Ejemplo n.º 1
0
        public TrackingStateGait getJointPosition(JointTypeGait joint, bool checkTracked, out float X, out float Y, out float Z)
        {
            if (Joints == null)
            {
                X = missingX;
                Y = missingY;
                Z = missingZ;
                return(TrackingStateGait.NotTracked);
            }
            if (checkTracked)
            {
                int s = Joints.Select(x => (x.TrackingState == TrackingStateGait.Tracked) ? 0 : 1).Sum();
                if (s > 5)
                {
                    X = missingX;
                    Y = missingY;
                    Z = missingZ;
                    return(TrackingStateGait.NotTracked);
                }
            }

            var jointPos = Joints[(int)joint];

            X = jointPos.X;
            Y = jointPos.Y;
            Z = jointPos.Z;
            return(jointPos.TrackingState);
        }
Ejemplo n.º 2
0
 private void InitLazyProps()
 {
     this._ModelData             = new Lazy <ModelBase>(() => _ModelDataInitializer());
     this._Vertices              = new Lazy <Vertex[]>(() => Triangles.SelectMany(t => t).Union(new Vertex[0]).ToArray());
     this._Textures              = new Lazy <Texture[]>(() => Triangles.Select(t => t.Texture).Union(new Texture[0]).ToArray());
     this._Joints                = new Lazy <Joint[]>(() => RootJoint == null ? new Joint[0] : RootJoint.GetSelfAndDescendents().ToArray());
     this._Animations            = new Lazy <AnimationSequence[]>(() => Joints.Select(j => j.Animation).ToArray());
     this._IsVisible             = new Lazy <bool>(() => Textures.Where(t => ExcludeTexturePrefixes.Count(v => t.Name.StartsWith(v)) == 0).Count() != 0);
     this._IsAnimated            = new Lazy <bool>(() => Animations.Count() != 0 && NumAnimationKeyFrames != 0);
     this._HasMultipleTextures   = new Lazy <bool>(() => Textures.Count() > 1);
     this._HasGeometry           = new Lazy <bool>(() => Triangles.Count() != 0);
     this._HasNormals            = new Lazy <bool>(() => HasGeometry && Vertices.First().Normal != Vector4.Zero);
     this._HasTangents           = new Lazy <bool>(() => HasGeometry && Vertices.First().Tangent != Vector4.Zero);
     this._HasBinormals          = new Lazy <bool>(() => HasGeometry && Vertices.First().Binormal != Vector4.Zero);
     this._HasSkeleton           = new Lazy <bool>(() => RootJoint != null);
     this._NumJoints             = new Lazy <int>(() => Joints.Count());
     this._NumAnimationFrames    = new Lazy <int>(() => Animations.Select(a => a.NumFrames).Union(new[] { 0 }).Max());
     this._NumAnimationKeyFrames = new Lazy <int>(() => Animations.Select(anim => anim.Frames.Select(f => f.FrameNum)).Aggregate((a, v) => a.Union(v)).Count());
 }
Ejemplo n.º 3
0
        public void getJointPositionInBodyCoordinates(JointTypeGait joint, float w, float x, float y, float z, bool checkTracked, out float xRes, out float yRes, out float zRes)
        {
            if (Joints == null)
            {
                xRes = -100; yRes = -100; zRes = -100;
                return;
            }
            if (checkTracked)
            {
                int s = Joints.Select(f => (f.TrackingState == TrackingStateGait.Tracked) ? 0 : 1).Sum();
                if (s > 5)
                {
                    xRes = -100; yRes = -100; zRes = -100;
                    return;
                }
            }

            Vector ground       = new Vector(w, x, y, z);
            var    jointPos     = Joints[(int)joint];
            var    hipLeft      = Joints[(int)JointTypeGait.HipLeft];
            var    hipRight     = Joints[(int)JointTypeGait.HipRight];
            var    hipCenter    = (Sensor == SensorType.One) ? Joints[(int)JointTypeGait.SpineBase] : Joints[(int)JointTypeGait.HipCenter];
            Vector vw           = diff(jointPos, hipCenter);
            Vector hipDirection = diff(hipLeft, hipRight);

            yRes = dot(vw, ground);

            vw           = orthogonal(vw, ground);
            hipDirection = orthogonal(hipDirection, ground);
            float norm = (float)Math.Sqrt(dot(hipDirection, hipDirection));

            xRes = dot(vw, hipDirection) / norm;

            vw   = orthogonal(vw, hipDirection);                          //Left with Z direction
            zRes = (float)Math.Sqrt(dot(vw, vw)) * ((vw.Z > 0) ? 1 : -1); //Get norm and maintain sign
        }