/// <summary> 加速度の変化量 </summary>
private void GetDeltaAccList()
{
InitParameter();
float[] p0 = new float[] { jointsList[0][JointType], jointsList[0][JointType + 1], jointsList[0][JointType + 2] };
double v0 = 0;
double a0 = 0;
for (int i = 1; i < timeTable.Count; i++)
{
float[] joint = jointsList[i];
int t = timeTable[i] - timeTable[i - 1];
double v = Caliculater.GetVelocity(joint, JointType, p0, t);
double a = (v - v0) / t;
double delA = (a - a0) / t;
if (i < 3)
{
delA = 0;
}
if (timeTable[i] > 19500)
{
delA = 0;
}
UpdateMaxMin(delA);
v0 = v;
a0 = a;
datapointList[i] = new DataPoint(timeTable[i], delA);
}
UpdateView();
}
/// <summary> 手肘肩の角度 全開で2,3前後の値 </summary>
private void GetAngleList()
{
InitParameter();
for (int i = 0; i < timeTable.Count; i++)
{
double angle = Caliculater.GetAngle(jointsList[i], anglePoint[0], anglePoint[1], anglePoint[2]);
UpdateMaxMin(angle);
datapointList[i] = new DataPoint(timeTable[i], angle);
}
UpdateView();
}
/// <summary> 角速度 </summary>
private void GetAngularVelocityList()
{
InitParameter();
double angle0 = 0;
datapointList[0] = new DataPoint(timeTable[0], 0);
for (int i = 1; i < timeTable.Count; i++)
{
double angle = Caliculater.GetAngle(jointsList[i], anglePoint[0], anglePoint[1], anglePoint[2]);
double aVelocity = (angle - angle0) / (timeTable[i] - timeTable[i - 1]);
if (timeTable[i] < 2000)
{
aVelocity = 0;
}
UpdateMaxMin(aVelocity);
datapointList[i] = new DataPoint(timeTable[i], aVelocity);
angle0 = angle;
}
UpdateView();
}
/// <summary> 速度 </summary>
private void GetVelocityList()
{
InitParameter();
float[] p0 = new float[] { jointsList[0][JointType], jointsList[0][JointType + 1], jointsList[0][JointType + 2] };
datapointList[0] = new DataPoint(timeTable[0], 0);
for (int i = 1; i < timeTable.Count; i++)
{
var joint = jointsList[i];
double velocity = Caliculater.GetVelocity(joint, JointType, p0, (timeTable[i] - timeTable[i - 1]));
if (i < 10)
{
velocity = 0;
}
UpdateMaxMin(velocity);
datapointList[i] = new DataPoint(timeTable[i], velocity);
p0 = new float[] { joint[JointType], joint[JointType + 1], joint[JointType + 2] };
}
UpdateView();
}
/// <summary> 加速度 </summary>
private void GetAccelerationList()
{
InitParameter();
float[] p0 = new float[] { jointsList[0][JointType], jointsList[0][JointType + 1], jointsList[0][JointType + 2] };
double v0 = 0;
datapointList[0] = new DataPoint(timeTable[0], 0);
for (int i = 1; i < timeTable.Count; i++)
{
float[] joint = jointsList[i];
int t = timeTable[i] - timeTable[i - 1];
double v = Caliculater.GetVelocity(joint, JointType, p0, t);
double a = (v - v0) / t;
if (i < 3)
{
a = 0;
}
UpdateMaxMin(a);
datapointList[i] = new DataPoint(timeTable[i], a);
p0 = new float[] { joint[JointType], joint[JointType + 1], joint[JointType + 2] };
v0 = v;
}
UpdateView();
}
private void CheckVelAndAngle(int pIndex, float[] joints, int jointType, int start, int mid, int end)
{
int tIndex = 0;
if (pIndex == 1 || pIndex == 2)
{
tIndex = 1;
}
if (pIndex == 3 || pIndex == 4)
{
tIndex = 2;
}
long t = KinectManager.kinectTimer.ElapsedMilliseconds;
double sumsq = 0;
for (int i = 0; i < 3; i++)
{
sumsq += Math.Pow((joints[jointType + i] - p0[pIndex][i]) / (t - t0[pIndex]), 2);
}
double velocity = Math.Sqrt(sumsq);
float[] vec1 = Caliculater.JointsToVecArray(joints, mid, start);
float[] vec2 = Caliculater.JointsToVecArray(joints, mid, end);
double cos = Caliculater.VecToCos(vec1, vec2);
double angle = Math.Acos(cos);
double angleVelocity = (angle - angle0[pIndex]) / (t - t0[pIndex]);
if (upValueIsUsed)
{
if (velocity - v0[pIndex] >= 0)
{
upValue[pIndex] = true;
}
if (velocity - v0[pIndex] < 0)
{
if (upValue[pIndex])
{
if (t - time[pIndex] > waitTime)
{
if (velocity < Vel[tIndex][0] && Vel[tIndex][1] < velocity)
{
if (angleVelocity < AngVel[tIndex][0] && AngVel[tIndex][1] < angleVelocity)
{
Midi.OnNote(11, Chord.NoteList[Chord.NoteIndex][Mapping(joints[jointType + 1])], 240);
time[pIndex] = t;
}
}
}
}
upValue[pIndex] = false;
}
}
else
{
if (t - time[pIndex] > waitTime)
{
if (Vel == null)
{
Console.WriteLine("null");
}
if (velocity < Vel[tIndex][0] && Vel[tIndex][1] < velocity)
{
if (angleVelocity < AngVel[tIndex][0] && AngVel[tIndex][1] < angleVelocity)
{
Midi.OnNote(11, Chord.NoteList[Chord.NoteIndex][Mapping(joints[jointType + 1])], 240);
time[pIndex] = t;
}
}
}
}
p0[pIndex] = new float[] { joints[jointType], joints[jointType + 1], joints[jointType + 2] };
t0[pIndex] = t;
v0[pIndex] = velocity;
angle0[pIndex] = angle;
}
