public LimbOrientation(SharedContent.BodyPartID limbID, Vector3D upperLimbInclination, Vector3D lowerLimbInclination)
{
this.limbID = limbID;
this.upperLimbInclination = upperLimbInclination;
this.lowerLimbInclination = lowerLimbInclination;
this.bendInLimb = Vector3D.AngleBetween(upperLimbInclination, lowerLimbInclination);
this.calibratedUpperLimbInclination = this.upperLimbInclination;
this.calibratedLowerLimbInclination = this.lowerLimbInclination;
this.calibratedBendInLimb = this.bendInLimb;
}
public Exercise(SharedContent.Commands name, string description, Pose[] exercisePoses, ExerciseStep[] exerciseSteps)
{
this.currentStepIndex = 0;
this.name = name;
this.description = description;
this.exercisePoses = exercisePoses;
this.exerciseSteps = exerciseSteps;
this.exerciseStatus = ExerciseStatus.NotStarted;
this.statusMessage = "Waiting for user to assume the starting pose of the first exercise step";
}
public void unregisterSpeechCommand(SharedContent.Commands searchedCommand)
{
string searchedCommandString = SharedContent.GetCommandString(searchedCommand);
for (int i = 0; i < commandDelegates.Length; i++)
{
if (SharedContent.CommandStrings[i] == searchedCommandString)
{
commandDelegates[i] = null;
}
}
}
public LimbOrientation(SharedContent.BodyPartID limbID, SkeletonData bodyPartData)
{
this.limbID = limbID;
this.upperLimbInclination = LimbOrientation.CalculateUpperLimbInclination(limbID, bodyPartData);
this.upperLimbInclination.Normalize();
this.lowerLimbInclination = LimbOrientation.CalculateLowerLimbInclination(limbID, bodyPartData);
this.lowerLimbInclination.Normalize();
this.bendInLimb = Vector3D.AngleBetween(this.upperLimbInclination, this.lowerLimbInclination);
this.calibratedUpperLimbInclination = this.upperLimbInclination;
this.calibratedLowerLimbInclination = this.lowerLimbInclination;
this.calibratedBendInLimb = this.bendInLimb;
}
public void registerSpeechCommand(SharedContent.Commands searchedCommand, SpeechCommandReceived commandDelegate)
{
if (sre == null)
{
initialize();
}
string searchedCommandString = SharedContent.GetCommandString(searchedCommand);
for (int i = 0; i < commandDelegates.Length; i++)
{
if (SharedContent.CommandStrings[i] == searchedCommandString)
{
commandDelegates[i] = commandDelegate;
}
}
}
/// <summary>
/// Returns an array of the joints comprising the limb, from upper joint to lower joint
/// </summary>
/// <param name="limbID"></param>
/// <param name="bodyPartData"></param>
/// <returns></returns>
public static Vector[] GetLimbJoints(SharedContent.BodyPartID limbID, SkeletonData bodyPartData)
{
Vector[] limbJoints = new Vector[3];
switch (limbID)
{
case SharedContent.BodyPartID.RightArm:
limbJoints[0] = bodyPartData.Joints[JointID.ShoulderRight].Position;
limbJoints[1] = bodyPartData.Joints[JointID.ElbowRight].Position;
limbJoints[2] = bodyPartData.Joints[JointID.HandRight].Position;
break;
case SharedContent.BodyPartID.LeftArm:
limbJoints[0] = bodyPartData.Joints[JointID.ShoulderLeft].Position;
limbJoints[1] = bodyPartData.Joints[JointID.ElbowLeft].Position;
limbJoints[2] = bodyPartData.Joints[JointID.HandLeft].Position;
break;
case SharedContent.BodyPartID.RightLeg:
limbJoints[0] = bodyPartData.Joints[JointID.HipRight].Position;
limbJoints[1] = bodyPartData.Joints[JointID.KneeRight].Position;
limbJoints[2] = bodyPartData.Joints[JointID.FootRight].Position;
break;
case SharedContent.BodyPartID.LeftLeg:
limbJoints[0] = bodyPartData.Joints[JointID.HipLeft].Position;
limbJoints[1] = bodyPartData.Joints[JointID.KneeLeft].Position;
limbJoints[2] = bodyPartData.Joints[JointID.FootLeft].Position;
break;
}
return limbJoints;
}
public static Vector3D CalculateUpperLimbInclination(SharedContent.BodyPartID limbID, SkeletonData bodyPartData)
{
Vector[] limbJoints = LimbOrientation.GetLimbJoints(limbID, bodyPartData);
return new Vector3D(limbJoints[1].X - limbJoints[0].X, limbJoints[1].Y - limbJoints[0].Y, limbJoints[1].Z - limbJoints[0].Z);
}
