public RaiseArmTrigger(XmlNode node)
{
mHeightThreshold = Nui.magnitude(Nui.joint(Nui.Shoulder_Centre) - Nui.joint(Nui.Hip_Centre));
mAngleThreshold = Scalar.Create(.48f);
mDepthThreshold = Scalar.Create(GetFloat(node, 3.6f, "DepthThreshold"));
mWidthThreshold = Scalar.Create(GetFloat(node, 1f, "WidthThreshold"));
mBody = Nui.joint(Nui.Hip_Centre);
Condition inWidth = Nui.abs(Nui.x(Nui.joint(Nui.Hip_Centre))) < mWidthThreshold;
Condition inDepth = Nui.z(Nui.joint(Nui.Hip_Centre)) < mDepthThreshold;
Condition inRange = C.And(inWidth, inDepth);
Vector up = Vector.Create(0f, 1f, 0f);
mArmR = Nui.joint(Nui.Hand_Right) - Nui.joint(Nui.Shoulder_Right);
mArmL = Nui.joint(Nui.Hand_Left) - Nui.joint(Nui.Shoulder_Left);
mAngleR = Nui.dot(up, mArmR);
mAngleL = Nui.dot(up, mArmL);
mTriggerR = C.And(Nui.y(mArmR) > mHeightThreshold, mAngleR > mAngleThreshold);
mTriggerL = C.And(Nui.y(mArmL) > mHeightThreshold, mAngleL > mAngleThreshold);
mTrigger = C.And(C.Or(mTriggerR, mTriggerL), inRange);
mTrigger.OnChange += new ChangeDelegate(mTrigger_OnChange);
}
private void Init()
{
//mX = mConstrainedX * (float)mManager.Monitor.Bounds.Width;
//mY = (float) mManager.Monitor.Bounds.Height - (mConstrainedY * (float)mManager.Monitor.Bounds.Height);
mX = Nui.ifScalar(C.And(mOnScreenConditionLeft, !mOnScreenConditionRight), mConstrainedXLeft, mConstrainedXRight);
mY = 1f - Nui.ifScalar(C.And(mOnScreenConditionLeft, !mOnScreenConditionRight), mConstrainedYLeft, mConstrainedYRight);
//mY = 1f - mConstrainedYRight;
}
public static bool Init()
{
//From a merge between master and working
//Nui.Init();
//Nui.SetAutoPoll(true);
if (mInit)
{
return(true);
}
int attempt = 1;
int wait = mConfig.InitialRetryWait;
while (!Nui.Init())
{
if (attempt > mConfig.RetryAttempts)
{
return(false);
}
LogManager.GetLogger("Kinect").Warn(String.Format("NuiLib unable to initialise Kinect after attempt {0}. Waiting {1}s and retrying.", attempt, (wait / 1000)));
Thread.Sleep(wait);
attempt++;
float newWait = wait * mConfig.RetryWaitMultiplier;
wait = (int)newWait;
}
Nui.SetAutoPoll(true);
mInit = true;
Vector hipR = Nui.joint(Nui.Hip_Right);
Vector handR = Nui.joint(Nui.Hand_Right);
Vector handL = Nui.joint(Nui.Hand_Left);
Condition heightThresholdR = Nui.y(handR) > Nui.y(hipR);
Condition heightThresholdL = Nui.y(handL) > Nui.y(hipR);
Condition heightThreshold = C.Or(heightThresholdL, heightThresholdR);
Scalar dist = Nui.magnitude(Nui.joint(Nui.Shoulder_Centre) - Nui.joint(Nui.Hip_Centre));
Condition distanceThresholdR = Nui.x(handR - Nui.joint(Nui.Hip_Right)) > dist;
Condition distanceThresholdL = Nui.x(Nui.joint(Nui.Hip_Left) - handL) > dist;
//Condition distanceThresholdR = Nui.magnitude(handR - hipR) > dist;
//Condition distanceThresholdL = Nui.magnitude(hipL - handL) > dist;
Condition distanceThreshold = C.Or(distanceThresholdL, distanceThresholdR);
sActiveConditionR = C.Or(heightThresholdR, distanceThresholdR);
