private void InitializeSkeletonMappers()
{
// Create a SkeletonMapper for each model.
// In this sample, the models on the screen should act like a mirror for the players'
// movements. Therefore, we mirror the skeletons, e.g. the right Kinect arm controls left
// model arm.
//
// ----- SkeletonMapper for the Dude model.
//
_skeletonMapperA = new SkeletonMapper(_kinectWrapper.SkeletonPoseA, _meshNodeA.SkeletonPose);
var ks = _kinectWrapper.SkeletonPoseA.Skeleton;
var ms = _meshNodeA.SkeletonPose.Skeleton;
// So far _skeletonMapperA does nothing. We have to configure how bones or bone chains
// from the Kinect skeleton should map to the Dude skeleton. This is done using
// BoneMappers:
// A DirectBoneMapper transfers the rotation and scale of a single bone.
_skeletonMapperA.BoneMappers.Add(new DirectBoneMapper(ks.GetIndex("SpineBase"), ms.GetIndex("Root"))
{
MapTranslations = true,
ScaleAToB = 1f, // TODO: Make this scale factor configurable.
});
// An UpperBackBoneMapper is a special bone mapper that is specifically designed for
// spine bones. It uses the spine, neck and shoulders to compute the rotation of the spine
// bone. This rotations is transferred to the Dude's "Spine" bone.
// (An UpperBackBoneMapper does not transfer bone translations.)
_skeletonMapperA.BoneMappers.Add(new UpperBackBoneMapper(
ks.GetIndex("SpineMid"), ks.GetIndex("SpineShoulder"), ks.GetIndex("ShoulderLeft"), ks.GetIndex("ShoulderRight"),
ms.GetIndex("Spine"), ms.GetIndex("Neck"), ms.GetIndex("R_UpperArm"), ms.GetIndex("L_UpperArm")));
// A ChainBoneMapper transfers the rotation of a bone chain. In this case, it rotates
// the Dude's "R_UpperArm" bone. It makes sure that the direction from the Dude's
// "R_Forearm" bone origin to the "R_UpperArm" origin is parallel, to the direction
// "ElbowLeft" to "ShoulderLeft" of the Kinect skeleton.
// (An ChainBoneMapper does not transfer bone translations.)
_skeletonMapperA.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("ShoulderLeft"), ks.GetIndex("ElbowLeft"), ms.GetIndex("R_UpperArm"), ms.GetIndex("R_Forearm")));
// And so on...
_skeletonMapperA.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("ShoulderRight"), ks.GetIndex("ElbowRight"), ms.GetIndex("L_UpperArm"), ms.GetIndex("L_Forearm")));
_skeletonMapperA.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("ElbowLeft"), ks.GetIndex("WristLeft"), ms.GetIndex("R_Forearm"), ms.GetIndex("R_Hand")));
_skeletonMapperA.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("ElbowRight"), ks.GetIndex("WristRight"), ms.GetIndex("L_Forearm"), ms.GetIndex("L_Hand")));
_skeletonMapperA.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("HipLeft"), ks.GetIndex("KneeLeft"), ms.GetIndex("R_Thigh"), ms.GetIndex("R_Knee")));
_skeletonMapperA.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("HipRight"), ks.GetIndex("KneeRight"), ms.GetIndex("L_Thigh1"), ms.GetIndex("L_Knee2")));
_skeletonMapperA.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("KneeLeft"), ks.GetIndex("AnkleLeft"), ms.GetIndex("R_Knee"), ms.GetIndex("R_Ankle")));
_skeletonMapperA.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("KneeRight"), ks.GetIndex("AnkleRight"), ms.GetIndex("L_Knee2"), ms.GetIndex("L_Ankle1")));
_skeletonMapperA.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("SpineShoulder"), ks.GetIndex("Neck"), ms.GetIndex("Neck"), ms.GetIndex("Head")));
// We could also try to map the hand bones - but the Kinect input for the hands jitters a lot.
// It looks better if we do not animate the hands.
//_skeletonMapperA.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("WristLeft"), ks.GetIndex("HandLeft"), ms.GetIndex("R_Hand"), ms.GetIndex("R_Middle1")));
//_skeletonMapperA.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("WristRight"), ks.GetIndex("HandRight"), ms.GetIndex("L_Hand"), ms.GetIndex("L_Middle1")));
//
// ----- SkeletonMapper for the Marine model.
//
// (Same as for the Dude - only different bone names.)
_skeletonMapperB = new SkeletonMapper(_kinectWrapper.SkeletonPoseB, _meshNodeB.SkeletonPose);
ks = _kinectWrapper.SkeletonPoseB.Skeleton;
ms = _meshNodeB.SkeletonPose.Skeleton;
_skeletonMapperB.BoneMappers.Add(new DirectBoneMapper(ks.GetIndex("SpineBase"), ms.GetIndex("Spine_0"))
{
MapTranslations = true,
ScaleAToB = 1f, // TODO: Make this scale factor configurable.
