// get one joint's offset in kinect skeleton frame
private Point3D getNodeOffset(JointNode node, Skeleton skeleton)
{
if (!node.IsKinectJoint)
{
return(new Point3D());
}
Point3D offset;
if (node.Type == NodeTypeEnum.ROOT)
{
offset = new Point3D(skeleton.Position.X, skeleton.Position.Y, skeleton.Position.Z);
}
else
{
JointNode parent = node.Parent;
while (null != parent && !parent.IsKinectJoint)
{
parent = parent.Parent;
}
offset = new Point3D(skeleton.Joints[node.JointIndex].Position.X - skeleton.Joints[parent.JointIndex].Position.X,
skeleton.Joints[node.JointIndex].Position.Y - skeleton.Joints[parent.JointIndex].Position.Y,
skeleton.Joints[node.JointIndex].Position.Z - skeleton.Joints[parent.JointIndex].Position.Z);
}
BVHFile.BVHScalePoint(ref offset);
return(offset);
}
private void updateDebugBone(JointNode node)
{
if (node.Type == NodeTypeEnum.ROOT)
{
node.Rotation = new Vector3D(0, 0, 180);
node.Offset.X += node.OriginalOffset.X + canvas.Width / 2;
node.Offset.Y += node.OriginalOffset.Y + canvas.Height / 2;
node.Offset.Z += node.OriginalOffset.Z;
}
else
{
Quaternion parentRotation = MathHelper.ConvertToQuaternion(node.Parent.Rotation);
MathHelper.RotatePoint(node.OriginalOffset, parentRotation, out node.Offset);
node.Offset.X += node.Parent.Offset.X;
node.Offset.Y += node.Parent.Offset.Y;
node.Offset.Z += node.Parent.Offset.Z;
node.Rotation = MathHelper.QuaternionToAxisAngles(parentRotation * MathHelper.ConvertToQuaternion(node.Rotation));
}
if (node.Type == NodeTypeEnum.END)
{
return;
}
foreach (JointNode child in node.Children)
{
updateDebugBone(child);
}
}
/// <summary>
/// output a given joint in BVH format
/// </summary>
/// <param name="joint"></param>
/// <param name="sbOut"></param>
/// <param name="indents"></param>
private void buildBVHOutputSkeleton(JointNode root, string indents = "")
{
_bvhSkeletonBuffer.Append(indents);
_bvhSkeletonBuffer.Append(root.Type != NodeTypeEnum.END ?
root.Type.ToString() + CHAR_SPACE + root.Name : STR_END_SITE).Append(CHAR_LF);
_bvhSkeletonBuffer.Append(indents).Append(CHAR_OPEN_BRACE).Append(CHAR_LF);
_bvhSkeletonBuffer.Append(indents).Append(CHAR_SPACE).Append(CHAR_SPACE).Append(STR_OFFSET).Append(CHAR_SPACE)
.Append(root.OriginalOffset.X.ToString()).Append(CHAR_SPACE)
.Append(root.OriginalOffset.Y.ToString()).Append(CHAR_SPACE)
.Append(root.OriginalOffset.Z.ToString()).Append(CHAR_LF);
if (root.Type != NodeTypeEnum.END)
{
_bvhSkeletonBuffer.Append(indents).Append(CHAR_SPACE).Append(CHAR_SPACE).Append(STR_CHANNELS).Append(CHAR_SPACE)
.Append(root.Type == NodeTypeEnum.ROOT ? ROOT_CHANNEL_NUM : JOINT_CHANNEL_NUM);
if (root.Type == NodeTypeEnum.ROOT)
{
_bvhSkeletonBuffer.Append(CHAR_SPACE).Append(STR_XPOSITION)
.Append(CHAR_SPACE).Append(STR_YPOSITION)
.Append(CHAR_SPACE).Append(STR_ZPOSITION);
}
_bvhSkeletonBuffer.Append(CHAR_SPACE).Append(STR_ZROTATION)
.Append(CHAR_SPACE).Append(STR_XROTATION)
.Append(CHAR_SPACE).Append(STR_YROTATION).Append(CHAR_LF);
foreach (JointNode childJoint in root.Children)
{
buildBVHOutputSkeleton(childJoint, indents + CHAR_SPACE + CHAR_SPACE);
}
}
_bvhSkeletonBuffer.Append(indents).Append(CHAR_CLOSE_BRACE).Append(CHAR_LF);
}
/// <summary>
