void UpdateScales(BoneTriplet root)
{
root.blendedTransform.localScale = root.mecanimTransform.localScale = root.kinectTransform.localScale;
foreach (BoneTriplet childTriplet in root.children)
{
UpdateScales(childTriplet);
}
}
void Blend(BoneTriplet boneTriplet)
{
float blendWeight = GetBlendWeight(boneTriplet.bodypartClassification);
boneTriplet.blendedTransform.localPosition = Vector3.Lerp(boneTriplet.kinectTransform.localPosition, boneTriplet.mecanimTransform.localPosition, blendWeight);
boneTriplet.blendedTransform.localRotation = Quaternion.Slerp(boneTriplet.kinectTransform.localRotation, boneTriplet.mecanimTransform.localRotation, blendWeight);
//boneTriplet.blendedTransform.localScale = boneTriplet.kinectTransform.localScale;
if (applyTorsoCounteringRotations && IsLimbRoot(boneTriplet))
{
ApplyCounteringRotationToLimbRoot(torsoRoot, boneTriplet);
}
foreach (BoneTriplet childTriplet in boneTriplet.children)
{
Blend(childTriplet);
}
}
private void AddChildren(ref BoneTriplet triplet, BodypartClassification parentBodypartClassification)
{
for (int i = 0; i < triplet.kinectTransform.childCount; i++)
{
BoneTriplet childTriplet = new BoneTriplet(triplet.kinectTransform.GetChild(i),
triplet.mecanimTransform.GetChild(i),
triplet.blendedTransform.GetChild(i),
GetBodypartClassification(triplet.kinectTransform.GetChild(i), triplet.bodypartClassification));
if (parentBodypartClassification != childTriplet.bodypartClassification)
{
RegisterRootBone(childTriplet);
}
if (childTriplet.kinectTransform == skeletonController.neck)
{
neckRoot = childTriplet;
}
triplet.children.Add(childTriplet);
AddChildren(ref childTriplet, childTriplet.bodypartClassification);
}
}
void Start()
{
if (!childrenInstantiated)
{
childrenInstantiated = true;
kinectGameObject = Instantiate(gameObject, transform.position, transform.rotation) as GameObject;
kinectGameObject.name = name + "Kinect";
kinectGameObject.transform.parent = transform.parent;
//kinectGameObject.GetComponent<RUISKinectAndMecanimCombiner>().childrenInstantiated = true;
Destroy(kinectGameObject.GetComponent<RUISKinectAndMecanimCombiner>());
Destroy(kinectGameObject.GetComponent<Animator>());
Destroy(kinectGameObject.GetComponent<RUISCharacterAnimationController>());
foreach (Collider collider in kinectGameObject.GetComponentsInChildren<Collider>())
{
Destroy(collider);
}
foreach (Renderer meshRenderer in kinectGameObject.GetComponentsInChildren<Renderer>())
{
Destroy(meshRenderer);
}
mecanimGameObject = Instantiate(gameObject, transform.position, transform.rotation) as GameObject;
mecanimGameObject.name = name + "Mecanim";
mecanimGameObject.transform.parent = transform.parent;
Destroy(mecanimGameObject.GetComponent<RUISKinectAndMecanimCombiner>());
Destroy(mecanimGameObject.GetComponent<RUISCharacterAnimationController>());
Destroy(mecanimGameObject.GetComponent<RUISSkeletonController>());
foreach (Collider collider in mecanimGameObject.GetComponentsInChildren<Collider>())
{
Destroy(collider);
}
foreach (Renderer meshRenderer in mecanimGameObject.GetComponentsInChildren<Renderer>())
{
Destroy(meshRenderer);
}
Destroy(GetComponent<RUISSkeletonController>());
Destroy(GetComponent<Animator>());
GetComponent<RUISCharacterAnimationController>().animator = mecanimGameObject.GetComponent<Animator>();
skeletonController = kinectGameObject.GetComponent<RUISSkeletonController>();
mecanimAnimator = mecanimGameObject.GetComponent<Animator>();
torsoIsRoot = skeletonController.root == skeletonController.torso;
Transform kinectRootBone = skeletonController.root;
Transform mecanimRootBone = FindBone(mecanimAnimator.transform, kinectRootBone.name);
