public bool fitness24(JointType point1, JointType point2)
{
bool p1 = (point1.Equals(JointType.ShoulderLeft) || (point1.Equals(JointType.ElbowLeft)) || (point1.Equals(JointType.WristLeft)) || (point1.Equals(JointType.HandLeft)));
bool p2 = (point2.Equals(JointType.ShoulderLeft) || (point2.Equals(JointType.ElbowLeft)) || (point2.Equals(JointType.WristLeft)) || (point2.Equals(JointType.HandLeft)));
return(p1 && p2);
}
public void addPoint(JointType type, Point point)
{
if (type.Equals(JointType.HandLeft))
{
leftHand.AddFirst(point);
}
else if (type.Equals(JointType.HandRight))
{
rightHand.AddFirst(point);
}
else
{
Console.WriteLine("Joint Type error!");
}
while (leftHand.Count > 5)
{
leftHand.RemoveLast();
}
while (rightHand.Count > 5)
{
rightHand.RemoveLast();
}
}
// Apply the rotations tracked by kinect to the joints.
void TransformBone(Int64 userId, JointType joint, int boneIndex, bool flip)
{
if (joint.Equals(JointType.Head))
{
// bones[boneIndex].localRotation = cart.localRotation;
return;
}
Transform boneTransform = bones[boneIndex];
if (boneTransform == null || kinectManager == null)
{
return;
}
int iJoint = (int)joint;
if (iJoint < 0 || !kinectManager.IsJointTracked(userId, iJoint))
{
return;
}
// Get Kinect joint orientation
Quaternion jointRotation = kinectManager.GetJointOrientation(userId, iJoint, flip);
if (jointRotation == Quaternion.identity)
{
return;
}
// Smoothly transition to the new rotation
Quaternion newRotation = Kinect2AvatarRot(jointRotation, boneIndex);
if (SmoothFactor != 0f)
{
boneTransform.rotation = Quaternion.Slerp(boneTransform.rotation, newRotation, SmoothFactor * Time.deltaTime);
}
else
{
boneTransform.rotation = newRotation;
}
}
public bool Equals(Joint obj)
{
return(JointType.Equals(obj.JointType) && Position.Equals(obj.Position) && TrackingState.Equals(obj.TrackingState));
}
// Draws a skeleton's bones and joints
public void DrawBonesAndJoints(Skeleton skeleton, DrawingContext drawingContext)
{
// DrawBone(skeleton, drawingContext, JointType.Head, JointType.HipRight);
// Render Torso
/*
* DrawBone(skeleton, drawingContext, JointType.Head, JointType.ShoulderCenter);
* DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderLeft);
* DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderRight);
* DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.Spine);
* DrawBone(skeleton, drawingContext, JointType.Spine, JointType.HipCenter);
* DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipLeft);
* DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipRight);
*/
// Render Joints
foreach (Joint joint in skeleton.Joints)
{
Brush drawBrush = null;
JointType jointType = joint.JointType;
if (joint.TrackingState == JointTrackingState.Tracked)
{
drawBrush = trackedJointBrush;
SkeletonPoint jointPosition = joint.Position;
if (joint.TrackingState == JointTrackingState.Tracked)
{
drawBrush = this.trackedJointBrush;
if (jointType.Equals(JointType.ShoulderRight))
{
pointShoulder = jointPosition;
}
else if (jointType.Equals(JointType.ElbowRight))
{
pointElbow = jointPosition;
}
else if (jointType.Equals(JointType.WristRight))
{
pointWrist = jointPosition;
}
else if (jointType.Equals(JointType.HandRight))
{
pointHand = jointPosition;
}
if (jointType.Equals(JointType.ShoulderLeft))
{
pointShoulder2 = jointPosition;
}
else if (jointType.Equals(JointType.ElbowLeft))
{
pointElbow2 = jointPosition;
}
else if (jointType.Equals(JointType.WristLeft))
{
pointWrist2 = jointPosition;
}
else if (jointType.Equals(JointType.HandLeft))
{
pointHand2 = jointPosition;
}
else if (jointType.Equals(JointType.HipCenter))
{
pointHipCenter = jointPosition;
}
else if (jointType.Equals(JointType.HipLeft))
{
pointHipLeft = jointPosition;
}
else if (jointType.Equals(JointType.HipRight))
{
pointHipRight = jointPosition;
}
}
}
else if (joint.TrackingState == JointTrackingState.Inferred)
{
drawBrush = inferredJointBrush;
}
if (drawBrush != null)
{
drawingContext.DrawEllipse(drawBrush, null, SkeletonPointToScreen(joint.Position), JointThickness, JointThickness);
}
}
}
public bool Equals(JointOrientation obj)
{
return(JointType.Equals(obj.JointType) && Orientation.Equals(obj.Orientation));
}
// Apply the rotations tracked by kinect to the joints.