/// one joint's rotation is actually stored in its parent joint, so for a given joint, we should get its child joint's rotation
/// </summary>
/// <param name="joint"></param>
/// <returns></returns>
private JointType getRotationJoint(JointNode node)
{
switch (node.Name)
{
case "ShoulderLeft":
return(JointType.ElbowLeft);
case "ElbowLeft":
return(JointType.WristLeft);
case "WristLeft":
return(JointType.HandLeft);
case "ShoulderRight":
return(JointType.ElbowRight);
case "ElbowRight":
return(JointType.WristRight);
case "WristRight":
return(JointType.HandRight);
case "HipLeft":
return(JointType.KneeLeft);
case "KneeLeft":
return(JointType.AnkleLeft);
case "AnkleLeft":
return(JointType.FootLeft);
case "HipRight":
return(JointType.KneeRight);
case "KneeRight":
return(JointType.AnkleRight);
case "AnkleRight":
return(JointType.FootRight);
default:
//case "HipCenter":
//case "HipCenter2":
//case "Spine":
//case "ShoulderCenter":
//case "Neck":
//case "Head":
//case "CollarLeft":
//case "CollarRight":
return(node.JointIndex);
}
}
/// <summary>
/// get a bone's original offset based on its own offset and the symmetric node's offset if it has
/// </summary>
/// <param name="node"></param>
/// <returns></returns>
private double getJointStandardInitialOffset(JointNode node)
{
double offsetLength = getMaxAxisFromPoint(_initialOffsets[node.Name]);
if (getSymmetricNode(node) == node)
{
return(offsetLength);
}
else
{
double symmetricNodeOffsetLength = getMaxAxisFromPoint(_initialOffsets[getSymmetricNode(node).Name]);
return((offsetLength + symmetricNodeOffsetLength) / 2);
}
}
/// <summary>
/// length of hip center - spine - shoulder center - head
/// </summary>
/// <param name="skeleton"></param>
/// <param name="bone"></param>
/// <param name="startJoint"></param>
/// <param name="endJoint"></param>
private void calCenterBoneLength(Skeleton skeleton, JointNode node)
{
double length = BVHFile.BVHScaledValue(calDescartesLength(skeleton.Joints[node.Parent.JointIndex].Position,
skeleton.Joints[node.JointIndex].Position));
if (_boneLengths.ContainsKey(node.JointIndex))
{
_boneLengths[node.JointIndex] = (length + _boneLengths[node.JointIndex]) / 2;
}
else
{
_boneLengths.Add(node.JointIndex, length);
}
}
private JointNode getSymmetricNode(JointNode node)
{
if (node.Name.Contains("Left"))
{
return(JointNodes[node.Name.Replace("Left", "Right")]);
}
else if (node.Name.Contains("Right"))
{
return(JointNodes[node.Name.Replace("Right", "Left")]);
}
else
{
return(node);
}
}
public JointNode(string name, JointType index, JointNode parent, Axis axis, NodeTypeEnum type, bool isKinectJoint)
{
this.IsKinectJoint = isKinectJoint;
this.JointIndex = index;
Name = isKinectJoint ? index.ToString() : name;
this.BaseAxis = axis;
this.Type = type;
if(Type != NodeTypeEnum.END)
Children = new ArrayList();
if (null != parent)
{
this.Parent = parent;
parent.AddChild(this);
}
}
/// <summary>
/// length of shoulder center - shoulder - elbow - wrist - hand, hip center - hip - knee - ankle - foot
/// </summary>
/// <param name="skeleton"></param>
/// <param name="bone"></param>
/// <param name="startJoint"></param>
/// <param name="endJoint"></param>
private void calSideBoneLength(Skeleton skeleton, JointNode node)