Transform blendedRootBone = FindBone(transform, kinectRootBone.name);
skeletonRoot = new BoneTriplet(kinectRootBone, mecanimRootBone, blendedRootBone, BodypartClassification.Root);
if (torsoIsRoot)
{
torsoRoot = skeletonRoot;
AddChildren(ref torsoRoot, BodypartClassification.Torso);
}
else
{
AddChildren(ref skeletonRoot, BodypartClassification.Root);
}
}
}
void UpdateScales(BoneTriplet root)
{
root.blendedTransform.localScale = root.mecanimTransform.localScale = root.kinectTransform.localScale;
foreach (BoneTriplet childTriplet in root.children)
{
UpdateScales(childTriplet);
}
}
private bool IsPartOfLimb(BoneTriplet bone)
{
return bone.bodypartClassification == BodypartClassification.RightLeg ||
bone.bodypartClassification == BodypartClassification.LeftLeg;
}
private void RegisterRootBone(BoneTriplet triplet)
{
switch (triplet.bodypartClassification)
{
case BodypartClassification.Torso:
torsoRoot = triplet;
return;
case BodypartClassification.Head:
headRoot = triplet;
return;
case BodypartClassification.RightArm:
rightArmRoot = triplet;
return;
case BodypartClassification.LeftArm:
leftArmRoot = triplet;
return;
case BodypartClassification.RightLeg:
rightLegRoot = triplet;
return;
case BodypartClassification.LeftLeg:
leftLegRoot = triplet;
return;
}
}
void Blend(BoneTriplet boneTriplet)
{
float blendWeight = GetBlendWeight(boneTriplet.bodypartClassification);
boneTriplet.blendedTransform.localPosition = Vector3.Lerp(boneTriplet.kinectTransform.localPosition, boneTriplet.mecanimTransform.localPosition, blendWeight);
boneTriplet.blendedTransform.localRotation = Quaternion.Slerp(boneTriplet.kinectTransform.localRotation, boneTriplet.mecanimTransform.localRotation, blendWeight);
//boneTriplet.blendedTransform.localScale = boneTriplet.kinectTransform.localScale;
if(applyTorsoCounteringRotations && IsLimbRoot(boneTriplet))
{
ApplyCounteringRotationToLimbRoot(torsoRoot, boneTriplet);
}
foreach (BoneTriplet childTriplet in boneTriplet.children)
{
Blend(childTriplet);
}
}
private bool IsLimbRoot(BoneTriplet bone)
{
return bone == headRoot || bone == rightArmRoot || bone == leftArmRoot || bone == rightLegRoot || bone == leftLegRoot;
}
private void ApplyCounteringRotationToLimbRoot(BoneTriplet torsoBone, BoneTriplet limbRootBone)
{
//boneTriplet.blendedTransform.localRotation = Quaternion.Slerp(boneTriplet.kinectTransform.localRotation, boneTriplet.mecanimTransform.localRotation, blendWeight);
float limbRootBlendWeight = GetBlendWeight(limbRootBone.bodypartClassification);
//first set the global rotation so that it matches
limbRootBone.blendedTransform.rotation = Quaternion.Slerp(limbRootBone.kinectTransform.rotation, limbRootBone.mecanimTransform.rotation, limbRootBlendWeight);
//then apply the yaw to turn the limb to the same general direction as the torso
Quaternion kinectToMecanimYaw = CalculateKinectToMecanimYaw();
kinectToMecanimYaw = Quaternion.Slerp(Quaternion.identity, kinectToMecanimYaw, limbRootBlendWeight);
Vector3 rotatedForward = kinectToMecanimYaw * Vector3.forward;
float angles = -Mathf.Atan2(rotatedForward.y, rotatedForward.z) * Mathf.Rad2Deg;
//float angles = Vector3.Angle(Vector3.up, kinectToMecanimYaw * Vector3.up);
// That doesn't work right, Vector3.Angle seems to return only values between [0, 180], and the leg animation came up wrong when facing left
//print(angles);
limbRootBone.blendedTransform.rotation = limbRootBone.blendedTransform.rotation * Quaternion.AngleAxis(angles, limbRootBone.blendedTransform.InverseTransformDirection(transform.up));//* newLocalRotation * Quaternion.Inverse(limbRootBone.blendedTransform.rotation) * limbRootBone.blendedTransform.rotation;