void TransformBone(Int64 userId, JointType joint, int boneIndex, bool flip)
{
if (joint.Equals(JointType.Head))
{
// bones[boneIndex].localRotation = cart.localRotation;
return;
}
Transform boneTransform = bones[boneIndex];
if(boneTransform == null || kinectManager == null)
return;
int iJoint = (int)joint;
if(iJoint < 0 || !kinectManager.IsJointTracked(userId, iJoint))
return;
// Get Kinect joint orientation
Quaternion jointRotation = kinectManager.GetJointOrientation(userId, iJoint, flip);
if(jointRotation == Quaternion.identity)
return;
// Smoothly transition to the new rotation
Quaternion newRotation = Kinect2AvatarRot(jointRotation, boneIndex);
if(SmoothFactor != 0f)
boneTransform.rotation = Quaternion.Slerp(boneTransform.rotation, newRotation, SmoothFactor * Time.deltaTime);
else
boneTransform.rotation = newRotation;
}
/// <summary>
/// Draws a skeleton's bones and joints
/// </summary>
/// <param name="skeleton">skeleton to draw</param>
/// <param name="drawingContext">drawing context to draw to</param>
private void DrawBonesAndJoints(Skeleton skeleton, DrawingContext drawingContext)
{
// Render Torso
this.DrawBone(skeleton, drawingContext, JointType.Head, JointType.ShoulderCenter);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderLeft);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderRight);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.Spine);
this.DrawBone(skeleton, drawingContext, JointType.Spine, JointType.HipCenter);
this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipLeft);
this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipRight);
// Left Arm
this.DrawBone(skeleton, drawingContext, JointType.ShoulderLeft, JointType.ElbowLeft);
this.DrawBone(skeleton, drawingContext, JointType.ElbowLeft, JointType.WristLeft);
this.DrawBone(skeleton, drawingContext, JointType.WristLeft, JointType.HandLeft);
// Right Arm
this.DrawBone(skeleton, drawingContext, JointType.ShoulderRight, JointType.ElbowRight);
this.DrawBone(skeleton, drawingContext, JointType.ElbowRight, JointType.WristRight);
this.DrawBone(skeleton, drawingContext, JointType.WristRight, JointType.HandRight);
// Left Leg
this.DrawBone(skeleton, drawingContext, JointType.HipLeft, JointType.KneeLeft);
this.DrawBone(skeleton, drawingContext, JointType.KneeLeft, JointType.AnkleLeft);
this.DrawBone(skeleton, drawingContext, JointType.AnkleLeft, JointType.FootLeft);
// Right Leg
this.DrawBone(skeleton, drawingContext, JointType.HipRight, JointType.KneeRight);
this.DrawBone(skeleton, drawingContext, JointType.KneeRight, JointType.AnkleRight);
this.DrawBone(skeleton, drawingContext, JointType.AnkleRight, JointType.FootRight);
// Render Joints
foreach (Joint joint in skeleton.Joints)
{
Brush drawBrush = null;
JointType jointType = joint.JointType;
if (joint.TrackingState == JointTrackingState.Tracked)
{
drawBrush = this.trackedJointBrush;
SkeletonPoint jointPosition = joint.Position;
if (jointType.Equals(JointType.ShoulderRight))
{
pointShoulder = jointPosition;
}
else if (jointType.Equals(JointType.ElbowRight))
{
pointElbow = jointPosition;
}
else if (jointType.Equals(JointType.WristRight))
{
pointWrist = jointPosition;
}
else if (jointType.Equals(JointType.HandRight))
{
pointHand = jointPosition;
}
if (jointType.Equals(JointType.ShoulderLeft))
{
pointShoulder2 = jointPosition;
}
else if (jointType.Equals(JointType.ElbowLeft))
{
pointElbow2 = jointPosition;
}
else if (jointType.Equals(JointType.WristLeft))
{
pointWrist2 = jointPosition;
}
else if (jointType.Equals(JointType.HandLeft))
{
pointHand2 = jointPosition;
}
else if (jointType.Equals(JointType.HipCenter))
{
pointHipCenter = jointPosition;
}
else if (jointType.Equals(JointType.HipLeft))
{
pointHipLeft = jointPosition;
}
else if (jointType.Equals(JointType.HipRight))
{
pointHipRight = jointPosition;
}
else if (jointType.Equals(JointType.KneeLeft))
