="#000",document.getElementById("leapjs-decline-upgrade").style.boxShadow="0px 0px 2px #5daa00",document.getElementById("leapjs-accept-upgrade").style.color="#444",document.getElementById("leapjs-accept-upgrade").style.boxShadow="none"):(document.getElementById("leapjs-accept-upgrade").style.color="#000",document.getElementById("leapjs-accept-upgrade").style.boxShadow="0px 0px 2px #5daa00",document.getElementById("leapjs-decline-upgrade").style.color="#444",document.getElementById("leapjs-decline-upgrade").style.boxShadow="none")},onmouseout:function(){document.getElementById("leapjs-decline-upgrade").style.color="#444",document.getElementById("leapjs-decline-upgrade").style.boxShadow="none",document.getElementById("leapjs-accept-upgrade").style.color="#444",document.getElementById("leapjs-accept-upgrade").style.boxShadow="none"}}),e.show()},d.hasWarnedBones=!1,d.warnBones=function(){this.hasWarnedBones||(this.hasWarnedBones=!0,console.warn("Your Leap Service is out of date"),"undefined"!=typeof c&&c.versions&&c.versions.node||this.warnOutOfDate({reason:"bones"}))}},{__browserify_process:22}],7:[function(a,b){var c=a("./pointable"),d=a("./bone"),e=a("./dialog"),f=a("underscore"),g=b.exports=function(a){c.call(this,a),this.dipPosition=a.dipPosition,this.pipPosition=a.pipPosition,this.mcpPosition=a.mcpPosition,this.carpPosition=a.carpPosition,this.extended=a.extended,this.type=a.type,this.finger=!0,this.positions=[this.carpPosition,this.mcpPosition,this.pipPosition,this.dipPosition,this.tipPosition],a.bases?this.addBones(a):e.warnBones()};f.extend(g.prototype,c.prototype),g.prototype.addBones=function(a){this.metacarpal=new d(this,{type:0,width:this.width,prevJoint:this.carpPosition,nextJoint:this.mcpPosition,basis:a.bases[0]}),this.proximal=new d(this,{type:1,width:this.width,prevJoint:this.mcpPosition,nextJoint:this.pipPosition,basis:a.bases[1]}),this.medial=new d(this,{type:2,width:this.width,prevJoint:this.pipPosition,nextJoint:this.dipPosition,basis:a.bases[2]}),this.distal=new d(this,{type:3,width:this.width,prevJoint:this.dipPosition,nextJoint:a.btipPosition,basis:a.bases[3]}),this.bones=[this.metacarpal,this.proximal,this.medial,this.distal]},g.prototype.toString=function(){return"Finger [ id:"+this.id+" "+this.length+"mmx | width:"+this.width+"mm | direction:"+this.direction+" ]"},g.Invalid={valid:!1}},{"./bone":1,"./dialog":6,"./pointable":14,underscore:24}],8:[function(a,b){var c=a("./hand"),d=a("./pointable"),e=a("./gesture").createGesture,f=a("gl-matrix"),g=f.mat3,h=f.vec3,i=a("./interaction_box"),j=a("./finger"),k=a("underscore"),l=b.exports=function(a){if(this.valid=!0,this.id=a.id,this.timestamp=a.timestamp,this.hands=[],this.handsMap={},this.pointables=[],this.tools=[],this.fingers=[],a.interactionBox&&(this.interactionBox=new i(a.interactionBox)),this.gestures=[],this.pointablesMap={},this._translation=a.t,this._rotation=k.flatten(a.r),this._scaleFactor=a.s,this.data=a,this.type="frame",this.currentFrameRate=a.currentFrameRate,a.gestures)for(var b=0,c=a.gestures.length;b!=c;b++)this.gestures.push(e(a.gestures[b]));this.postprocessData(a)};l.prototype.postprocessData=function(a){a||(a=this.data);for(var b=0,e=a.hands.length;b!=e;b++){var f=new c(a.hands[b]);f.frame=this,this.hands.push(f),this.handsMap[f.id]=f}a.pointables=k.sortBy(a.pointables,function(a){return a.id});for(var g=0,h=a.pointables.length;g!=h;g++){var i=a.pointables[g],l=i.dipPosition?new j(i):new d(i);l.frame=this,this.addPointable(l)}},l.prototype.addPointable=function(a){if(this.pointables.push(a),this.pointablesMap[a.id]=a,(a.tool?this.tools:this.fingers).push(a),void 0!