void Awake()
{
try
{
// bool bOnceRestarted = false;
// if(System.IO.File.Exists("SCrestart.txt"))
// {
// bOnceRestarted = true;
//
// try
// {
// System.IO.File.Delete("SCrestart.txt");
// }
// catch(Exception ex)
// {
// Debug.LogError("Error deleting SCrestart.txt");
// Debug.LogError(ex.ToString());
// }
// }
// init the available sensor interfaces
sensorInterface = new Kinect2Interface();
bool bNeedRestart = false;
if (sensorInterface.InitSensorInterface(true, ref bNeedRestart))
{
if (bNeedRestart)
{
System.IO.File.WriteAllText("SCrestart.txt", "Restarting level...");
KinectInterop.RestartLevel(gameObject, "SC");
return;
}
else
{
// check if a sensor is connected
bSensorAvailable = sensorInterface.GetSensorsCount() > 0;
if (infoText != null)
{
infoText.text = bSensorAvailable ? "Sensor is connected." : "No sensor is connected.";
}
}
}
else
{
sensorInterface.FreeSensorInterface(true);
sensorInterface = null;
}
}
catch (Exception ex)
{
Debug.LogError(ex.ToString());
if (infoText != null)
{
infoText.text = ex.Message;
}
}
}
void OnDestroy()
{
if (instance == null || instance != this)
{
return;
}
//Debug.Log("KM was destroyed");
// shut down the polling threads and stop the sensors
if (kinectInitialized)
{
// close the opened sensors and release respective data
for (int i = sensorDatas.Count - 1; i >= 0; i--)
{
KinectInterop.SensorData sensorData = sensorDatas[i];
DepthSensorInterface sensorInt = sensorData.sensorInterface;
Debug.Log(string.Format("Closing S{0}: {1}", i, sensorInt.GetType().Name));
if (sensorData.pollFramesThread != null)
{
// stop the frame-polling thread
sensorData.threadStopEvent.Set();
sensorData.pollFramesThread.Join();
sensorData.pollFramesThread = null;
sensorData.threadStopEvent.Dispose();
sensorData.threadStopEvent = null;
}
// close the sensor
KinectInterop.CloseSensor(sensorData);
sensorDatas.RemoveAt(i);
sensorInterfaces.RemoveAt(i);
}
kinectInitialized = false;
}
instance = null;
}
// opens the default sensor and needed readers
public static SensorData OpenDefaultSensor(DepthSensorInterface sensorInt, FrameSource dwFlags, float sensorAngle, bool bUseMultiSource)
{
SensorData sensorData = null;
if (sensorInt == null)
{
return(sensorData);
}
try {
if (sensorData == null)
{
sensorData = sensorInt.OpenDefaultSensor(dwFlags, sensorAngle, bUseMultiSource);
if (sensorData != null)
{
sensorData.sensorInterface = sensorInt;
sensorData.sensorIntPlatform = sensorInt.GetSensorPlatform();
Debug.Log("Interface used: " + sensorInt.GetType().Name);
Debug.Log("Shader level: " + SystemInfo.graphicsShaderLevel);
}
}
else
{
sensorInt.FreeSensorInterface(false);
}
} catch (Exception ex) {
Debug.LogError("Initialization of the sensor failed.");
Debug.LogError(ex.ToString());
try {
sensorInt.FreeSensorInterface(false);
} catch (Exception) {
// do nothing
}
}
return(sensorData);
}
// initializes the available sensor interfaces
public static List <DepthSensorInterface> InitSensorInterfaces(ref bool bNeedRestart)
{
List <DepthSensorInterface> listInterfaces = new List <DepthSensorInterface>();
var typeInterface = typeof(DepthSensorInterface);
Type[] typesAvailable = typeInterface.Assembly.GetTypes();
foreach (Type type in typesAvailable)
{
if (typeInterface.IsAssignableFrom(type) && type != typeInterface)
{
DepthSensorInterface sensorInt = null;
try
{
sensorInt = (DepthSensorInterface)Activator.CreateInstance(type);
bool bIntNeedRestart = false;
if (sensorInt.InitSensorInterface(ref bIntNeedRestart))
{
bNeedRestart |= bIntNeedRestart;
}
else
{
sensorInt.FreeSensorInterface();
sensorInt = null;
continue;
}
if (sensorInt.GetSensorsCount() <= 0)
{
sensorInt.FreeSensorInterface();
sensorInt = null;
}
}
catch (Exception)
{
if (sensorInt != null)
{
try
{
sensorInt.FreeSensorInterface();
}
catch (Exception)
{
// do nothing
}
finally
{
sensorInt = null;
}
}
}
if (sensorInt != null)
{
listInterfaces.Add(sensorInt);
}
}
}
return(listInterfaces);
}
void Awake()
{
try
{
// bool bOnceRestarted = false;
// if(System.IO.File.Exists("SCrestart.txt"))
// {
// bOnceRestarted = true;
