public void MergeSkeleton(RATKinectSkeleton srcData, Matrix4x4 transform)
{
if (!srcData.valid)
{
return;
}
//TODO utilize jointStates
if (mergeCount == 0)
{
//first skeleton, set data
for (int i = 0; i < JOINT_COUNT; i++)
{
jointPositions3D[i] = transform.MultiplyPoint(srcData.jointPositions3D[i]);
jointStates[i] = srcData.jointStates[i];
}
for (int i = 0; i < FACE_POSITION_COUNT; i++)
{
facePositions3D[i] = transform.MultiplyPoint(srcData.facePositions3D[i]);
}
faceOrientationYPR = srcData.faceOrientationYPR;
faceOrientation = srcData.faceOrientation;
glasses = srcData.glasses;
happy = srcData.happy;
engaged = srcData.engaged;
lookingAway = srcData.lookingAway;
leftEyeClosed = srcData.leftEyeClosed;
rightEyeClosed = srcData.rightEyeClosed;
mouthOpen = srcData.mouthOpen;
mouthMoved = srcData.mouthMoved;
}
else
{
for (int i = 0; i < JOINT_COUNT; i++)
{
jointPositions3D[i] += transform.MultiplyPoint(srcData.jointPositions3D[i]);
if (jointStates[i] > srcData.jointStates[i])
{
jointStates[i] = srcData.jointStates[i];
}
}
for (int i = 0; i < FACE_POSITION_COUNT; i++)
{
facePositions3D[i] += transform.MultiplyPoint(srcData.facePositions3D[i]);
}
faceOrientationYPR = srcData.faceOrientationYPR;
faceOrientation = srcData.faceOrientation;
glasses = srcData.glasses;
happy = srcData.happy;
engaged = srcData.engaged;
lookingAway = srcData.lookingAway;
leftEyeClosed = srcData.leftEyeClosed;
rightEyeClosed = srcData.rightEyeClosed;
mouthOpen = srcData.mouthOpen;
mouthMoved = srcData.mouthMoved;
}
valid = true;
mergeCount++;
}
public void Update()
{
if (skeletonProvider != null)
{
RATKinectSkeleton skeleton = GetSkeleton();
if (skeleton != null && skeleton.valid)
{
if (updateFromKinect)
{
transform.position = getHeadPosition();
if (lookAt != null)
{
transform.LookAt(lookAt.transform.position);
}
//else transform.localRotation = Quaternion.identity;
}
}
}
}
public void CopyFrom(RATKinectSkeleton templateSkel, Matrix4x4 transform)
{
mergeCount = 0;
MergeSkeleton(templateSkel, transform);
FinishMerging();
}
protected virtual void OnDrawGizmos()
{
if (Application.isPlaying && showSkeletons)
{
int maxBodies = GetMaxBodiesCount();
Gizmos.matrix = transform.localToWorldMatrix;
for (int n = 0; n < maxBodies; n++)
{
RATKinectSkeleton skeleton = GetKinectSkeleton(n);
if (skeleton != null && (skeleton.valid))
{
//Draw body
for (int i = 0; i < skeleton.jointPositions3D.Length; i++)
{
RATKinectSkeleton.TrackingState state = skeleton.jointStates[i];
bool tracked = state != RATKinectSkeleton.TrackingState.NotTracked;
if (tracked)
{
Color cl = skeletonColor;
if (state != RATKinectSkeleton.TrackingState.Tracked)
{
cl.a *= 0.3f;
}
Gizmos.color = cl;
Gizmos.DrawSphere(skeleton.jointPositions3D[i], jointRadius * HumanTopology.JOINT_DEBUG_WIDTHS[i]);
}
}
for (int i = 0; i < HumanTopology.BONE_CONNECTIONS.Length; i++)
{
BoneConnection bone = HumanTopology.BONE_CONNECTIONS[i];
JointType joint1 = bone.fromJoint;
JointType joint2 = bone.toJoint;
RATKinectSkeleton.TrackingState state1 = skeleton.jointStates[(int)joint1];
RATKinectSkeleton.TrackingState state2 = skeleton.jointStates[(int)joint2];
bool tracked = state1 != RATKinectSkeleton.TrackingState.NotTracked && state2 != RATKinectSkeleton.TrackingState.NotTracked;
if (tracked)
{
Color cl = skeletonColor;
if (state1 != RATKinectSkeleton.TrackingState.Tracked || state2 != RATKinectSkeleton.TrackingState.Tracked)
{
cl.a *= 0.3f;
}
Gizmos.color = cl;
Gizmos.DrawLine(skeleton.jointPositions3D[(int)joint1], skeleton.jointPositions3D[(int)joint2]);
}
}
//Draw face
drawEye(skeleton.leftEyePos, skeleton.leftEyeClosed, skeleton.faceOrientation);
drawEye(skeleton.rightEyePos, skeleton.rightEyeClosed, skeleton.faceOrientation);
Gizmos.color = faceColor;
Gizmos.DrawLine(skeleton.leftEyePos, skeleton.rightEyePos);
Gizmos.DrawSphere(skeleton.nosePos, noseRadius);
Gizmos.DrawSphere(skeleton.mouthLeftPos, mouthRadius);
Gizmos.DrawSphere(skeleton.mouthRightPos, mouthRadius);
}
}
Gizmos.matrix = Matrix4x4.identity;
}
}
public bool IsReady()
{
RATKinectSkeleton skel = GetSkeleton();
return(skel != null && skel.valid);
}