==a.handId&&this.handsMap.hasOwnProperty(a.handId)){var b=this.handsMap[a.handId];switch(b.pointables.push(a),(a.tool?b.tools:b.fingers).push(a),a.type){case 0:b.thumb=a;break;case 1:b.indexFinger=a;break;case 2:b.middleFinger=a;break;case 3:b.ringFinger=a;break;case 4:b.pinky=a}}},l.prototype.tool=function(a){var b=this.pointable(a);return b.tool?b:d.Invalid},l.prototype.pointable=function(a){return this.pointablesMap[a]||d.Invalid},l.prototype.finger=function(a){var b=this.pointable(a);return b.tool?d.Invalid:b},l.prototype.hand=function(a){return this.handsMap[a]||c.Invalid},l.prototype.rotationAngle=function(a,b){if(!this.valid||!a.valid)return 0;var c,d=this.rotationMatrix(a),b=[d[7]-d[5],d[2]-d[6],d[3]-d[1]],e=Leap.vec3.len(b),f=.5*(d[0]+d[4]+d[8]-1);return c=Math.atan2(e,f),c=isNaN(c)?0:c,void 0!==b&&(c*=h.dot(e,h.normalize(h.create(),b))),c},l.prototype.rotationAxis=function(a){if(!this.valid||!a.valid)return h.create();var b=Leap.mat3.create();return Leap.mat3.multiply(b,this._rotation,a._rotation),h.normalize(h.create(),[b[7]-b[5],b[2]-b[6],b[3]-b[1]])},l.prototype.rotationMatrix=function(a){if(!this.valid||!a.valid)return g.create();var b=g.transpose(g.create(),this._rotation);return g.multiply(g.create(),a._rotation,b)},l.prototype.scaleFactor=function(a){return this.valid&&a.valid?Math.exp(this._scaleFactor-a._scaleFactor):1},l.prototype.translation=function(a){return this.valid&&a.valid?h.subtract(h.create(),this._translation,a._translation):h.create()},l.prototype.toString=function(){var a="Frame [ id:"+this.id+" | timestamp:"+this.timestamp+" | Hand count:("+this.hands.length+") | Pointable count:("+this.pointables.length+")";return this.gestures&&(a+=" | Gesture count:("+this.gestures.length+")"),a+=" ]"},l.prototype.dump=function(){var a="";a+="Frame Info:<br/>",a+=this.toString(),a+="<br/><br/>Hands:<br/>";for(var b=0,c=this.hands.length;b!=c;b++)a+="  "+this.hands[b].toString()+"<br/>";a+="<br/><br/>Pointables:<br/>";for(var d=0,e=this.pointables.length;d!=e;d++)a+="  "+this.pointables[d].toString()+"<br/>";if(this.gestures){a+="<br/><br/>Gestures:<br/>";for(var f=0,g=this.gestures.length;f!=g;f++)a+="  "+this.gestures[f].toString()+"<br/>"}return a+="<br/><br/>Raw JSON:<br/>",a+=JSON.stringify(this.data)},l.Invalid={valid:!1,hands:[],fingers:[],tools:[],gestures:[],pointables:[],pointable:function(){return d.Invalid},finger:function(){return d.Invalid},hand:function(){return c.Invalid},toString:function(){return"invalid frame"},dump:function(){return this.toString()},rotationAngle:function(){return 0},rotationMatrix:function(){return g.create()},rotationAxis:function(){return h.create()},scaleFactor:function(){return 1},translation:function(){return h.create()}}},{"./finger":7,"./gesture":9,"./hand":10,"./interaction_box":12,"./pointable":14,"gl-matrix":23,underscore:24}],9:[function(a,b,c){var d=a("gl-matrix"),e=d.vec3,f=a("events").EventEmitter,g=a("underscore"),h=(c.createGesture=function(a){var b;switch(a.type){case"circle":b=new i(a);break;case"swipe":b=new j(a);break;case"screenTap":b=new k(a);break;case"keyTap":b=new l(a);break;default:throw"unknown gesture type"}return b.id=a.id,b.handIds=a.handIds.slice(),b.pointableIds=a.pointableIds.slice(),b.duration=a.duration,b.state=a.state,b.type=a.type,b},c.gestureListener=function(a,b){var c={},d={};a.on("gesture",function(a,e){if(a.type==b){if(("start"==a.state||"stop"==a.state)&&void 0===d[a.id]){var f=new h(a,e);d[a.id]=f,g.each(c,function(a,b){f.on(b,a)})}d[a.id].update(a,e),"stop"==a.state&&delete d[a.id]}});var e={start:function(a){return c.start=a,e},stop:function(a){return c.stop=a,e},complete:function(a){return c.stop=a,e},update:function(a){return c.update=a,e}};return e},c.Gesture=function(a,b){this.gestures=[a],this.frames=[b]});h.prototype.update=function(a,b){this.lastGesture=a,this.lastFrame=b,this.gestures.push(a),this.frames.push(b),this.emit(a.state,this)},h.prototype.translation=function(){return e.subtract(e.create(),this.lastGesture.startPosition,this.lastGesture.position)},g.extend(h.prototype,f.prototype);var