{
double leftLength = BVHFile.BVHScaledValue(calDescartesLength(skeleton.Joints[node.Parent.JointIndex].Position,
skeleton.Joints[node.JointIndex].Position));
double rightLength = BVHFile.BVHScaledValue(calDescartesLength(skeleton.Joints[GetSymmetricJoint(node.Parent.JointIndex)].Position,
skeleton.Joints[GetSymmetricJoint(node.JointIndex)].Position));
double length = (leftLength + rightLength) / 2;
if (_boneLengths.ContainsKey(node.JointIndex))
{
_boneLengths[node.JointIndex] = (length + _boneLengths[node.JointIndex]) / 2;
}
else
{
_boneLengths.Add(node.JointIndex, length);
}
}
public JointNode(string name, JointType index, JointNode parent, Axis axis, NodeTypeEnum type, bool isKinectJoint)
{
this.IsKinectJoint = isKinectJoint;
this.JointIndex = index;
Name = isKinectJoint ? index.ToString() : name;
this.BaseAxis = axis;
this.Type = type;
if (Type != NodeTypeEnum.END)
{
Children = new ArrayList();
}
if (null != parent)
{
this.Parent = parent;
parent.AddChild(this);
}
}
private void updateDebugBone(JointNode node)
{
if (node.Type == NodeTypeEnum.ROOT)
{
node.Rotation = new Vector3D(0, 0, 180);
node.Offset.X += node.OriginalOffset.X + canvas.Width / 2;
node.Offset.Y += node.OriginalOffset.Y + canvas.Height / 2;
node.Offset.Z += node.OriginalOffset.Z;
}
else
{
Quaternion parentRotation = MathHelper.ConvertToQuaternion(node.Parent.Rotation);
MathHelper.RotatePoint(node.OriginalOffset, parentRotation, out node.Offset);
node.Offset.X += node.Parent.Offset.X;
node.Offset.Y += node.Parent.Offset.Y;
node.Offset.Z += node.Parent.Offset.Z;
node.Rotation = MathHelper.QuaternionToAxisAngles(parentRotation * MathHelper.ConvertToQuaternion(node.Rotation));
}
if (node.Type == NodeTypeEnum.END)
return;
foreach (JointNode child in node.Children)
{
updateDebugBone(child);
}
}
public bool AddChild(JointNode node)
{
return Children.Add(node) >= 0;
}
private void AddBVHBone_Debug(JointNode node1, JointNode node2)
{
addLineToWindow(node1.Offset.X, node1.Offset.Y,
node2.Offset.X, node2.Offset.Y,
BTUSH_BONE_DEBUG, DOUBLE_THICKNESS_BONE_DEBUG);
}
/// <summary>
/// initialize human skeleton structure
/// </summary>
private void initializeSkeletonStructure()
{
JointNodes = new Dictionary <string, JointNode>();
// root
HipCenter = new JointNode(JointType.HipCenter.ToString(), JointType.HipCenter, null, Axis.None, NodeTypeEnum.ROOT, true);
JointNodes.Add(HipCenter.Name, HipCenter);
// hip, spine, shouderCenter, neck, head
JointNode hipCenter2 = new JointNode("HipCenter2", JointType.HipCenter, HipCenter, Axis.Y, NodeTypeEnum.JOINT, false);
JointNodes.Add(hipCenter2.Name, hipCenter2);
JointNode spine = new JointNode(JointType.Spine, hipCenter2, Axis.Y);
JointNodes.Add(spine.Name, spine);
JointNode shoulderCenter = new JointNode(JointType.ShoulderCenter, spine, Axis.Y);
JointNodes.Add(shoulderCenter.Name, shoulderCenter);
JointNode neck = new JointNode("Neck", JointType.Head, shoulderCenter, Axis.Y, NodeTypeEnum.JOINT, false);
JointNodes.Add(neck.Name, neck);
JointNode head = new JointNode(JointType.Head, neck, Axis.Y);
JointNodes.Add(head.Name, head);
JointNode headEnd = new JointNode("HeadEnd", JointType.Head, head, Axis.None, NodeTypeEnum.END, false);
