public override Status Update()
{
if (!KinectDevice.JointIsTracked(handJoint))
{
status = Status.Present;
return(status);
}
status = Status.Tracking;
UpdateArm();
if (handTracking)
{
UpdateFingers();
}
return(status);
}
public Status Update(Rotation hipsOrientation)
{
if (!KinectDevice.JointIsTracked(footJoint))
{
status = Status.Present;
return(status);
}
status = Status.Tracking;
Vector hipsPosition = kinectDevice.GetTargetPosition(hipJoint);
Vector kneePosition = kinectDevice.GetTargetPosition(kneeJoint);
Vector anklePosition = kinectDevice.GetTargetPosition(ankleJoint);
//Vector footPosition = kinectDevice.GetTargetPosition(footJoint);
// Position
upperLeg.confidence.position = KinectDevice.TrackingConfidence(upperLeg.position, hipsPosition);
upperLeg.position = hipsPosition;
lowerLeg.confidence.position = KinectDevice.TrackingConfidence(lowerLeg.position, kneePosition);
lowerLeg.position = kneePosition;
foot.confidence.position = KinectDevice.TrackingConfidence(foot.position, anklePosition);
foot.position = anklePosition;
// Rotation
upperLeg.rotation = device.ToWorldOrientation(CalculateLegOrientation(hipsPosition, kneePosition, hipsOrientation));
upperLeg.confidence.rotation = Math.Min(upperLeg.confidence.position, lowerLeg.confidence.position);
lowerLeg.rotation = device.ToWorldOrientation(CalculateLegOrientation(kneePosition, anklePosition, hipsOrientation));
lowerLeg.confidence.rotation = Math.Min(lowerLeg.confidence.position, foot.confidence.position);
foot.rotation = device.ToWorldOrientation(Rotation.AngleAxis(180, Vector.up));
foot.confidence.rotation = foot.confidence.position;
return(status);
}