// This method will be called when the thread is started.
public void DoWork()
{
float shoulderPitch_Right = 0.0f;
float shoulderRoll_Right = 0.0f;
float elbowRoll_Right = 0.0f;
float elbowYaw_Right = 0.0f;
while (!_shouldStop)
{
if (currentSkeleton == null)
{
continue;
}
//Hier werden Berechnungen mit CURRENTSKELETON (EVTL PUFFER!!!) getätigt
//BERECHNE WINKEL a-d
//updateAngles
//Sleep
//Zuverlässigkeit der Joints
shoulderPitch_Right = AngleCalculation.getShoulderPitch_Right(currentSkeleton);
shoulderRoll_Right = AngleCalculation.getShoulderRoll_Right(currentSkeleton);
elbowRoll_Right = AngleCalculation.getElbowRoll_Right(currentSkeleton);
elbowYaw_Right = AngleCalculation.getElbowYaw_Right(currentSkeleton);
skeletonAngleHandler.updateAngles(shoulderPitch_Right, shoulderRoll_Right, elbowRoll_Right, elbowYaw_Right);
Thread.Sleep(50);
}
Console.WriteLine("Angle Calculation shutted down");
}
public static float getElbowRoll_Right(Skeleton skeleton)
{
// Get fitting joints
Joint shoulder_j = skeleton.Joints[JointType.ShoulderRight];
Joint elbow_j = skeleton.Joints[JointType.ElbowRight];
Joint hand_j = skeleton.Joints[JointType.HandRight];
//Vector of Joints
Vector3D shoulder = new Vector3D(shoulder_j.Position.X, shoulder_j.Position.Y, shoulder_j.Position.Z);
Vector3D elbow = new Vector3D(elbow_j.Position.X, elbow_j.Position.Y, elbow_j.Position.Z);
Vector3D hand = new Vector3D(hand_j.Position.X, hand_j.Position.Y, hand_j.Position.Z);
// Vektorberechnung
return(AngleCalculation.getAngle(shoulder, elbow, hand));
}
public static float getShoulderRoll_Right(Skeleton skeleton)
{
// Get fitting joints
Joint hip_right_j = skeleton.Joints[JointType.HipRight];
Joint hip__left_j = skeleton.Joints[JointType.HipLeft];
Joint shoulder_j = skeleton.Joints[JointType.ShoulderRight];
Joint elbow_j = skeleton.Joints[JointType.ElbowRight];
//Vector of Joints
Vector3D hip_right = new Vector3D(hip_right_j.Position.X, hip_right_j.Position.Y, hip_right_j.Position.Z);
Vector3D hip_left = new Vector3D(hip__left_j.Position.X, hip__left_j.Position.Y, hip__left_j.Position.Z);
Vector3D shoulder = new Vector3D(shoulder_j.Position.X, shoulder_j.Position.Y, shoulder_j.Position.Z);
Vector3D elbow = new Vector3D(elbow_j.Position.X, elbow_j.Position.Y, elbow_j.Position.Z);
// Vektorberechnung
return(AngleCalculation.getAngle(hip_right, hip_left, shoulder, elbow));
}