/// <summary>
/// Update the skeleton model based on new data from Nuitrack
/// </summary>
/// <param name="newData">The new skeleton data</param>
/// <returns>Indicator if interpolation was performed</returns>
public bool Update(nt.Skeleton newData)
{
bool error = false;
foreach (nuitrack.JointType jt in (nuitrack.JointType[])System.Enum.GetValues(typeof(nuitrack.JointType)))
{
//New position of the joint being processed
Vector3 newJPos = newData.GetJoint(jt).Real.ToVector3();
//Confidence of the new joint being looked at
float newJConf = newData.GetJoint(jt).Confidence;
if (DistanceTraveled(joints[jt], newJPos) > maxVelocity * Time.deltaTime)
{
joints[jt] = new Joint(joints[jt].pos + Vector3.Normalize(newJPos - joints[jt].pos) * maxVelocity * Time.deltaTime, newJConf, jt);
error = true;
if (log)
{
Debug.Log("Max joint velocity exceeded, interpolating");
}
}
else
{
joints[jt] = new Joint(newJPos, newJConf, jt);
}
}
return(error);
}
/// <summary>
/// Get UserData from processed Nuitrack skeleton model after internal correction
/// </summary>
/// <param name="skel">Raw skeleton from Nuitrack</param>
/// <returns>
/// The UserData object computed from the Nuitrack skeleton and internal error correction models
/// </returns>
private UserData ProcessSkeleton(nt.Skeleton skel)
{
// Log Right Hand position
nLog.Log("rElev", skel.GetJoint(nt.JointType.RightHand).Real.ToVector3().y);
nLog.Log("rHorizX", skel.GetJoint(nt.JointType.RightHand).Real.ToVector3().x);
nLog.Log("rHorizZ", skel.GetJoint(nt.JointType.RightHand).Real.ToVector3().z);
// Update internal skeleton model
sk.Update(skel);
// Create vector from collar to torso
Vector3 collarTorso = sk[nt.JointType.Torso].pos - sk[nt.JointType.RightCollar].pos;
// Create vector from collar to shoulder
Vector3 collarShoulder = sk[nt.JointType.RightShoulder].pos - sk[nt.JointType.RightCollar].pos;
// Create normal vector for user's chest
Vector3 bodyPlane = Vector3.Cross(collarTorso, collarShoulder);
//Create vector from user's left shoulder to their right shoulder
Vector3 shoulderVector = sk[nt.JointType.RightShoulder].pos - sk[nt.JointType.LeftShoulder].pos;
// Get coordinates to use for the end of the user's arms based on whether the elbow or hand has higher tracking confidence
Vector3 rightArmTip = GetPreferredJoint(sk[nt.JointType.RightHand], sk[nt.JointType.RightElbow]);
Vector3 leftArmTip = GetPreferredJoint(sk[nt.JointType.LeftHand], sk[nt.JointType.LeftElbow]);
// Create vectors for each arm from shoulder to hand
Vector3 rightArmVec = rightArmTip - sk[nt.JointType.RightShoulder].pos;
Vector3 leftArmVec = leftArmTip - sk[nt.JointType.LeftShoulder].pos;
// Calculate user's arm angles and clip them
float rightArmAngle = ClipSmallAngle(-Vector3.SignedAngle(rightArmVec, shoulderVector, bodyPlane));
float leftArmAngle = ClipSmallAngle(Vector3.SignedAngle(leftArmVec, -shoulderVector, bodyPlane));
// Log arm angles
nLog.Log("rAngle", rightArmAngle);
nLog.Log("lAngle", leftArmAngle);
// Clamp angles to -90 to 90
leftArmAngle = Mathf.Clamp(leftArmAngle, -90, 90);
rightArmAngle = Mathf.Clamp(rightArmAngle, -90, 90);
// Calculate maximum possible arm extensions based on the length of a users upper and lower arms
float rightArmMaxExtension = Vector3.Magnitude(rightArmTip - sk[nt.JointType.RightElbow].pos) + Vector3.Magnitude(sk[nt.JointType.RightElbow].pos - sk[nt.JointType.RightShoulder].pos);
float LeftArmMaxExtension = Vector3.Magnitude(leftArmTip - sk[nt.JointType.LeftElbow].pos) + Vector3.Magnitude(sk[nt.JointType.LeftElbow].pos - sk[nt.JointType.LeftShoulder].pos);
// Calculate current arm extensions as a percent of maximum extension
float rightArmExtension = Vector3.ProjectOnPlane(rightArmVec, bodyPlane).magnitude / rightArmMaxExtension;
float leftArmExtension = Vector3.ProjectOnPlane(leftArmVec, bodyPlane).magnitude / LeftArmMaxExtension;
// Create user data object with all the calculated values
UserData userDataSample = new UserData(rightArmAngle, rightArmExtension, leftArmAngle, leftArmExtension);
// Push the new user data object into the moving average
av.PushSample(userDataSample);
// Return the moving average of UserData
return(av.GetAverage());
}