i=function(a){this.center=a.center,this.normal=a.normal,this.progress=a.progress,this.radius=a.radius};i.prototype.toString=function(){return"CircleGesture ["+JSON.stringify(this)+"]"};var j=function(a){this.startPosition=a.startPosition,this.position=a.position,this.direction=a.direction,this.speed=a.speed};j.prototype.toString=function(){return"SwipeGesture ["+JSON.stringify(this)+"]"};var k=function(a){this.position=a.position,this.direction=a.direction,this.progress=a.progress};k.prototype.toString=function(){return"ScreenTapGesture ["+JSON.stringify(this)+"]"};var l=function(a){this.position=a.position,this.direction=a.direction,this.progress=a.progress};l.prototype.toString=function(){return"KeyTapGesture ["+JSON.stringify(this)+"]"}},{events:21,"gl-matrix":23,underscore:24}],10:[function(a,b){var c=a("./pointable"),d=a("./bone"),e=a("gl-matrix"),f=e.mat3,g=e.vec3,h=a("underscore"),i=b.exports=function(a){this.id=a.id,this.palmPosition=a.palmPosition,this.direction=a.direction,this.palmVelocity=a.palmVelocity,this.palmNormal=a.palmNormal,this.sphereCenter=a.sphereCenter,this.sphereRadius=a.sphereRadius,this.valid=!0,this.pointables=[],this.fingers=[],this.arm=a.armBasis?new d(this,{type:4,width:a.armWidth,prevJoint:a.elbow,nextJoint:a.wrist,basis:a.armBasis}):null,this.tools=[],this._translation=a.t,this._rotation=h.flatten(a.r),this._scaleFactor=a.s,this.timeVisible=a.timeVisible,this.stabilizedPalmPosition=a.stabilizedPalmPosition,this.type=a.type,this.grabStrength=a.grabStrength,this.pinchStrength=a.pinchStrength,this.confidence=a.confidence};i.prototype.finger=function(a){var b=this.frame.finger(a);return b&&b.handId==this.id?b:c.Invalid},i.prototype.rotationAngle=function(a,b){if(!this.valid||!a.valid)return 0;var c=a.hand(this.id);if(!c.valid)return 0;var d,e=this.rotationMatrix(a),b=[e[7]-e[5],e[2]-e[6],e[3]-e[1]],f=Leap.vec3.len(b),h=.5*(e[0]+e[4]+e[8]-1);return f>-1e-7&&1e-7>f?d=0:(d=Math.atan2(f,h),d=isNaN(d)?0:d),void 0!==b&&(d*=g.dot(f,g.normalize(g.create(),b))),d},i.prototype.rotationAxis=function(a){if(!this.valid||!a.valid)return g.create();var b=a.hand(this.id);if(!b.valid)return g.create();var c=Leap.mat3.create();return Leap.mat3.multiply(c,this._rotation,b._rotation),g.normalize(g.create(),[c[7]-c[5],c[2]-c[6],c[3]-c[1]])},i.prototype.rotationMatrix=function(a){if(!this.valid||!a.valid)return f.create();var b=a.hand(this.id);if(!b.valid)return f.create();var c=f.transpose(f.create(),this._rotation),d=f.multiply(f.create(),b._rotation,c);return d},i.prototype.scaleFactor=function(a){if(!this.valid||!a.valid)return 1;var b=a.hand(this.id);return b.valid?Math.exp(this._scaleFactor-b._scaleFactor):1},i.prototype.translation=function(a){if(!this.valid||!a.valid)return g.create();var b=a.hand(this.id);return b.valid?[this._translation[0]-b._translation[0],this._translation[1]-b._translation[1],this._translation[2]-b._translation[2]]:g.create()},i.prototype.toString=function(){return"Hand ("+this.type+") [ id: "+this.id+" | palm velocity:"+this.palmVelocity+" | sphere center:"+this.sphereCenter+" ] "},i.prototype.pitch=function(){return Math.atan2(this.direction[1],-this.direction[2])},i.prototype.yaw=function(){return Math.atan2(this.direction[0],-this.direction[2])},i.prototype.roll=function(){return Math.atan2(this.palmNormal[0],-this.palmNormal[1])},i.Invalid={valid:!1,fingers:[],tools:[],pointables:[],left:!1,pointable:function(){return c.Invalid},finger:function(){return c.Invalid},toString:function(){return"invalid frame"},dump:function(){return this.toString()},rotationAngle:function(){return 0},rotationMatrix:function(){return f.create()},rotationAxis:function(){return g.create()},scaleFactor:function(){return 1},translation:function(){return g.create()}}},{"./bone":1,"./pointable":14,"gl-matrix":23,underscore:24}],11:[function(a,b){b.exports={Controller:a("./controller"),Frame:a("./frame"),Gesture:a("./gesture"),Hand:a("./hand"),Pointable:a("./pointable"),Finger:a("./finger"),InteractionBox:a("./interaction_box"),CircularBuffer:a("./circular_buffer"),UI:a("./ui"),JSONProtocol:a("./protocol").JSONProtocol,glMatrix:a("gl-matrix"),mat3:a("gl-matrix").mat3,vec3:a("gl-matrix").vec3,loopController:void 0,version:a("./version.js"),loop:function(a,b){return!a||void 0!