protected virtual void UpdateFingers(ArmSensor armSensor)
{
for (int i = 0; i < (int)Finger.Count; i++)
{
UpdateFinger(armSensor.fingers[i], i);
}
}
private void UpdateArmDirect(ArmSensor armSensor)
{
UpdateShoulder(armSensor);
UpdateUpperArm(armSensor);
UpdateForearm(armSensor);
UpdateHand(armSensor);
}
protected override void UpdateFingers(ArmSensor armSensor)
{
for (int i = 0; i < (int)Finger.Count; i++)
{
handTarget.SetFingerCurl((Finger)i, armSensor.fingers[i].curl);
}
}
public float ArmConfidence(ArmSensor armSensor)
{
float armOrientationsConfidence =
//armSensor.shoulder.confidence.rotation *
armSensor.upperArm.confidence.rotation *
armSensor.forearm.confidence.rotation;
return(armOrientationsConfidence);
}
protected override void UpdateHand(ArmSensor armSensor)
{
armSensor.hand.position = Target.ToVector(Kinect2Tracker.SmoothPosition(lastHandPosition, armSensor.hand.position));
armSensor.hand.rotation = Target.ToRotation(Kinect2Tracker.SmoothRotation(lastHandRotation, armSensor.hand.rotation));
base.UpdateHand(armSensor);
lastHandPosition = handTarget.hand.target.transform.position;
lastHandRotation = handTarget.hand.target.transform.rotation;
}
protected override void UpdateForearm(ArmSensor armSensor)
{
armSensor.forearm.position = Target.ToVector(Kinect2Tracker.SmoothPosition(lastForearmPosition, armSensor.forearm.position));
armSensor.forearm.rotation = Target.ToRotation(Kinect2Tracker.SmoothRotation(lastForearmRotation, armSensor.forearm.rotation));
base.UpdateForearm(armSensor);
lastForearmPosition = handTarget.forearm.target.transform.position;
lastForearmRotation = handTarget.forearm.target.transform.rotation;
}
protected void UpdateArm(ArmSensor armSensor)
{
float armConfidence = ArmConfidence(armSensor);
if (handTarget.hand.target.confidence.position > armConfidence)
{
UpdateArmIK(armSensor);
}
else
{
UpdateArmDirect(armSensor);
}
}
protected void UpdateShoulder(ArmSensor armSensor)
{
if (handTarget.shoulder.target.transform == null)
{
return;
}
if (armSensor.shoulder.confidence.position > 0)
{
handTarget.shoulder.target.transform.position = Target.ToVector3(armSensor.shoulder.position);
}
if (armSensor.shoulder.confidence.rotation > 0)
{
handTarget.shoulder.target.transform.rotation = Target.ToQuaternion(armSensor.shoulder.rotation);
}
handTarget.shoulder.target.confidence = armSensor.upperArm.confidence;
}
protected virtual void UpdateHandTargetTransform(ArmSensor armSensor)
{
if (handTarget.hand.target.transform != null)
{
if (armSensor.hand.confidence.rotation > 0 && armSensor.hand.confidence.rotation >= handTarget.hand.target.confidence.rotation)
{
handTarget.hand.target.transform.rotation = sensorTransform.rotation * sensor2TargetRotation;
handTarget.hand.target.confidence.rotation = armSensor.hand.confidence.rotation;
}
if (armSensor.hand.confidence.position > 0 && armSensor.hand.confidence.position >= handTarget.hand.target.confidence.position)
{
handTarget.hand.target.transform.position = sensorTransform.position + handTarget.hand.target.transform.rotation * sensor2TargetPosition;
handTarget.hand.target.confidence.position = armSensor.hand.confidence.position;
}
else if (handTarget.hand.target.confidence.position == 0) // Hmm. I could insert the arm model here when confidence.rotation > 0.5F for example!
{
handTarget.hand.target.transform.position = handTarget.forearm.target.transform.position + handTarget.forearm.target.transform.rotation * handTarget.outward * handTarget.forearm.bone.length;
}
}
}
protected virtual void UpdateForearm(ArmSensor armSensor)
{
if (handTarget.forearm.target.transform != null)
{
if (armSensor.forearm.confidence.position > 0)
{
handTarget.forearm.target.transform.position = Target.ToVector3(armSensor.forearm.position);
}
else
{
handTarget.forearm.target.transform.position = handTarget.upperArm.target.transform.position + handTarget.upperArm.target.transform.rotation * handTarget.outward * handTarget.upperArm.bone.length;
}
if (armSensor.forearm.confidence.rotation > 0)
{
handTarget.forearm.target.transform.rotation = Target.ToQuaternion(armSensor.forearm.rotation);
}
handTarget.forearm.target.confidence = armSensor.forearm.confidence;
}
}
private void UpdateArmIK(ArmSensor armSensor)
{
Vector3 handTargetPosition = handTarget.hand.target.transform.position;
Quaternion handTargetRotation = handTarget.hand.target.transform.rotation;
Vector3 forearmUpAxis = HumanoidTarget.ToQuaternion(armSensor.upperArm.rotation) * Vector3.up;
if (handTarget.upperArm.target.confidence.rotation < 0.9F)
{
handTarget.upperArm.target.transform.rotation = ArmMovements.UpperArmRotationIK(handTarget.upperArm.target.transform.position, handTargetPosition, forearmUpAxis, handTarget.upperArm.target.length, handTarget.forearm.target.length, handTarget.isLeft);
handTarget.upperArm.target.confidence = armSensor.upperArm.confidence;
}
if (handTarget.forearm.target.confidence.rotation < 0.9F)
{
handTarget.forearm.target.transform.rotation = ArmMovements.ForearmRotationIK(handTarget.forearm.target.transform.position, handTargetPosition, forearmUpAxis, handTarget.isLeft);
handTarget.forearm.target.confidence = armSensor.forearm.confidence;
}
handTarget.hand.target.transform.rotation = handTargetRotation;
handTarget.hand.target.confidence.rotation = armSensor.hand.confidence.rotation;
}