JointNodes.Add(headEnd.Name, headEnd);
// left arm
JointNode collarLeft = new JointNode("CollarLeft", JointType.ShoulderLeft, shoulderCenter, Axis.X, NodeTypeEnum.JOINT, false);
JointNodes.Add(collarLeft.Name, collarLeft);
JointNode shoulderLeft = new JointNode(JointType.ShoulderLeft, collarLeft, Axis.X);
JointNodes.Add(shoulderLeft.Name, shoulderLeft);
JointNode elbowLeft = new JointNode(JointType.ElbowLeft, shoulderLeft, Axis.X);
JointNodes.Add(elbowLeft.Name, elbowLeft);
JointNode wristLeft = new JointNode(JointType.WristLeft, elbowLeft, Axis.X);
JointNodes.Add(wristLeft.Name, wristLeft);
JointNode handLeft = new JointNode(JointType.HandLeft.ToString(), JointType.HandLeft, wristLeft, Axis.X, NodeTypeEnum.END, true);
JointNodes.Add(handLeft.Name, handLeft);
// right arm
JointNode collarRight = new JointNode("CollarRight", JointType.ShoulderRight, shoulderCenter, Axis.nX, NodeTypeEnum.JOINT, false);
JointNodes.Add(collarRight.Name, collarRight);
JointNode shoulderRight = new JointNode(JointType.ShoulderRight, collarRight, Axis.nX);
JointNodes.Add(shoulderRight.Name, shoulderRight);
JointNode elbowRight = new JointNode(JointType.ElbowRight, shoulderRight, Axis.nX);
JointNodes.Add(elbowRight.Name, elbowRight);
JointNode wristRight = new JointNode(JointType.WristRight, elbowRight, Axis.nX);
JointNodes.Add(wristRight.Name, wristRight);
JointNode handRight = new JointNode(JointType.HandRight.ToString(), JointType.HandRight, wristRight, Axis.nX, NodeTypeEnum.END, true);
JointNodes.Add(handRight.Name, handRight);
// left lower part
JointNode hipLeft = new JointNode(JointType.HipLeft, HipCenter, Axis.X);
JointNodes.Add(hipLeft.Name, hipLeft);
JointNode KneeLeft = new JointNode(JointType.KneeLeft, hipLeft, Axis.nY);
JointNodes.Add(KneeLeft.Name, KneeLeft);
JointNode ankleLeft = new JointNode(JointType.AnkleLeft, KneeLeft, Axis.nY);
JointNodes.Add(ankleLeft.Name, ankleLeft);
JointNode footLeft = new JointNode(JointType.FootLeft.ToString(), JointType.FootLeft, ankleLeft, Axis.Z, NodeTypeEnum.END, true);
JointNodes.Add(footLeft.Name, footLeft);
// right lower part
JointNode hipRight = new JointNode(JointType.HipRight, HipCenter, Axis.nX);
JointNodes.Add(hipRight.Name, hipRight);
JointNode kneeRight = new JointNode(JointType.KneeRight, hipRight, Axis.nY);
JointNodes.Add(kneeRight.Name, kneeRight);
JointNode ankleRight = new JointNode(JointType.AnkleRight, kneeRight, Axis.nY);
JointNodes.Add(ankleRight.Name, ankleRight);
JointNode footRight = new JointNode(JointType.FootRight.ToString(), JointType.FootRight, ankleRight, Axis.Z, NodeTypeEnum.END, true);
JointNodes.Add(footRight.Name, footRight);
}
private JointNode getSymmetricNode(JointNode node)
{
if (node.Name.Contains("Left"))
{
return JointNodes[node.Name.Replace("Left", "Right")];
}
else if (node.Name.Contains("Right"))
{
return JointNodes[node.Name.Replace("Right", "Left")];
}
else
{
return node;
}
}
// get one joint's offset in kinect skeleton frame
private Point3D getNodeOffset(JointNode node, Skeleton skeleton)
{
if (!node.IsKinectJoint)
return new Point3D();
Point3D offset;
if (node.Type == NodeTypeEnum.ROOT)
offset = new Point3D(skeleton.Position.X, skeleton.Position.Y, skeleton.Position.Z);