});
_skeletonMapperB.BoneMappers.Add(new UpperBackBoneMapper(
ks.GetIndex("SpineMid"), ks.GetIndex("SpineShoulder"), ks.GetIndex("ShoulderLeft"), ks.GetIndex("ShoulderRight"),
ms.GetIndex("Spine1"), ms.GetIndex("Neck"), ms.GetIndex("R_Arm"), ms.GetIndex("L_Arm")));
_skeletonMapperB.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("ShoulderLeft"), ks.GetIndex("ElbowLeft"), ms.GetIndex("R_Arm"), ms.GetIndex("R_Elbow")));
_skeletonMapperB.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("ShoulderRight"), ks.GetIndex("ElbowRight"), ms.GetIndex("L_Arm"), ms.GetIndex("L_Elbow")));
_skeletonMapperB.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("ElbowLeft"), ks.GetIndex("WristLeft"), ms.GetIndex("R_Elbow"), ms.GetIndex("R_Hand")));
_skeletonMapperB.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("ElbowRight"), ks.GetIndex("WristRight"), ms.GetIndex("L_Elbow"), ms.GetIndex("L_Hand")));
_skeletonMapperB.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("HipLeft"), ks.GetIndex("KneeLeft"), ms.GetIndex("R_Hip"), ms.GetIndex("R_Knee")));
_skeletonMapperB.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("HipRight"), ks.GetIndex("KneeRight"), ms.GetIndex("L_Hip"), ms.GetIndex("L_Knee")));
_skeletonMapperB.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("KneeLeft"), ks.GetIndex("AnkleLeft"), ms.GetIndex("R_Knee"), ms.GetIndex("R_Ankle")));
_skeletonMapperB.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("KneeRight"), ks.GetIndex("AnkleRight"), ms.GetIndex("L_Knee"), ms.GetIndex("L_Ankle")));
_skeletonMapperB.BoneMappers.Add(new ChainBoneMapper(ks.GetIndex("SpineShoulder"), ks.GetIndex("Neck"), ms.GetIndex("Neck"), ms.GetIndex("Head")));
}
private void CreateSkeletonMapper()
{
// Create an empty skeleton mapper that can map bone transforms between the dude and
// the marine model.
_skeletonMapper = new SkeletonMapper(_dudeMeshNode.SkeletonPose, _marineMeshNode.SkeletonPose);
// A skeleton mapper manages a collection of bone mappers, that map individual bones.
// Without the bone mappers, the SkeletonMapper does nothing.
// Setting up the right bone mappers is not trivial if the skeletons are very different.
//
// Here are a few tips:
//
// Display the skeletons of both models (as in the BindPoseSample.cs).
// Compare the bones of the skeletons and find out which bones and which bone chains should
// map to which bones or bone chains of the other model.
//
// Use a DirectBoneMapper for the first bones in the pelvis. Set MapAbsoluteTransforms to
// false and set MapTranslations to true to map translations (hip swing). If the models
// have different size then adapt ScaleAToB manually to scale the mapped translations.
//
// ChainBoneMappers can be used to map single bones or bone chains. In the case below
// several spine bones of the dude are mapped to a single spine bone of the marine.
//
// Chain bone mappers need a start and end bone (which is excluded and only defines the
// end of the chain). Therefore, use DirectBoneMappers for end bones (hands, feet, head).
//
// If the arm bind poses are very different (e.g. a bind pose with horizontal arms vs a bind
// pose with lowered arms), you must use ChainBoneMappers for the upper arm and lower arm
// bones.
//
// Experiment until you find a good mapping. In some cases it is necessary to define one
// bone mapping to map from the first to the second skeleton and use a different bone mapping
// to map in the reverse direction. Set BoneMapper.Direction if a specific bone mapper
// instance should only be used for a specific mapping direction.
_skeletonMapper.BoneMappers.Add(
new DirectBoneMapper(1, 1)
{
MapAbsoluteTransforms = false,
MapTranslations = true,
ScaleAToB = 1f,
});
// Spine:
_skeletonMapper.BoneMappers.Add(new ChainBoneMapper(3, 6, 2, 3));
// Clavicle
_skeletonMapper.BoneMappers.Add(new DirectBoneMapper(12, 6) { MapAbsoluteTransforms = false, MapTranslations = false, });
_skeletonMapper.BoneMappers.Add(new DirectBoneMapper(31, 12) { MapAbsoluteTransforms = false, MapTranslations = false, });
// Left Leg
_skeletonMapper.BoneMappers.Add(new ChainBoneMapper(50, 51, 16, 17));
_skeletonMapper.BoneMappers.Add(new ChainBoneMapper(51, 52, 17, 18));
_skeletonMapper.BoneMappers.Add(new DirectBoneMapper(52, 18) { MapAbsoluteTransforms = false, MapTranslations = false, });
// Right Leg
_skeletonMapper.BoneMappers.Add(new ChainBoneMapper(54, 55, 21, 22));
_skeletonMapper.BoneMappers.Add(new ChainBoneMapper(55, 56, 22, 23));
_skeletonMapper.BoneMappers.Add(new DirectBoneMapper(56, 23) { MapAbsoluteTransforms = false, MapTranslations = false, });
// Left Arm
_skeletonMapper.BoneMappers.Add(new ChainBoneMapper(13, 14, 7, 8));
_skeletonMapper.BoneMappers.Add(new ChainBoneMapper(14, 15, 8, 9));
_skeletonMapper.BoneMappers.Add(new DirectBoneMapper(15, 9) { MapTranslations = false, });
// Right Arm
_skeletonMapper.BoneMappers.Add(new ChainBoneMapper(32, 33, 12, 13));
_skeletonMapper.BoneMappers.Add(new ChainBoneMapper(33, 34, 13, 14));
_skeletonMapper.BoneMappers.Add(new DirectBoneMapper(34, 14) { MapTranslations = false, });
// Neck, Head
_skeletonMapper.BoneMappers.Add(new ChainBoneMapper(6, 7, 3, 4));
_skeletonMapper.BoneMappers.Add(new DirectBoneMapper(7, 4) { MapAbsoluteTransforms = true, MapTranslations = false, });
}