}
void Start()
{
Vector3 initialLocalScale = transform.localScale;
skeletonManager = FindObjectOfType(typeof(RUISSkeletonManager)) as RUISSkeletonManager;
skeletonController = GetComponent <RUISSkeletonController>();
// if ( !inputManager.enableKinect && !inputManager.enableKinect2
// && (skeletonController.bodyTrackingDevice != RUISSkeletonController.bodyTrackingDeviceType.GenericMotionTracker))
if (skeletonController != null && (skeletonController.followHmdPosition || inputManager == null ||
(skeletonController.followMoveController &&
((skeletonController.bodyTrackingDeviceID == RUISSkeletonManager.kinect1SensorID && !inputManager.enableKinect) ||
(skeletonController.bodyTrackingDeviceID == RUISSkeletonManager.kinect2SensorID && !inputManager.enableKinect2)))))
{
// Without the below if-clause the legs will twist with PS Move head tracker (when Move is enabled but Kinect is not)
//if(!inputManager.enablePSMove)
torsoBlendWeight = 1;
headBlendWeight = 1;
rightArmBlendWeight = 1;
leftArmBlendWeight = 1;
rightLegBlendWeight = 1;
leftLegBlendWeight = 1;
// forceArmStartPosition = false;
// forceLegStartPosition = false;
}
if (!childrenInstantiated)
{
childrenInstantiated = true;
kinectGameObject = Instantiate(gameObject, transform.position, transform.rotation) as GameObject;
kinectGameObject.name = name + "Kinect";
kinectGameObject.transform.parent = transform.parent;
kinectGameObject.transform.localScale = initialLocalScale;
//kinectGameObject.GetComponent<RUISKinectAndMecanimCombiner>().childrenInstantiated = true;
Destroy(kinectGameObject.GetComponent <RUISKinectAndMecanimCombiner>());
Destroy(kinectGameObject.GetComponent <Animator>());
Destroy(kinectGameObject.GetComponent <RUISCharacterAnimationController>());
foreach (Collider collider in kinectGameObject.GetComponentsInChildren <Collider>())
{
Destroy(collider);
}
foreach (Renderer meshRenderer in kinectGameObject.GetComponentsInChildren <Renderer>())
{
Destroy(meshRenderer);
}
mecanimGameObject = Instantiate(gameObject, transform.position, transform.rotation) as GameObject;
mecanimGameObject.name = name + "Mecanim";
mecanimGameObject.transform.parent = transform.parent;
mecanimGameObject.transform.localScale = initialLocalScale;
Destroy(mecanimGameObject.GetComponent <RUISKinectAndMecanimCombiner>());
Destroy(mecanimGameObject.GetComponent <RUISCharacterAnimationController>());
Destroy(mecanimGameObject.GetComponent <RUISSkeletonController>());
foreach (Collider collider in mecanimGameObject.GetComponentsInChildren <Collider>())
{
Destroy(collider);
}
foreach (Renderer meshRenderer in mecanimGameObject.GetComponentsInChildren <Renderer>())
{
Destroy(meshRenderer);
}
Destroy(GetComponent <RUISSkeletonController>());
Destroy(GetComponent <Animator>());
GetComponent <RUISCharacterAnimationController>().animator = mecanimGameObject.GetComponent <Animator>();
skeletonController = kinectGameObject.GetComponent <RUISSkeletonController>();
mecanimAnimator = mecanimGameObject.GetComponent <Animator>();
if (!skeletonController)
{
Debug.LogError("Script " + typeof(RUISSkeletonController) + " is not found by " + this.GetType().Name + "!");
}
torsoIsRoot = skeletonController.root == skeletonController.torso;
Transform kinectRootBone = skeletonController.root;
Transform mecanimRootBone = FindBone(mecanimAnimator.transform, kinectRootBone.name);
Transform blendedRootBone = FindBone(transform, kinectRootBone.name);
skeletonRoot = new BoneTriplet(kinectRootBone, mecanimRootBone, blendedRootBone, BodypartClassification.Root);
if (torsoIsRoot)
{
torsoRoot = skeletonRoot;