==b||a.frame||a.hand||(b=a,a={}),this.loopController?a&&this.loopController.setupFrameEvents(a):this.loopController=new this.Controller(a),this.loopController.loop(b),this.loopController},plugin:function(a,b){this.Controller.plugin(a,b)}}},{"./circular_buffer":2,"./controller":5,"./finger":7,"./frame":8,"./gesture":9,"./hand":10,"./interaction_box":12,"./pointable":14,"./protocol":15,"./ui":16,"./version.js":19,"gl-matrix":23}],12:[function(a,b){var c=a("gl-matrix"),d=c.vec3,e=b.exports=function(a){this.valid=!0,this.center=a.center,this.size=a.size,this.width=a.size[0],this.height=a.size[1],this.depth=a.size[2]};e.prototype.denormalizePoint=function(a){return d.fromValues((a[0]-.5)*this.size[0]+this.center[0],(a[1]-.5)*this.size[1]+this.center[1],(a[2]-.5)*this.size[2]+this.center[2])},e.prototype.normalizePoint=function(a,b){var c=d.fromValues((a[0]-this.center[0])/this.size[0]+.5,(a[1]-this.center[1])/this.size[1]+.5,(a[2]-this.center[2])/this.size[2]+.5);return b&&(c[0]=Math.min(Math.max(c[0],0),1),c[1]=Math.min(Math.max(c[1],0),1),c[2]=Math.min(Math.max(c[2],0),1)),c},e.prototype.toString=function(){return"InteractionBox [ width:"+this.width+" | height:"+this.height+" | depth:"+this.depth+" ]"},e.Invalid={valid:!1}},{"gl-matrix":23}],13:[function(a,b){var c=b.exports=function(a){this.steps=[],this.controller=a};c.prototype.addStep=function(a){this.steps.push(a)},c.prototype.run=function(a){for(var b=this.steps.length,c=0;c!=b&&a;c++)a=this.steps[c](a);return a},c.prototype.removeStep=function(a){var b=this.steps.indexOf(a);if(-1===b)throw"Step not found in pipeline";this.steps.splice(b,1)},c.prototype.addWrappedStep=function(a,b){var c=this.controller,d=function(d){var e,f,g;for(e="frame"==a?[d]:d[a+"s"]||[],f=0,g=e.length;g>f;f++)b.call(c,e[f]);return d};return this.addStep(d),d}},{}],14:[function(a,b){var c=a("gl-matrix"),d=(c.vec3,b.exports=function(a){this.valid=!0,this.id=a.id,this.handId=a.handId,this.length=a.length,this.tool=a.tool,this.width=a.width,this.direction=a.direction,this.stabilizedTipPosition=a.stabilizedTipPosition,this.tipPosition=a.tipPosition,this.tipVelocity=a.tipVelocity,this.touchZone=a.touchZone,this.touchDistance=a.touchDistance,this.timeVisible=a.timeVisible});d.prototype.toString=function(){return"Pointable [ id:"+this.id+" "+this.length+"mmx | width:"+this.width+"mm | direction:"+this.direction+" ]"},d.prototype.hand=function(){return this.frame.hand(this.handId)},d.Invalid={valid:!1}},{"gl-matrix":23}],15:[function(a,b,c){var d=a("./frame"),e=(a("./hand"),a("./pointable"),a("./finger"),a("underscore")),f=a("events").EventEmitter,g=function(a){this.type=a.type,this.state=a.state
+};c.chooseProtocol=function(a){var b;switch(a.version){case 1:case 2:case 3:case 4:case 5:case 6:b=h(a),b.sendBackground=function(a,c){a.send(b.encode({background:c}))},b.sendFocused=function(a,c){a.send(b.encode({focused:c}))},b.sendOptimizeHMD=function(a,c){a.send(b.encode({optimizeHMD:c}))};break;default:throw"unrecognized version"}return b};var h=c.JSONProtocol=function(a){var b=function(a){if(a.event)return new g(a.event);b.emit("beforeFrameCreated",a);var c=new d(a);return b.emit("afterFrameCreated",c,a),c};return b.encode=function(a){return JSON.stringify(a)},b.version=a.version,b.serviceVersion=a.serviceVersion,b.versionLong="Version "+a.version,b.type="protocol",e.extend(b,f.prototype),b}},{"./finger":7,"./frame":8,"./hand":10,"./pointable":14,events:21,underscore:24}],16:[function(a,b,c){c.UI={Region:a("./ui/region"),Cursor:a("./ui/cursor")}},{"./ui/cursor":17,"./ui/region":18}],17:[function(a,b){b.exports=function(){return function(a){var b=a.pointables.sort(function(a,b){return a.z-b.z})[0];return b&&b.valid&&(a.cursorPosition=b.tipPosition),a}}},{}],18:[function(a,b){var c=a("events").EventEmitter,d=a("underscore"),e=b.exports=function(a,b){this.start=new Vector(a),this.end=new Vector(b),this.enteredFrame=null};e.prototype.hasPointables=function(a){for(var b=0;b!