//
// try
// {
// System.IO.File.Delete("SCrestart.txt");
// }
// catch(Exception ex)
// {
// Debug.LogError("Error deleting SCrestart.txt");
// Debug.LogError(ex.ToString());
// }
// }
// init the available sensor interfaces
sensorInterface = new Kinect2Interface();
bool bNeedRestart = false;
if(sensorInterface.InitSensorInterface(true, ref bNeedRestart))
{
if(bNeedRestart)
{
System.IO.File.WriteAllText("SCrestart.txt", "Restarting level...");
KinectInterop.RestartLevel(gameObject, "SC");
return;
}
else
{
// check if a sensor is connected
bSensorAvailable = sensorInterface.GetSensorsCount() > 0;
if(infoText != null)
{
infoText.GetComponent<GUIText>().text = bSensorAvailable ? "Sensor is connected." : "No sensor is connected.";
}
}
}
else
{
sensorInterface.FreeSensorInterface(true);
sensorInterface = null;
}
}
catch (Exception ex)
{
Debug.LogError(ex.ToString());
if(infoText != null)
{
infoText.GetComponent<GUIText>().text = ex.Message;
}
}
}
// calculates joint orientations of the body joints
public void CalculateJointOrients()
{
if (depthSensorInterface == null)
depthSensorInterface = new Kinect2Interface(); // (goe): I dont know if this is a correct initialization
int jointCount = bodyData.joint.Length;
for (int j = 0; j < jointCount; j++)
{
int joint = j;
KinectInterop.JointData jointData = bodyData.joint[joint];
bool bJointValid = ignoreInferredJoints ? jointData.trackingState == KinectInterop.TrackingState.Tracked : jointData.trackingState != KinectInterop.TrackingState.NotTracked;
if (bJointValid)
{
int nextJoint = (int)depthSensorInterface.GetNextJoint((KinectInterop.JointType)joint); // (goe): I dont know if this call is posible
if (nextJoint != joint && nextJoint >= 0 && nextJoint < bodyData.joint.Length)
{
KinectInterop.JointData nextJointData = bodyData.joint[nextJoint];
bool bNextJointValid = ignoreInferredJoints ? nextJointData.trackingState == KinectInterop.TrackingState.Tracked : nextJointData.trackingState != KinectInterop.TrackingState.NotTracked;
if (bNextJointValid)
{
Vector3 baseDir = KinectInterop.JointBaseDir[nextJoint];
Vector3 jointDir = nextJointData.direction;
jointDir.z = -jointDir.z;
if ((joint == (int)KinectInterop.JointType.ShoulderLeft) ||
(joint == (int)KinectInterop.JointType.ShoulderRight))
{
float angle = -bodyData.bodyTurnAngle;
Vector3 axis = jointDir;
Quaternion armTurnRotation = Quaternion.AngleAxis(angle, axis);
jointData.normalRotation = armTurnRotation * Quaternion.FromToRotation(baseDir, jointDir);
}
else if ((joint == (int)KinectInterop.JointType.ElbowLeft) ||
(joint == (int)KinectInterop.JointType.WristLeft) ||
(joint == (int)KinectInterop.JointType.HandLeft))
{
bool bRotated = false;
if (allowHandRotations && (joint != (int)KinectInterop.JointType.ElbowLeft))
{
KinectInterop.JointData handData = bodyData.joint[(int)KinectInterop.JointType.HandLeft];
KinectInterop.JointData handTipData = bodyData.joint[(int)KinectInterop.JointType.HandTipLeft];
KinectInterop.JointData thumbData = bodyData.joint[(int)KinectInterop.JointType.ThumbLeft];
if (handData.trackingState != KinectInterop.TrackingState.NotTracked &&
handTipData.trackingState != KinectInterop.TrackingState.NotTracked &&
thumbData.trackingState != KinectInterop.TrackingState.NotTracked)
{
Vector3 rightDir = -(handData.direction + handTipData.direction);
rightDir.z = -rightDir.z;
Vector3 fwdDir = thumbData.direction;
fwdDir.z = -fwdDir.z;
if (rightDir.sqrMagnitude >= 0.01f && fwdDir.sqrMagnitude >= 0.01f)
{
Vector3 upDir = Vector3.Cross(fwdDir, rightDir);
fwdDir = Vector3.Cross(rightDir, upDir);
Quaternion handRotation = Quaternion.LookRotation(fwdDir, upDir);
jointData.normalRotation = handRotation;
//bRotated = true;
}
}
bRotated = true;
}
if (!bRotated)
{
Quaternion armTurnRotation = Quaternion.identity;
if (bodyData.leftThumbDirection != Vector3.zero &&
bodyData.leftThumbForward != Vector3.zero) // &&
//Vector3.Angle(bodyData.leftThumbForward, bodyData.leftThumbDirection) <= 90f)
{
armTurnRotation = Quaternion.FromToRotation(bodyData.leftThumbForward, bodyData.leftThumbDirection);