sActiveConditionL = C.Or(heightThresholdL, distanceThresholdL);
return(true);
}
public TAxis(bool right, AxisBinding binding)
: base((right ? "T-Right" : "T-Left"), binding, Perspective.Z)
{
mRight = right;
Vector h = Nui.joint(mRight ? Nui.Hand_Right : Nui.Hand_Left);
Vector s = Nui.joint(mRight ? Nui.Shoulder_Right : Nui.Shoulder_Left);
mB = h - s;
mActive = C.And(mRight ? G.ActiveR : G.ActiveL, Nui.abs(Nui.x(B)) > Nui.abs(Nui.z(B)) * 2f);
mB = Nui.limit(mB, true, true, false);
Init();
}
public SimpleKinectCursor()
{
GlobalConditions.Init();
mTickListener = new ChangeDelegate(Nui_Tick);
mSmoothingFactor = Scalar.Create(mConfig.CursorSmoothing);
/*
* mHandR = test ? Vector.Create("HandR", 0f, 0f, 0f) : Nui.smooth(Nui.joint(Nui.Hand_Right), mSmoothingFactor);
* mHandL = test ? Vector.Create("HandL", 0f, 0f, 0f) : Nui.smooth(Nui.joint(Nui.Hand_Left), HAND_SMOOTHING_FRAMES);
* mAnchor = test ? Vector.Create("Anchor", 0f, 0f, 0f) : Nui.smooth(Nui.joint(Nui.Hip_Centre), ANCHOR_SMOOTHING_FRAMES);
*/
mHandR = Nui.smooth(Nui.joint(Nui.Hand_Right), mSmoothingFactor);
mHandL = Nui.smooth(Nui.joint(Nui.Hand_Left), mSmoothingFactor);
mAnchor = Nui.smooth(Nui.joint(Nui.Hip_Centre), ANCHOR_SMOOTHING_FRAMES);
mLeftShift = Scalar.Create("Left Shift", .0f);
mUpShift = Scalar.Create("Up Shift", .0f);
mWidth = Scalar.Create("Width", .5f);
mHeight = Scalar.Create("Height", .5f);
//mWidth = headShoulderDiff * mWidthScale;
//mHeight = headShoulderDiff * mHeightScale;
mTopLeftX = Nui.x(mAnchor) - (mWidth * mLeftShift);
mTopLeftY = Nui.y(mAnchor) + (mHeight * mUpShift);
mRawXRight = Nui.x(mHandR) - mTopLeftX;
mRawYRight = Nui.y(mHandR) - mTopLeftY;
Condition xActiveRight = C.And(mRawXRight >= 0f, mRawXRight <= mWidth);
Condition yActiveRight = C.And(mRawYRight >= 0f, mRawYRight <= mHeight);
mConstrainedXRight = Nui.constrain(mRawXRight, .01f, mWidth, .10f, false);
mConstrainedYRight = Nui.constrain(mRawYRight, .01f, mHeight, .10f, false);
mOnScreenConditionRight = C.And(xActiveRight, yActiveRight);
mLeftHandShift = Scalar.Create("LeftHandShift", .5f);
mRawXLeft = (Nui.x(mHandL) + mLeftHandShift) - mTopLeftX;
mRawYLeft = Nui.y(mHandL) - mTopLeftY;
Condition xActiveLeft = C.And(mRawXLeft >= 0f, mRawXLeft <= mWidth);
Condition yActiveLeft = C.And(mRawYLeft >= 0f, mRawYLeft <= mHeight);
mConstrainedXLeft = Nui.constrain(mRawXLeft, .01f, mWidth, .10f, false);
mConstrainedYLeft = Nui.constrain(mRawYLeft, .01f, mHeight, .10f, false);
mOnScreenConditionLeft = C.And(xActiveLeft, yActiveLeft);
}
public StandAxis(bool forward, AxisBinding binding)
: base("Stand" + (forward ? "X" : "Y"), binding)
{
mStandConfig = new StandConfig();
Vector handR = Nui.joint(Nui.Hand_Right);
Vector handL = Nui.joint(Nui.Hand_Left);
Vector zeroPoint = Vector.Create("ZeroPoint", mStandConfig.ZeroPosition.X, mStandConfig.ZeroPosition.Y, mStandConfig.ZeroPosition.Z);
//How far pushing forward
Vector diff = zeroPoint - Nui.joint(Nui.Hip_Centre);