=a.pointables.length;b++){var c=a.pointables[b].tipPosition;if(c.x>=this.start.x&&c.x<=this.end.x&&c.y>=this.start.y&&c.y<=this.end.y&&c.z>=this.start.z&&c.z<=this.end.z)return!0}return!1},e.prototype.listener=function(a){var b=this;return a&&a.nearThreshold&&this.setupNearRegion(a.nearThreshold),function(a){return b.updatePosition(a)}},e.prototype.clipper=function(){var a=this;return function(b){return a.updatePosition(b),a.enteredFrame?b:null}},e.prototype.setupNearRegion=function(a){var b=this.nearRegion=new e([this.start.x-a,this.start.y-a,this.start.z-a],[this.end.x+a,this.end.y+a,this.end.z+a]),c=this;b.on("enter",function(a){c.emit("near",a)}),b.on("exit",function(a){c.emit("far",a)}),c.on("exit",function(a){c.emit("near",a)})},e.prototype.updatePosition=function(a){return this.nearRegion&&this.nearRegion.updatePosition(a),this.hasPointables(a)&&null==this.enteredFrame?(this.enteredFrame=a,this.emit("enter",this.enteredFrame)):this.hasPointables(a)||null==this.enteredFrame||(this.enteredFrame=null,this.emit("exit",this.enteredFrame)),a},e.prototype.normalize=function(a){return new Vector([(a.x-this.start.x)/(this.end.x-this.start.x),(a.y-this.start.y)/(this.end.y-this.start.y),(a.z-this.start.z)/(this.end.z-this.start.z)])},e.prototype.mapToXY=function(a,b,c){var d=this.normalize(a),e=d.x,f=d.y;return e>1?e=1:-1>e&&(e=-1),f>1?f=1:-1>f&&(f=-1),[(e+1)/2*b,(1-f)/2*c,d.z]},d.extend(e.prototype,c.prototype)},{events:21,underscore:24}],19:[function(a,b){b.exports={full:"0.6.3",major:0,minor:6,dot:3}},{}],20:[function(){},{}],21:[function(a,b,c){function d(a,b){if(a.indexOf)return a.indexOf(b);for(var c=0;c<a.length;c++)if(b===a[c])return c;return-1}var e=a("__browserify_process");e.EventEmitter||(e.EventEmitter=function(){});var f=c.EventEmitter=e.EventEmitter,g="function"==typeof Array.isArray?Array.isArray:function(a){return"[object Array]"===Object.prototype.toString.call(a)},h=10;f.prototype.setMaxListeners=function(a){this._events||(this._events={}),this._events.maxListeners=a},f.prototype.emit=function(a){if("error"===a&&(!this._events||!this._events.error||g(this._events.error)&&!this._events.error.length))throw arguments[1]instanceof Error?arguments[1]:new Error("Uncaught, unspecified 'error' event.");if(!this._events)return!1;var b=this._events[a];if(!b)return!1;if("function"==typeof b){switch(arguments.length){case 1:b.call(this);break;case 2:b.call(this,arguments[1]);break;case 3:b.call(this,arguments[1],arguments[2]);break;default:var c=Array.prototype.slice.call(arguments,1);b.apply(this,c)}return!0}if(g(b)){for(var c=Array.prototype.slice.call(arguments,1),d=b.slice(),e=0,f=d.length;f>e;e++)d[e].apply(this,c);return!0}return!1},f.prototype.addListener=function(a,b){if("function"!=typeof b)throw new Error("addListener only takes instances of Function");if(this._events||(this._events={}),this.emit("newListener",a,b),this._events[a])if(g(this._events[a])){if(!this._events[a].warned){var c;c=void 0!==this._events.maxListeners?this._events.maxListeners:h,c&&c>0&&this._events[a].length>c&&(this._events[a].warned=!0,console.error("(node) warning: possible EventEmitter memory leak detected. %d listeners added. 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this._events||(this._events={}),this._events[a]||(this._events[a]=[]),g(this._events[a])||(this._events[a]=[this._events[a]]),this._events[a]},f.listenerCount=function(a,b){var c;return c=a._events&&a._events[b]?"function"==typeof a._events[b]?1:a._events[b].length:0}},{__browserify_process:22}],22:[function(a,b){var c=b.exports={};c.nextTick=function(){var a="undefined"!