else
{
JointNode parent = node.Parent;
while (null != parent && !parent.IsKinectJoint)
parent = parent.Parent;
offset = new Point3D(skeleton.Joints[node.JointIndex].Position.X - skeleton.Joints[parent.JointIndex].Position.X,
skeleton.Joints[node.JointIndex].Position.Y - skeleton.Joints[parent.JointIndex].Position.Y,
skeleton.Joints[node.JointIndex].Position.Z - skeleton.Joints[parent.JointIndex].Position.Z);
}
BVHFile.BVHScalePoint(ref offset);
return offset;
}
/// <summary>
/// length of shoulder center - shoulder - elbow - wrist - hand, hip center - hip - knee - ankle - foot
/// </summary>
/// <param name="skeleton"></param>
/// <param name="bone"></param>
/// <param name="startJoint"></param>
/// <param name="endJoint"></param>
private void calSideBoneLength(Skeleton skeleton, JointNode node)
{
double leftLength = BVHFile.BVHScaledValue(calDescartesLength(skeleton.Joints[node.Parent.JointIndex].Position,
skeleton.Joints[node.JointIndex].Position));
double rightLength = BVHFile.BVHScaledValue(calDescartesLength(skeleton.Joints[GetSymmetricJoint(node.Parent.JointIndex)].Position,
skeleton.Joints[GetSymmetricJoint(node.JointIndex)].Position));
double length = (leftLength + rightLength) / 2;
if (_boneLengths.ContainsKey(node.JointIndex))
{
_boneLengths[node.JointIndex] = (length + _boneLengths[node.JointIndex]) / 2;
}
else
{
_boneLengths.Add(node.JointIndex, length);
}
}
/// <summary>
/// output a given joint in BVH format
/// </summary>
/// <param name="joint"></param>
/// <param name="sbOut"></param>
/// <param name="indents"></param>
private void buildBVHOutputSkeleton(JointNode root, string indents = "")
{
_bvhSkeletonBuffer.Append(indents);
_bvhSkeletonBuffer.Append(root.Type != NodeTypeEnum.END ?
root.Type.ToString() + CHAR_SPACE + root.Name : STR_END_SITE).Append(CHAR_LF);
_bvhSkeletonBuffer.Append(indents).Append(CHAR_OPEN_BRACE).Append(CHAR_LF);
_bvhSkeletonBuffer.Append(indents).Append(CHAR_SPACE).Append(CHAR_SPACE).Append(STR_OFFSET).Append(CHAR_SPACE)
.Append(root.OriginalOffset.X.ToString()).Append(CHAR_SPACE)
.Append(root.OriginalOffset.Y.ToString()).Append(CHAR_SPACE)
.Append(root.OriginalOffset.Z.ToString()).Append(CHAR_LF);
if (root.Type != NodeTypeEnum.END)
{
_bvhSkeletonBuffer.Append(indents).Append(CHAR_SPACE).Append(CHAR_SPACE).Append(STR_CHANNELS).Append(CHAR_SPACE)
.Append(root.Type == NodeTypeEnum.ROOT ? ROOT_CHANNEL_NUM : JOINT_CHANNEL_NUM);
if (root.Type == NodeTypeEnum.ROOT)
{
_bvhSkeletonBuffer.Append(CHAR_SPACE).Append(STR_XPOSITION)
.Append(CHAR_SPACE).Append(STR_YPOSITION)
.Append(CHAR_SPACE).Append(STR_ZPOSITION);
}
_bvhSkeletonBuffer.Append(CHAR_SPACE).Append(STR_ZROTATION)
.Append(CHAR_SPACE).Append(STR_XROTATION)
.Append(CHAR_SPACE).Append(STR_YROTATION).Append(CHAR_LF);
foreach (JointNode childJoint in root.Children)
{
buildBVHOutputSkeleton(childJoint, indents + CHAR_SPACE + CHAR_SPACE);
}
}
_bvhSkeletonBuffer.Append(indents).Append(CHAR_CLOSE_BRACE).Append(CHAR_LF);
}
/// <summary>
/// length of hip center - spine - shoulder center - head
/// </summary>
/// <param name="skeleton"></param>
/// <param name="bone"></param>
/// <param name="startJoint"></param>