}
else
{
float angle = -bodyData.bodyTurnAngle;
Vector3 axis = jointDir;
armTurnRotation = Quaternion.AngleAxis(angle, axis);
}
jointData.normalRotation = armTurnRotation * Quaternion.FromToRotation(baseDir, jointDir);
}
}
else if ((joint == (int)KinectInterop.JointType.ElbowRight) ||
(joint == (int)KinectInterop.JointType.WristRight) ||
(joint == (int)KinectInterop.JointType.HandRight))
{
bool bRotated = false;
if (allowHandRotations && (joint != (int)KinectInterop.JointType.ElbowRight))
{
KinectInterop.JointData handData = bodyData.joint[(int)KinectInterop.JointType.HandRight];
KinectInterop.JointData handTipData = bodyData.joint[(int)KinectInterop.JointType.HandTipRight];
KinectInterop.JointData thumbData = bodyData.joint[(int)KinectInterop.JointType.ThumbRight];
if (handData.trackingState != KinectInterop.TrackingState.NotTracked &&
handTipData.trackingState != KinectInterop.TrackingState.NotTracked &&
thumbData.trackingState != KinectInterop.TrackingState.NotTracked)
{
Vector3 rightDir = handData.direction + handTipData.direction;
rightDir.z = -rightDir.z;
Vector3 fwdDir = thumbData.direction;
fwdDir.z = -fwdDir.z;
if (rightDir.sqrMagnitude >= 0.01f && fwdDir.sqrMagnitude >= 0.01f)
{
Vector3 upDir = Vector3.Cross(fwdDir, rightDir);
fwdDir = Vector3.Cross(rightDir, upDir);
Quaternion handRotation = Quaternion.LookRotation(fwdDir, upDir); // Vector3.up);
jointData.normalRotation = handRotation;
//bRotated = true;
}
}
bRotated = true;
}
if (!bRotated)
{
Quaternion armTurnRotation = Quaternion.identity;
if (bodyData.rightThumbDirection != Vector3.zero &&
bodyData.rightThumbForward != Vector3.zero) // &&
//Vector3.Angle(bodyData.rightThumbForward, bodyData.rightThumbDirection) <= 90f)
{
armTurnRotation = Quaternion.FromToRotation(bodyData.rightThumbForward, bodyData.rightThumbDirection);
}
else
{
float angle = -bodyData.bodyTurnAngle;
Vector3 axis = jointDir;
armTurnRotation = Quaternion.AngleAxis(angle, axis);
}
jointData.normalRotation = armTurnRotation * Quaternion.FromToRotation(baseDir, jointDir);
}
}
else
{
jointData.normalRotation = Quaternion.FromToRotation(baseDir, jointDir);
}
if ((joint == (int)KinectInterop.JointType.SpineBase) || (joint == (int)KinectInterop.JointType.SpineMid) ||
(joint == (int)KinectInterop.JointType.SpineShoulder) || (joint == (int)KinectInterop.JointType.Neck) ||
(joint == (int)KinectInterop.JointType.HipLeft) || (joint == (int)KinectInterop.JointType.HipRight) ||
(joint == (int)KinectInterop.JointType.KneeLeft) || (joint == (int)KinectInterop.JointType.KneeRight) ||
(joint == (int)KinectInterop.JointType.AnkleLeft) || (joint == (int)KinectInterop.JointType.AnkleRight))
{
baseDir = Vector3.right;
jointDir = bodyData.shouldersDirection;
jointDir.z = -jointDir.z;
jointData.normalRotation *= Quaternion.FromToRotation(baseDir, jointDir);
}
// (goe): This is erased because the stored data has not face tracking data
// if(joint == (int)KinectInterop.JointType.Neck &&
// sensorData != null &&
// depthSensorInterface != null)
// {
// if(sensorData.sensorInterface.IsFaceTrackingInitialized() &&
// sensorData.sensorInterface.IsFaceTracked(bodyData.liTrackingID))
// {
// Quaternion headRotation = Quaternion.identity;
//
// if(sensorData.sensorInterface.GetHeadRotation(bodyData.liTrackingID, ref headRotation))
// {
// Vector3 rotAngles = headRotation.eulerAngles;
// rotAngles.x = -rotAngles.x;
// rotAngles.y = -rotAngles.y;
//
// jointData.normalRotation = Quaternion.Euler(rotAngles);
// }
// }
// }
Vector3 mirroredAngles = jointData.normalRotation.eulerAngles;
mirroredAngles.y = -mirroredAngles.y;
mirroredAngles.z = -mirroredAngles.z;
jointData.mirroredRotation = Quaternion.Euler(mirroredAngles);
}
}
else
{
jointData.normalRotation = Quaternion.identity;
jointData.mirroredRotation = Quaternion.identity;
}
}
bodyData.joint[joint] = jointData;
if (joint == (int)KinectInterop.JointType.SpineBase)
{
bodyData.normalRotation = jointData.normalRotation;
bodyData.mirroredRotation = jointData.mirroredRotation;
}
}
}