AddChildren(ref torsoRoot, BodypartClassification.Torso);
}
else
{
AddChildren(ref skeletonRoot, BodypartClassification.Root);
}
}
}
private void ApplyCounteringRotationToLimbRoot(BoneTriplet torsoBone, BoneTriplet limbRootBone)
{
//boneTriplet.blendedTransform.localRotation = Quaternion.Slerp(boneTriplet.kinectTransform.localRotation, boneTriplet.mecanimTransform.localRotation, blendWeight);
if (skeletonController == null)
{
return;
}
float limbRootBlendWeight = GetBlendWeight(limbRootBone.bodypartClassification);
//first set the global rotation so that it matches
limbRootBone.blendedTransform.rotation = Quaternion.Slerp(limbRootBone.kinectTransform.rotation, limbRootBone.mecanimTransform.rotation, limbRootBlendWeight);
bool headRotates = false;
bool headRotatesBody = false;
bool headRotatesWalking = false;
bool headRotatesBodyAndWalking = false;
if (skeletonController.characterController &&
(skeletonController.followMoveController || skeletonController.followHmdPosition))
{
headRotatesBodyAndWalking = skeletonController.characterController.headRotatesBody && skeletonController.characterController.headPointsWalkingDirection;
headRotatesWalking = !skeletonController.characterController.headRotatesBody && skeletonController.characterController.headPointsWalkingDirection;
headRotatesBody = skeletonController.characterController.headRotatesBody && !skeletonController.characterController.headPointsWalkingDirection;
headRotates = !skeletonController.characterController.headRotatesBody && !skeletonController.characterController.headPointsWalkingDirection;
}
//then apply the yaw to turn the limb to the same general direction as the torso
Quaternion kinectToMecanimYaw = CalculateKinectToMecanimYaw(skeletonController.characterController &&
(skeletonController.followMoveController || skeletonController.followHmdPosition) &&
(headRotatesBodyAndWalking ||
(headRotatesWalking && limbRootBone.bodypartClassification != BodypartClassification.LeftArm &&
limbRootBone.bodypartClassification != BodypartClassification.RightArm) ||
(headRotatesBody && limbRootBone.bodypartClassification != BodypartClassification.LeftLeg &&
limbRootBone.bodypartClassification != BodypartClassification.RightLeg) ||
(headRotates && limbRootBone.bodypartClassification == BodypartClassification.Head && skeletonController.HmdRotatesHead))
);
kinectToMecanimYaw = Quaternion.Slerp(Quaternion.identity, kinectToMecanimYaw, limbRootBlendWeight);
Vector3 rotatedForward = kinectToMecanimYaw * Vector3.forward;
float angles = -Mathf.Atan2(rotatedForward.y, rotatedForward.z) * Mathf.Rad2Deg;
//float angles = Vector3.Angle(Vector3.up, kinectToMecanimYaw * Vector3.up);
// That doesn't work right, Vector3.Angle seems to return only values between [0, 180], and the leg animation came up wrong when facing left
//print(angles);
// TODO fix arm twisting when skeletonController.followMoveController == true || skeletonController.followMoveController == true
if ((!skeletonController.followHmdPosition && !skeletonController.followMoveController) ||
(skeletonController.characterController ||
(headRotatesBodyAndWalking &&
(limbRootBone.bodypartClassification == BodypartClassification.LeftLeg || limbRootBone.bodypartClassification == BodypartClassification.RightLeg)) ||
(headRotatesWalking &&
(limbRootBone.bodypartClassification == BodypartClassification.LeftLeg || limbRootBone.bodypartClassification == BodypartClassification.RightLeg)) ||
headRotatesBody ||
headRotates))
{
limbRootBone.blendedTransform.rotation = limbRootBone.blendedTransform.rotation * Quaternion.AngleAxis(angles, limbRootBone.blendedTransform.InverseTransformDirection(transform.up));