=typeof window&&window.setImmediate,b="undefined"!=typeof window&&window.postMessage&&window.addEventListener;if(a)return function(a){return window.setImmediate(a)};if(b){var c=[];return window.addEventListener("message",function(a){var b=a.source;if((b===window||null===b)&&"process-tick"===a.data&&(a.stopPropagation(),c.length>0)){var d=c.shift();d()}},!0),function(a){c.push(a),window.postMessage("process-tick","*")}}return function(a){setTimeout(a,0)}}(),c.title="browser",c.browser=!0,c.env={},c.argv=[],c.binding=function(){throw new Error("process.binding is not 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d=b[0],e=b[1],f=b[2],g=b[3],h=b[4],i=b[5],j=c[0],k=c[1];return a[0]=d,a[1]=e,a[2]=f,a[3]=g,a[4]=d*j+f*k+h,a[5]=e*j+g*k+i,a},k.str=function(a){return"mat2d("+a[0]+", "+a[1]+", "+a[2]+", "+a[3]+", "+a[4]+", "+a[5]+")"},k.frob=function(a){return Math.sqrt(Math.pow(a[0],2)+Math.pow(a[1],2)+Math.pow(a[2],2)+Math.pow(a[3],2)+Math.pow(a[4],2)+Math.pow(a[5],2)+1)},"undefined"!=typeof a&&(a.mat2d=k);var l={};l.create=function(){var a=new c(9);return a[0]=1,a[1]=0,a[2]=0,a[3]=0,a[4]=1,a[5]=0,a[6]=0,a[7]=0,a[8]=1,a},l.fromMat4=function(a,b){return a[0]=b[0],a[1]=b[1],a[2]=b[2],a[3]=b[4],a[4]=b[5],a[5]=b[6],a[6]=b[8],a[7]=b[9],a[8]=b[10],a},l.clone=function(a){var b=new c(9);return b[0]=a[0],b[1]=a[1],b[2]=a[2],b[3]=a[3],b[4]=a[4],b[5]=a[5],b[6]=a[6],b[7]=a[7],b[8]=a[8],b},l.copy=function(a,b){return a[0]=b[0],a[1]=b[1],a[2]=b[2],a[3]=b[3],a[4]=b[4],a[5]=b[5],a[6]=b[6],a[7]=b[7],a[8]=b[8],a},l.identity=function(a){return a[0]=1,a[1]=0,a[2]=0,a[3]=0,a[4]=1,a[5]=0,a[6]=0,a[7]=0,a[8]=1,a},l.transpose=function(a,b){if(a===b){var c=b[1],d=b[2],e=b[5];a[1]=b[3],a[2]=b[6],a[3]=c,a[5]=b[7],a[6]=d,a[7]=e}else a[0]=b[0],a[1]=b[3],a[2]=b[6],a[3]=b[1],a[4]=b[4],a[5]=b[7],a[6]=b[2],a[7]=b[5],a[8]=b[8];return a},l.invert=function(a,b){var c=b[0],d=b[1],e=b[2],f=b[3],g=b[4],h=b[5],i=b[6],j=b[7],k=b[8],l=k*g-h*j,m=-k*f+h*i,n=j*f-g*i,o=c*l+d*m+e*n;return o?(o=1/o,a[0]=l*o,a[1]=(-k*d+e*j)*o,a[2]=(h*d-e*g)*o,a[3]=m*o,a[4]=(k*c-e*i)*o,a[5]=(-h*c+e*f)*o,a[6]=n*o,a[7]=(-j*c+d*i)*o,a[8]=(g*c-d*f)*o,a):null},l.adjoint=function(a,b){var c=b[0],d=b[1],e=b[2],f=b[3],g=b[4],h=b[5],i=b[6],j=b[7],k=b[8];return a[0]=g*k-h*j,a[1]=e*j-d*k,a[2]=d*h-e*g,a[3]=h*i-f*k,a[4]=c*k-e*i,a[5]=e*f-c*h,a[6]=f*j-g*i,a[7]=d*i-c*j,a[8]=c*g-d*f,a},l.determinant=function(a){var b=a[0],c=a[1],d=a[2],e=a[3],f=a[4],g=a[5],h=a[6],i=a[7],j=a[8];return b*(j*f-g*i)+c*(-j*e+g*h)+d*(i*e-f*h)},l.multiply=function(a,b,c){var d=b[0],e=b[1],f=b[2],g=b[3],h=b[4],i=b[5],j=b[6],k=b[7],l=b[8],m=c[0],n=c[1],o=c[2],p=c[3],q=c[4],r=c[5],s=c[6],t=c[7],u=c[8];return a[0]=m*d+n*g+o*j,a[1]=m*e+n*h+o*k,a[2]=m*f+n*i+o*l,a[3]=p*d+q*g+r*j,a[4]=p*e+q*h+r*k,a[5]=p*f+q*i+r*l,a[6]=s*d+t*g+u*j,a[7]=s*e+t*h+u*k,a[8]=s*f+t*i+u*l,a},l.mul=l.multiply,l.translate=function(a,b,c){var d=b[0],e=b[1],f=b[2],g=b[3],h=b[4],i=b[5],j=b[6],k=b[7],l=b[8],m=c[0],n=c[1];return a[0]=d,a[1]=e,a[2]=f,a[3]=g,a[4]=h,a[5]=i,a[6]=m*d+n*g+j,a[7]=m*e+n*h+k,a[8]=m*f+n*i+l,a},l.rotate=function(a,b,c){var d=b[0],e=b[1],f=b[2],g=b[3],h=b[4],i=b[5],j=b[6],k=b[7],l=b[8],m=Math.sin(c),n=Math.cos(c);return a[0]=n*d+m*g,a[1]=n*e+m*h,a[2]=n*f+m*i,a[3]=n*g-m*d,a[4]=n*h-m*e,a[5]=n*i-m*f,a[6]=j,a[7]=k,a[8]=l,a},l.scale=function(a,b,c){var d=c[0],e=c[1];return a[0]=d*b[0],a[1]=d*b[1],a[2]=d*b[2],a[3]=e*b[3],a[4]=e*b[4],a[5]=e*b[5],a[6]=b[6],a[7]=b[7],a[8]=b[8],a},l.fromMat2d=function(a,b){return a[0]=b[0],a[1]=b[1],a[2]=0,a[3]=b[2],a[4]=b[3],a[5]=0,a[6]=b[4],a[7]=b[5],a[8]=1,a},l.fromQuat=function(a,b){var c=b[0],d=b[1],e=b[2],f=b[3],g=c+c,h=d+d,i=e+e,j=c*g,k=d*g,l=d*h,m=e*g,n=e*h,o=e*i,p=f*g,q=f*h,r=f*i;return a[0]=1-l-o,a[3]=k-r,a[6]=m+q,a[1]=k+r,a[4]=1-j-o,a[7]=n-p,a[2]=m-q,a[5]=n+p,a[8]=1-j-l,a},l.normalFromMat4=function(a,b){var c=b[0],d=b[1],e=b[2],f=b[3],g=b[4],h=b[5],i=b[6],j=b[7],k=b[8],l=b[9],m=b[10],n=b[11],o=b[12],p=b[13],q=b[14],r=b[15],s=c*h-d*g,t=c*i-e*g,u=c*j-f*g,v=d*i-e*h,w=d*j-f*h,x=e*j-f*i,y=k*p-l*o,z=k*q-m*o,A=k*r-n*o,B=l*q-m*p,C=l*r-n*p,D=m*r-n*q,E=s*D-t*C+u*B+v*A-w*z+x*y;return E?