{
pointKneeLeft = jointPosition;
}
else if (jointType.Equals(JointType.KneeRight))
{
pointKneeRight = jointPosition;
}
else if (jointType.Equals(JointType.AnkleLeft))
{
pointAnkleLeft = jointPosition;
}
else if (jointType.Equals(JointType.AnkleRight))
{
pointAnkleRight = jointPosition;
}
else if (jointType.Equals(JointType.FootLeft))
{
pointFootLeft = jointPosition;
}
else if (jointType.Equals(JointType.FootRight))
{
pointFootRight = jointPosition;
}
}
else if (joint.TrackingState == JointTrackingState.Inferred)
{
drawBrush = this.inferredJointBrush;
}
if (drawBrush != null)
{
drawingContext.DrawEllipse(drawBrush, null, this.SkeletonPointToScreen(joint.Position), JointThickness, JointThickness);
}
}
///Defining Gait parameters
double pelvis_obliquity = 180 / Math.PI * Math.Atan((pointHipLeft.Y - pointHipRight.Y) / Math.Sqrt(Math.Pow(pointHipLeft.X - pointHipRight.X, 2) + Math.Pow(pointHipLeft.Z - pointHipRight.Z, 2)));
double pelvic_rotation = 180 / Math.PI * Math.Atan((pointHipLeft.Z - pointHipRight.Z) / Math.Sqrt(Math.Pow(pointHipLeft.X - pointHipRight.X, 2) + Math.Pow(pointHipLeft.Y - pointHipRight.Y, 2)));
double hip_ab_right = 180 / Math.PI * Math.Atan((pointKneeRight.X - pointHipRight.X) / Math.Sqrt(Math.Pow(pointKneeRight.Y - pointHipRight.Y, 2) + Math.Pow(pointKneeRight.Z - pointHipRight.Z, 2)));
double hip_flex_right = 180 / Math.PI * Math.Atan(-(pointKneeRight.Z - pointHipRight.Z) / Math.Sqrt(Math.Pow(pointKneeRight.Y - pointHipRight.Y, 2) + Math.Pow(pointKneeRight.X - pointHipRight.X, 2)));
double hip_ab_left = 180 / Math.PI * Math.Atan(-(pointKneeLeft.X - pointHipLeft.X) / Math.Sqrt(Math.Pow(pointKneeLeft.Y - pointHipLeft.Y, 2) + Math.Pow(pointKneeLeft.Z - pointHipLeft.Z, 2)));
double hip_flex_left = 180 / Math.PI * Math.Atan(-(pointKneeLeft.Z - pointHipLeft.Z) / Math.Sqrt(Math.Pow(pointKneeLeft.Y - pointHipLeft.Y, 2) + Math.Pow(pointKneeLeft.X - pointHipLeft.X, 2)));
double knee_flex_right = getAngle(pointHipRight, pointKneeRight, pointAnkleRight);
double knee_flex_left = getAngle(pointHipLeft, pointKneeLeft, pointAnkleLeft);
double ankle_left = getAngle(pointKneeLeft, pointAnkleLeft, pointFootLeft);
double ankle_right = getAngle(pointKneeRight, pointAnkleRight, pointFootRight);
///Calculating center of mass
Coordinate CM = new Coordinate();
CM = center_mass(pointAnkleLeft, pointAnkleRight, pointFootLeft, pointFootRight, pointHand, pointHand2, pointHipCenter, pointHipLeft, pointHipRight, pointKneeLeft, pointKneeRight, pointShoulder, pointShoulder2, pointElbow, pointElbow2, pointWrist, pointWrist2);
///Timestamp
DateTime timestamp;
timestamp = DateTime.Now;
///Calculating velocity of center of mass
Coordinate velocity = new Coordinate();
Coordinate acceleration = new Coordinate();
velocity = getVelocity(CM, timestamp, prevCM, timestampPrev);
acceleration = getAcceleration(prevCM, earlyCM, CM, timestampPrev, timestampEarly, timestamp);
prev_velCM = velocity;
timestampEarly = timestampPrev;
timestampPrev = timestamp;
earlyCM = prevCM;
prevCM = CM;
///Calculating GRF
Coordinate GRF = new Coordinate();
GRF = getGRF(acceleration, Mass);
///For debugging purposes only
/*System.Console.WriteLine("acc is " + acceleration.X + " " + acceleration.Y + " " + acceleration.Z);
* System.Console.WriteLine("Coordinate is " + pointHipCenter.X + " " + pointHipCenter.Y + " " + pointHipCenter.Z );
* System.Console.WriteLine("velocity is " + velocity.X + " " + velocity.Y + " " + velocity.Z);
* System.Console.WriteLine("GRF is " + GRF.X + " " + GRF.Y + " " + GRF.Z);*/
///Add Gait parameters to the lists
list1.Add(pelvis_obliquity);
list2.Add(hip_ab_left);
list3.Add(hip_ab_right);
list4.Add(knee_flex_left);
list5.Add(knee_flex_right);
list6.Add(hip_flex_left);
list7.Add(hip_flex_right);
list8.Add(ankle_left);
list9.Add(ankle_right);
list10.Add(pelvic_rotation);
list11.Add(GRF);
}