}
}
void Start()
{
Vector3 initialLocalScale = transform.localScale;
skeletonManager = FindObjectOfType(typeof(RUISSkeletonManager)) as RUISSkeletonManager;
skeletonController = GetComponent<RUISSkeletonController>();
// if ( !inputManager.enableKinect && !inputManager.enableKinect2
// && (skeletonController.bodyTrackingDevice != RUISSkeletonController.bodyTrackingDeviceType.GenericMotionTracker))
if(skeletonController != null && ( skeletonController.followOculusController || inputManager == null
|| ( skeletonController.followMoveController
&& ( (skeletonController.bodyTrackingDeviceID == RUISSkeletonManager.kinect1SensorID && !inputManager.enableKinect )
|| (skeletonController.bodyTrackingDeviceID == RUISSkeletonManager.kinect2SensorID && !inputManager.enableKinect2)))))
{
// Without the below if-clause the legs will twist with PS Move head tracker (when Move is enabled but Kinect is not)
//if(!inputManager.enablePSMove)
torsoBlendWeight = 1;
headBlendWeight = 1;
rightArmBlendWeight = 1;
leftArmBlendWeight = 1;
rightLegBlendWeight = 1;
leftLegBlendWeight = 1;
// forceArmStartPosition = false;
// forceLegStartPosition = false;
}
if (!childrenInstantiated)
{
childrenInstantiated = true;
kinectGameObject = Instantiate(gameObject, transform.position, transform.rotation) as GameObject;
kinectGameObject.name = name + "Kinect";
kinectGameObject.transform.parent = transform.parent;
kinectGameObject.transform.localScale = initialLocalScale;
//kinectGameObject.GetComponent<RUISKinectAndMecanimCombiner>().childrenInstantiated = true;
Destroy(kinectGameObject.GetComponent<RUISKinectAndMecanimCombiner>());
Destroy(kinectGameObject.GetComponent<Animator>());
Destroy(kinectGameObject.GetComponent<RUISCharacterAnimationController>());
foreach (Collider collider in kinectGameObject.GetComponentsInChildren<Collider>())
{
Destroy(collider);
}
foreach (Renderer meshRenderer in kinectGameObject.GetComponentsInChildren<Renderer>())
{
Destroy(meshRenderer);
}
mecanimGameObject = Instantiate(gameObject, transform.position, transform.rotation) as GameObject;
mecanimGameObject.name = name + "Mecanim";
mecanimGameObject.transform.parent = transform.parent;
mecanimGameObject.transform.localScale = initialLocalScale;
Destroy(mecanimGameObject.GetComponent<RUISKinectAndMecanimCombiner>());
Destroy(mecanimGameObject.GetComponent<RUISCharacterAnimationController>());
Destroy(mecanimGameObject.GetComponent<RUISSkeletonController>());
foreach (Collider collider in mecanimGameObject.GetComponentsInChildren<Collider>())
{
Destroy(collider);
}
foreach (Renderer meshRenderer in mecanimGameObject.GetComponentsInChildren<Renderer>())
{
Destroy(meshRenderer);
}
Destroy(GetComponent<RUISSkeletonController>());
Destroy(GetComponent<Animator>());
GetComponent<RUISCharacterAnimationController>().animator = mecanimGameObject.GetComponent<Animator>();
skeletonController = kinectGameObject.GetComponent<RUISSkeletonController>();
mecanimAnimator = mecanimGameObject.GetComponent<Animator>();
if(!skeletonController)
Debug.LogError("Script " + typeof(RUISSkeletonController) + " is not found by " + this.GetType().Name + "!");
torsoIsRoot = skeletonController.root == skeletonController.torso;
Transform kinectRootBone = skeletonController.root;
Transform mecanimRootBone = FindBone(mecanimAnimator.transform, kinectRootBone.name);
Transform blendedRootBone = FindBone(transform, kinectRootBone.name);
skeletonRoot = new BoneTriplet(kinectRootBone, mecanimRootBone, blendedRootBone, BodypartClassification.Root);
if (torsoIsRoot)
{
torsoRoot = skeletonRoot;