(E=1/E,a[0]=(h*D-i*C+j*B)*E,a[1]=(i*A-g*D-j*z)*E,a[2]=(g*C-h*A+j*y)*E,a[3]=(e*C-d*D-f*B)*E,a[4]=(c*D-e*A+f*z)*E,a[5]=(d*A-c*C-f*y)*E,a[6]=(p*x-q*w+r*v)*E,a[7]=(q*u-o*x-r*t)*E,a[8]=(o*w-p*u+r*s)*E,a):null},l.str=function(a){return"mat3("+a[0]+", "+a[1]+", "+a[2]+", "+a[3]+", "+a[4]+", "+a[5]+", "+a[6]+", "+a[7]+", "+a[8]+")"},l.frob=function(a){return Math.sqrt(Math.pow(a[0],2)+Math.pow(a[1],2)+Math.pow(a[2],2)+Math.pow(a[3],2)+Math.pow(a[4],2)+Math.pow(a[5],2)+Math.pow(a[6],2)+Math.pow(a[7],2)+Math.pow(a[8],2))},"undefined"!=typeof a&&(a.mat3=l);var m={};m.create=function(){var a=new c(16);return a[0]=1,a[1]=0,a[2]=0,a[3]=0,a[4]=0,a[5]=1,a[6]=0,a[7]=0,a[8]=0,a[9]=0,a[10]=1,a[11]=0,a[12]=0,a[13]=0,a[14]=0,a[15]=1,a},m.clone=function(a){var b=new c(16);return b[0]=a[0],b[1]=a[1],b[2]=a[2],b[3]=a[3],b[4]=a[4],b[5]=a[5],b[6]=a[6],b[7]=a[7],b[8]=a[8],b[9]=a[9],b[10]=a[10],b[11]=a[11],b[12]=a[12],b[13]=a[13],b[14]=a[14],b[15]=a[15],b},m.copy=function(a,b){return a[0]=b[0],a[1]=b[1],a[2]=b[2],a[3]=b[3],a[4]=b[4],a[5]=b[5],a[6]=b[6],a[7]=b[7],a[8]=b[8],a[9]=b[9],a[10]=b[10],a[11]=b[11],a[12]=b[12],a[13]=b[13],a[14]=b[14],a[15]=b[15],a},m.identity=function(a){return a[0]=1,a[1]=0,a[2]=0,a[3]=0,a[4]=0,a[5]=1,a[6]=0,a[7]=0,a[8]=0,a[9]=0,a[10]=1,a[11]=0,a[12]=0,a[13]=0,a[14]=0,a[15]=1,a},m.transpose=function(a,b){if(a===b){var c=b[1],d=b[2],e=b[3],f=b[6],g=b[7],h=b[11];a[1]=b[4],a[2]=b[8],a[3]=b[12],a[4]=c,a[6]=b[9],a[7]=b[13],a[8]=d,a[9]=f,a[11]=b[14],a[12]=e,a[13]=g,a[14]=h}else a[0]=b[0],a[1]=b[4],a[2]=b[8],a[3]=b[12],a[4]=b[1],a[5]=b[5],a[6]=b[9],a[7]=b[13],a[8]=b[2],a[9]=b[6],a[10]=b[10],a[11]=b[14],a[12]=b[3],a[13]=b[7],a[14]=b[11],a[15]=b[15];return a},m.invert=function(a,b){var c=b[0],d=b[1],e=b[2],f=b[3],g=b[4],h=b[5],i=b[6],j=b[7],k=b[8],l=b[9],m=b[10],n=b[11],o=b[12],p=b[13],q=b[14],r=b[15],s=c*h-d*g,t=c*i-e*g,u=c*j-f*g,v=d*i-e*h,w=d*j-f*h,x=e*j-f*i,y=k*p-l*o,z=k*q-m*o,A=k*r-n*o,B=l*q-m*p,C=l*r-n*p,D=m*r-n*q,E=s*D-t*C+u*B+v*A-w*z+x*y;return E?(E=1/E,a[0]=(h*D-i*C+j*B)*E,a[1]=(e*C-d*D-f*B)*E,a[2]=(p*x-q*w+r*v)*E,a[3]=(m*w-l*x-n*v)*E,a[4]=(i*A-g*D-j*z)*E,a[5]=(c*D-e*A+f*z)*E,a[6]=(q*u-o*x-r*t)*E,a[7]=(k*x-m*u+n*t)*E,a[8]=(g*C-h*A+j*y)*E,a[9]=(d*A-c*C-f*y)*E,a[10]=(o*w-p*u+r*s)*E,a[11]=(l*u-k*w-n*s)*E,a[12]=(h*z-g*B-i*y)*E,a[13]=(c*B-d*z+e*y)*E,a[14]=(p*t-o*v-q*s)*E,a[15]=(k*v-l*t+m*s)*E,a):null},m.adjoint=function(a,b){var c=b[0],d=b[1],e=b[2],f=b[3],g=b[4],h=b[5],i=b[6],j=b[7],k=b[8],l=b[9],m=b[10],n=b[11],o=b[12],p=b[13],q=b[14],r=b[15];return a[0]=h*(m*r-n*q)-l*(i*r-j*q)+p*(i*n-j*m),a[1]=-(d*(m*r-n*q)-l*(e*r-f*q)+p*(e*n-f*m)),a[2]=d*(i*r-j*q)-h*(e*r-f*q)+p*(e*j-f*i),a[3]=-(d*(i*n-j*m)-h*(e*n-f*m)+l*(e*j-f*i)),a[4]=-(g*(m*r-n*q)-k*(i*r-j*q)+o*(i*n-j*m)),a[5]=c*(m*r-n*q)-k*(e*r-f*q)+o*(e*n-f*m),a[6]=-(c*(i*r-j*q)-g*(e*r-f*q)+o*(e*j-f*i)),a[7]=c*(i*n-j*m)-g*(e*n-f*m)+k*(e*j-f*i),a[8]=g*(l*r-n*p)-k*(h*r-j*p)+o*(h*n-j*l),a[9]=-(c*(l*r-n*p)-k*(d*r-f*p)+o*(d*n-f*l)),a[10]=c*(h*r-j*p)-g*(d*r-f*p)+o*(d*j-f*h),a[11]=-(c*(h*n-j*l)-g*(d*n-f*l)+k*(d*j-f*h)),a[12]=-(g*(l*q-m*p)-k*(h*q-i*p)+o*(h*m-i*l)),a[13]=c*(l*q-m*p)-k*(d*q-e*p)+o*(d*m-e*l),a[14]=-(c*(h*q-i*p)-g*(d*q-e*p)+o*(d*i-e*h)),a[15]=c*(h*m-i*l)-g*(d*m-e*l)+k*(d*i-e*h),a},m.determinant=function(a){var b=a[0],c=a[1],d=a[2],e=a[3],f=a[4],g=a[5],h=a[6],i=a[7],j=a[8],k=a[9],l=a[10],m=a[11],n=a[12],o=a[13],p=a[14],q=a[15],r=b*g-c*f,s=b*h-d*f,t=b*i-e*f,u=c*h-d*g,v=c*i-e*g,w=d*i-e*h,x=j*o-k*n,y=j*p-l*n,z=j*q-m*n,A=k*p-l*o,B=k*q-m*o,C=l*q-m*p;return 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diff --git a/lib/frame.js b/lib/frame.js
index 55764433..484ff540 100644