/// <param name="endJoint"></param>
private void calCenterBoneLength(Skeleton skeleton, JointNode node)
{
double length = BVHFile.BVHScaledValue(calDescartesLength(skeleton.Joints[node.Parent.JointIndex].Position,
skeleton.Joints[node.JointIndex].Position));
if (_boneLengths.ContainsKey(node.JointIndex))
{
_boneLengths[node.JointIndex] = (length + _boneLengths[node.JointIndex]) / 2;
}
else
{
_boneLengths.Add(node.JointIndex, length);
}
}
public JointNode(JointType index, JointNode parent, Axis axis, bool isKinectJoint = true) :
this(index.ToString(), index, parent, axis, NodeTypeEnum.JOINT, true)
{
}
/// <summary>
/// get a bone's original offset based on its own offset and the symmetric node's offset if it has
/// </summary>
/// <param name="node"></param>
/// <returns></returns>
private double getJointStandardInitialOffset(JointNode node)
{
double offsetLength = getMaxAxisFromPoint(_initialOffsets[node.Name]);
if (getSymmetricNode(node) == node)
return offsetLength;
else
{
double symmetricNodeOffsetLength = getMaxAxisFromPoint(_initialOffsets[getSymmetricNode(node).Name]);
return (offsetLength + symmetricNodeOffsetLength) / 2;
}
}
public bool AddChild(JointNode node)
{
return(Children.Add(node) >= 0);
}
/// <summary>
/// one joint's rotation is actually stored in its parent joint, so for a given joint, we should get its child joint's rotation
/// </summary>
/// <param name="joint"></param>
/// <returns></returns>
private JointType getRotationJoint(JointNode node)
{
switch (node.Name)
{
case "ShoulderLeft":
return JointType.ElbowLeft;
case "ElbowLeft":
return JointType.WristLeft;
case "WristLeft":
return JointType.HandLeft;
case "ShoulderRight":
return JointType.ElbowRight;
case "ElbowRight":
return JointType.WristRight;
case "WristRight":
return JointType.HandRight;
case "HipLeft":
return JointType.KneeLeft;
case "KneeLeft":
return JointType.AnkleLeft;
case "AnkleLeft":
return JointType.FootLeft;
case "HipRight":
return JointType.KneeRight;
case "KneeRight":
return JointType.AnkleRight;
case "AnkleRight":
return JointType.FootRight;
default:
//case "HipCenter":
//case "HipCenter2":
//case "Spine":
//case "ShoulderCenter":
//case "Neck":
//case "Head":
//case "CollarLeft":
//case "CollarRight":
return node.JointIndex;
}
}
private void AddBVHBone_Debug(JointNode node1, JointNode node2)
{
addLineToWindow(node1.Offset.X, node1.Offset.Y,
node2.Offset.X, node2.Offset.Y,
BTUSH_BONE_DEBUG, DOUBLE_THICKNESS_BONE_DEBUG);
}
/// <summary>
/// initialize human skeleton structure
/// </summary>
private void initializeSkeletonStructure()
{
JointNodes = new Dictionary<string, JointNode>();
// root
HipCenter = new JointNode(JointType.HipCenter.ToString(), JointType.HipCenter, null, Axis.None, NodeTypeEnum.ROOT, true);
JointNodes.Add(HipCenter.Name, HipCenter);
// hip, spine, shouderCenter, neck, head
JointNode hipCenter2 = new JointNode("HipCenter2", JointType.HipCenter, HipCenter, Axis.Y, NodeTypeEnum.JOINT, false);
JointNodes.Add(hipCenter2.Name, hipCenter2);
JointNode spine = new JointNode(JointType.Spine, hipCenter2, Axis.Y);
JointNodes.Add(spine.Name, spine);
JointNode shoulderCenter = new JointNode(JointType.ShoulderCenter, spine, Axis.Y);
