public static Quaternion LocalRotation(ref MoCapBodyFrame frame, MoCapKinectBone bone,
bool withCalibration = true)
{
if (!IsValidKinectBone(bone))
{
throw new ArgumentException("Invalid Kinect bone!");
}
var node = GetBoneHierarchyNode(bone);
if (node.Parent == null)
{
return(frame.SkeletonTransforms[(int)bone].Rotation);
}
var parentBone = node.Parent.Current;
while (!IsValidMecanimBone(Kinect2Mecanim(parentBone)))
{
parentBone = GetBoneHierarchyNode(parentBone).Parent.Current;
}
return
(Quaternion.Inverse(frame.SkeletonTransforms[(int)parentBone].Rotation *
(withCalibration
? Calibration.Calibration[(int)parentBone].Unit
: Quaternion.Identity)) *
(frame.SkeletonTransforms[(int)bone].Rotation *
(withCalibration ? Calibration.Calibration[(int)bone].Unit : Quaternion.Identity)));
}
public MoCapKinectBoneHierarchyNode this[MoCapKinectBone bone]
{
get
{
if (!MoCapBoneMapper.IsValidKinectBone(bone))
{
throw new ArgumentException("Invalid Kinect bone!");
}
if (Current == bone)
{
return(this);
}
foreach (var child in Children)
{
var value = child[bone];
if (value != null)
{
return(value);
}
}
return(null);
}
}
public static MoCapMecanimBone Kinect2Mecanim(MoCapKinectBone bone)
{
if (!IsValidKinectBone(bone))
{
return(MoCapMecanimBone.Unknown);
}
return(Kinect2MecanimMapping[(int)bone]);
}
public static MoCapKinectBoneHierarchyNode GetBoneHierarchyNode(MoCapKinectBone bone)
{
if (!IsValidKinectBone(bone))
{
throw new ArgumentException("Invalid Kinect bone!");
}
return(KinectBoneHierarchyRoot[bone]);
}
public MoCapKinectBoneHierarchyNode this[MoCapKinectBone bone]
{
get
{
if (!MoCapBoneMapper.IsValidKinectBone(bone))
throw new ArgumentException("Invalid Kinect bone!");
if (Current == bone)
return this;
foreach (var child in Children)
{
var value = child[bone];
if (value != null)
return value;
}
return null;
}
}
public static bool IsValidKinectBone(MoCapKinectBone bone)
{
return(bone != MoCapKinectBone.Unknown && bone != MoCapKinectBone.Count);
}
public static Quaternion LocalRotation(ref MoCapBodyFrame frame, MoCapKinectBone bone,
bool withCalibration = true)
{
if (!IsValidKinectBone(bone))
throw new ArgumentException("Invalid Kinect bone!");
var node = GetBoneHierarchyNode(bone);
if (node.Parent == null)
return frame.SkeletonTransforms[(int) bone].Rotation;
var parentBone = node.Parent.Current;
while (!IsValidMecanimBone(Kinect2Mecanim(parentBone)))
parentBone = GetBoneHierarchyNode(parentBone).Parent.Current;
return
Quaternion.Inverse(frame.SkeletonTransforms[(int) parentBone].Rotation*
(withCalibration
? Calibration.Calibration[(int) parentBone].Unit
: Quaternion.Identity))*
(frame.SkeletonTransforms[(int) bone].Rotation*
(withCalibration ? Calibration.Calibration[(int) bone].Unit : Quaternion.Identity));
}
public static MoCapMecanimBone Kinect2Mecanim(MoCapKinectBone bone)
{
if (!IsValidKinectBone(bone))
return MoCapMecanimBone.Unknown;
return Kinect2MecanimMapping[(int) bone];
}
public static bool IsValidKinectBone(MoCapKinectBone bone)
{
return bone != MoCapKinectBone.Unknown && bone != MoCapKinectBone.Count;
}
public static MoCapKinectBoneHierarchyNode GetBoneHierarchyNode(MoCapKinectBone bone)
{
if (!IsValidKinectBone(bone))
throw new ArgumentException("Invalid Kinect bone!");
return KinectBoneHierarchyRoot[bone];
}