--- a/lib/frame.js
+++ b/lib/frame.js
@@ -318,14 +318,25 @@ Frame.prototype.hand = function(id) {
 Frame.prototype.rotationAngle = function(sinceFrame, axis) {
   if (!this.valid || !sinceFrame.valid) return 0.0;
 
+  // A derivation of the following can be found here:
+  // http://en.wikipedia.org/wiki/Axis–angle_representation
   var rot = this.rotationMatrix(sinceFrame);
-  var cs = (rot[0] + rot[4] + rot[8] - 1.0)*0.5;
-  var angle = Math.acos(cs);
+  
+  var axis = [
+    rot[7] - rot[5],
+    rot[2] - rot[6],
+    rot[3] - rot[1]
+  ];
+
+  var sin = Leap.vec3.len(axis);
+  var cos = (rot[0] + rot[4] + rot[8] - 1.0) * 0.5;
+
+  var angle;
+  angle = Math.atan2(sin,cos);
   angle = isNaN(angle) ? 0.0 : angle;
 
   if (axis !== undefined) {
-    var rotAxis = this.rotationAxis(sinceFrame);
-    angle *= vec3.dot(rotAxis, vec3.normalize(vec3.create(), axis));
+    angle *= vec3.dot(sin, vec3.normalize(vec3.create(), axis));
   }
 
   return angle;
@@ -336,6 +347,9 @@ Frame.prototype.rotationAngle = function(sinceFrame, axis) {
  * the current frame and the specified frame.
  *
  * The returned direction vector is normalized.
+ * 
+ * In the case of a complete reversal of direction (180 deg / PI rad)
+ * this method will return an undefined axis.
  *
  * The Leap derives frame rotation from the relative change in position and
  * orientation of all objects detected in the field of view.
@@ -351,10 +365,14 @@ Frame.prototype.rotationAngle = function(sinceFrame, axis) {
  */
 Frame.prototype.rotationAxis = function(sinceFrame) {
   if (!this.valid || !sinceFrame.valid) return vec3.create();
+
+  var rotation = Leap.mat3.create();
+  Leap.mat3.multiply(rotation, this._rotation, sinceFrame._rotation);
+
   return vec3.normalize(vec3.create(), [
-    this._rotation[7] - sinceFrame._rotation[5],
-    this._rotation[2] - sinceFrame._rotation[6],
-    this._rotation[3] - sinceFrame._rotation[1]
+    rotation[7] - rotation[5],
+    rotation[2] - rotation[6],
+    rotation[3] - rotation[1]
   ]);
 }
 
diff --git a/lib/hand.js b/lib/hand.js
index 5fc78cba..8a4f529e 100644
--- a/lib/hand.js
+++ b/lib/hand.js
@@ -246,15 +246,29 @@ Hand.prototype.rotationAngle = function(sinceFrame, axis) {
   var sinceHand = sinceFrame.hand(this.id);
   if(!sinceHand.valid) return 0.0;
   var rot = this.rotationMatrix(sinceFrame);
-  var cs = (rot[0] + rot[4] + rot[8] - 1.0)*0.5
-  var angle = Math.acos(cs);
-  angle = isNaN(angle) ? 0.0 : angle;
+
+  var axis = [
+    rot[7] - rot[5],
+    rot[2] - rot[6],
+    rot[3] - rot[1]
+  ];
+
+  var sin = Leap.vec3.len(axis);
+  var cos = (rot[0] + rot[4] + rot[8] - 1.0) * 0.5;
+
+  var angle;
+  if (-1e-7 < sin && sin < 1e-7) {  // small values of sin
+    angle = 0;
+  } else {
+    angle = Math.atan2(sin,cos);
+    angle = isNaN(angle) ? 0.0 : angle;
+  }
+
   if (axis !== undefined) {
-    var rotAxis = this.rotationAxis(sinceFrame);
-    angle *= vec3.dot(rotAxis, vec3.normalize(vec3.create(), axis));
+    angle *= vec3.dot(sin, vec3.normalize(vec3.create(), axis));
   }
   return angle;
-}
+};
 
 /**
  * The axis of rotation derived from the change in orientation of this hand, and
@@ -275,12 +289,16 @@ Hand.prototype.rotationAxis = function(sinceFrame) {
   if (!this.valid || !sinceFrame.valid) return vec3.create();
   var sinceHand = sinceFrame.hand(this.id);
   if (!sinceHand.valid) return vec3.create();
+
+  var rotation = Leap.mat3.create();
+  Leap.mat3.multiply(rotation, this._rotation, sinceHand._rotation);
+
   return vec3.normalize(vec3.create(), [
-    this._rotation[7] - sinceHand._rotation[5],
-    this._rotation[2] - sinceHand._rotation[6],
-    this._rotation[3] - sinceHand._rotation[1]
+    rotation[7] - rotation[5],
+    rotation[2] - rotation[6],
+    rotation[3] - rotation[1]
   ]);
-}
+};
 
 /**
  * The transform matrix expressing the rotation derived from the change in