JointNodes.Add(shoulderCenter.Name, shoulderCenter);
JointNode neck = new JointNode("Neck", JointType.Head, shoulderCenter, Axis.Y, NodeTypeEnum.JOINT, false);
JointNodes.Add(neck.Name, neck);
JointNode head = new JointNode(JointType.Head, neck, Axis.Y);
JointNodes.Add(head.Name, head);
JointNode headEnd = new JointNode("HeadEnd", JointType.Head, head, Axis.None, NodeTypeEnum.END, false);
JointNodes.Add(headEnd.Name, headEnd);
// left arm
JointNode collarLeft = new JointNode("CollarLeft", JointType.ShoulderLeft, shoulderCenter, Axis.X, NodeTypeEnum.JOINT, false);
JointNodes.Add(collarLeft.Name, collarLeft);
JointNode shoulderLeft = new JointNode(JointType.ShoulderLeft, collarLeft, Axis.X);
JointNodes.Add(shoulderLeft.Name, shoulderLeft);
JointNode elbowLeft = new JointNode(JointType.ElbowLeft, shoulderLeft, Axis.X);
JointNodes.Add(elbowLeft.Name, elbowLeft);
JointNode wristLeft = new JointNode(JointType.WristLeft, elbowLeft, Axis.X);
JointNodes.Add(wristLeft.Name, wristLeft);
JointNode handLeft = new JointNode(JointType.HandLeft.ToString(), JointType.HandLeft, wristLeft, Axis.X, NodeTypeEnum.END, true);
JointNodes.Add(handLeft.Name, handLeft);
// right arm
JointNode collarRight = new JointNode("CollarRight", JointType.ShoulderRight, shoulderCenter, Axis.nX, NodeTypeEnum.JOINT, false);
JointNodes.Add(collarRight.Name, collarRight);
JointNode shoulderRight = new JointNode(JointType.ShoulderRight, collarRight, Axis.nX);
JointNodes.Add(shoulderRight.Name, shoulderRight);
JointNode elbowRight = new JointNode(JointType.ElbowRight, shoulderRight, Axis.nX);
JointNodes.Add(elbowRight.Name, elbowRight);
JointNode wristRight = new JointNode(JointType.WristRight, elbowRight, Axis.nX);
JointNodes.Add(wristRight.Name, wristRight);
JointNode handRight = new JointNode(JointType.HandRight.ToString(), JointType.HandRight, wristRight, Axis.nX, NodeTypeEnum.END, true);
JointNodes.Add(handRight.Name, handRight);
// left lower part
JointNode hipLeft = new JointNode(JointType.HipLeft, HipCenter, Axis.X);
JointNodes.Add(hipLeft.Name, hipLeft);
JointNode KneeLeft = new JointNode(JointType.KneeLeft, hipLeft, Axis.nY);
JointNodes.Add(KneeLeft.Name, KneeLeft);
JointNode ankleLeft = new JointNode(JointType.AnkleLeft, KneeLeft, Axis.nY);
JointNodes.Add(ankleLeft.Name, ankleLeft);
JointNode footLeft = new JointNode(JointType.FootLeft.ToString(), JointType.FootLeft, ankleLeft, Axis.Z, NodeTypeEnum.END, true);
JointNodes.Add(footLeft.Name, footLeft);
// right lower part
JointNode hipRight = new JointNode(JointType.HipRight, HipCenter, Axis.nX);
JointNodes.Add(hipRight.Name, hipRight);
JointNode kneeRight = new JointNode(JointType.KneeRight, hipRight, Axis.nY);
JointNodes.Add(kneeRight.Name, kneeRight);
JointNode ankleRight = new JointNode(JointType.AnkleRight, kneeRight, Axis.nY);
JointNodes.Add(ankleRight.Name, ankleRight);
JointNode footRight = new JointNode(JointType.FootRight.ToString(), JointType.FootRight, ankleRight, Axis.Z, NodeTypeEnum.END, true);
JointNodes.Add(footRight.Name, footRight);
}
public JointNode(JointType index, JointNode parent, Axis axis, bool isKinectJoint = true)
: this(index.ToString(), index, parent, axis, NodeTypeEnum.JOINT, true)
{
}