AddChildren(ref torsoRoot, BodypartClassification.Torso);
}
else
{
AddChildren(ref skeletonRoot, BodypartClassification.Root);
}
}
}
private void ApplyCounteringRotationToLimbRoot(BoneTriplet torsoBone, BoneTriplet limbRootBone)
{
//boneTriplet.blendedTransform.localRotation = Quaternion.Slerp(boneTriplet.kinectTransform.localRotation, boneTriplet.mecanimTransform.localRotation, blendWeight);
if(skeletonController == null)
return;
float limbRootBlendWeight = GetBlendWeight(limbRootBone.bodypartClassification);
//first set the global rotation so that it matches
limbRootBone.blendedTransform.rotation = Quaternion.Slerp(limbRootBone.kinectTransform.rotation, limbRootBone.mecanimTransform.rotation, limbRootBlendWeight);
bool headRotates = false;
bool headRotatesBody = false;
bool headRotatesWalking = false;
bool headRotatesBodyAndWalking = false;
if( skeletonController.characterController
&& (skeletonController.followMoveController || skeletonController.followOculusController))
{
headRotatesBodyAndWalking = skeletonController.characterController.headRotatesBody && skeletonController.characterController.headPointsWalkingDirection;
headRotatesWalking = !skeletonController.characterController.headRotatesBody && skeletonController.characterController.headPointsWalkingDirection;
headRotatesBody = skeletonController.characterController.headRotatesBody && !skeletonController.characterController.headPointsWalkingDirection;
headRotates = !skeletonController.characterController.headRotatesBody && !skeletonController.characterController.headPointsWalkingDirection;
}
//then apply the yaw to turn the limb to the same general direction as the torso
Quaternion kinectToMecanimYaw = CalculateKinectToMecanimYaw( skeletonController.characterController
&& (skeletonController.followMoveController || skeletonController.followOculusController)
&& ( headRotatesBodyAndWalking
|| (headRotatesWalking && limbRootBone.bodypartClassification != BodypartClassification.LeftArm
&& limbRootBone.bodypartClassification != BodypartClassification.RightArm)
|| (headRotatesBody && limbRootBone.bodypartClassification != BodypartClassification.LeftLeg
&& limbRootBone.bodypartClassification != BodypartClassification.RightLeg)
|| (headRotates && limbRootBone.bodypartClassification == BodypartClassification.Head))
);
kinectToMecanimYaw = Quaternion.Slerp(Quaternion.identity, kinectToMecanimYaw, limbRootBlendWeight);
Vector3 rotatedForward = kinectToMecanimYaw * Vector3.forward;
float angles = -Mathf.Atan2(rotatedForward.y, rotatedForward.z) * Mathf.Rad2Deg;
//float angles = Vector3.Angle(Vector3.up, kinectToMecanimYaw * Vector3.up);
// That doesn't work right, Vector3.Angle seems to return only values between [0, 180], and the leg animation came up wrong when facing left
//print(angles);
// TODO fix arm twisting when skeletonController.followMoveController == true || skeletonController.followMoveController == true
if( (!skeletonController.followOculusController && !skeletonController.followMoveController)
|| ( skeletonController.characterController
|| ( headRotatesBodyAndWalking
&& (limbRootBone.bodypartClassification == BodypartClassification.LeftLeg || limbRootBone.bodypartClassification == BodypartClassification.RightLeg))
|| ( headRotatesWalking
&& ( limbRootBone.bodypartClassification == BodypartClassification.LeftLeg || limbRootBone.bodypartClassification == BodypartClassification.RightLeg))
|| headRotatesBody
|| headRotates ))
limbRootBone.blendedTransform.rotation = limbRootBone.blendedTransform.rotation * Quaternion.AngleAxis(angles, limbRootBone.blendedTransform.InverseTransformDirection(transform.up));
}