mRaw = forward ? Nui.z(diff) : Nui.x(diff);
//Whether the push gesture could be active
mActive = C.And(Nui.abs(mRaw) > Deadzone.Value, Nui.abs(mRaw) < mStandConfig.Maximum);
//mActive = C.And(mActive, Nui.y(hand) > Nui.y(elbow));
//The value for the push gesture
mValue = Nui.ifScalar(mActive, mRaw, 0f);
}
public CrossArmsLowTrigger(XmlNode node)
{
mHeightThreshold = Nui.magnitude(Nui.joint(Nui.Shoulder_Centre) - Nui.joint(Nui.Hip_Centre));
mAngleThreshold = Scalar.Create(.48f);
mDepthThreshold = Scalar.Create(GetFloat(node, 3.6f, "DepthThreshold"));
mWidthThreshold = Scalar.Create(GetFloat(node, 1f, "WidthThreshold"));
mBody = Nui.joint(Nui.Hip_Centre);
Condition inWidth = Nui.abs(Nui.x(Nui.joint(Nui.Hip_Centre))) < mWidthThreshold;
Condition inDepth = Nui.z(Nui.joint(Nui.Hip_Centre)) < mDepthThreshold;
Condition inRange = C.And(inWidth, inDepth);
mTriggerHeight = C.And(Nui.y(Nui.joint(Nui.Hand_Left)) < Nui.y(Nui.joint(Nui.Elbow_Left)), Nui.y(Nui.joint(Nui.Hand_Right)) < Nui.y(Nui.joint(Nui.Elbow_Right)));
mArmsCrossed = Nui.x(Nui.joint(Nui.Hand_Right)) < Nui.x(Nui.joint(Nui.Hand_Left));
mTrigger = C.And(C.And(mTriggerHeight, mArmsCrossed), inRange);
mTrigger.OnChange += new ChangeDelegate(mTrigger_OnChange);
}
public PushSingleAxis(bool forward, AxisBinding binding)
: base("Push" + (forward ? "+" : "-"), binding)
{
mMirror = false;
Vector handR = Nui.joint(Nui.Hand_Right);
Vector handL = Nui.joint(Nui.Hand_Left);
//How far pushing forward
mRaw = Nui.z(handR - Nui.joint(Nui.Hip_Centre)) + Nui.z(handL - Nui.joint(Nui.Hip_Centre));
if (forward)
{
mRaw *= -1f;
}
//Whether the push gesture could be active
mActive = C.And(C.Or(GlobalConditions.ActiveR, GlobalConditions.ActiveL), !C.And(GlobalConditions.ActiveR, GlobalConditions.ActiveL));
//mActive = C.And(mActive, Nui.y(hand) > Nui.y(elbow));
//The value for the push gesture
mValue = Nui.ifScalar(mActive, mRaw, 0f);
}
public KinectCursorAxis(bool left, bool x, AxisBinding binding)
{
mName = MakeName(left, x);
mBinding = binding;
mLeft = left;
mX = x;
mPanel = new UserControl();
mSmoothingFactor = Scalar.Create(HAND_SMOOTHING_FRAMES);
if (mLeft)
{
mHand = Nui.smooth(Nui.joint(Nui.Hand_Right), mSmoothingFactor);
}
else
{
mHand = Nui.smooth(Nui.joint(Nui.Hand_Left), mSmoothingFactor);
}
mAnchor = Nui.smooth(Nui.joint(Nui.Hip_Centre), ANCHOR_SMOOTHING_FRAMES);
mLeftShift = Scalar.Create("Left Shift", .0f);
mUpShift = Scalar.Create("Up Shift", .0f);
mWidth = Scalar.Create("Width", .5f);
mHeight = Scalar.Create("Height", .5f);
mTopLeftX = Nui.x(mAnchor) - (mWidth * mLeftShift);
mTopLeftY = Nui.y(mAnchor) + (mHeight * mUpShift);
if (mLeft)
{
if (mX)
{
mLeftHandShift = Scalar.Create("LeftHandShift", .5f);
mNUIRaw = (Nui.x(mHand) + mLeftHandShift) - mTopLeftX;
xActiveLeft = C.And(mNUIRaw >= 0f, mNUIRaw <= mWidth);
mConstrained = Nui.constrain(mNUIRaw, .01f, mWidth, .10f, false);
}
else
{
mNUIRaw = Nui.y(mHand) - mTopLeftY;
yActiveLeft = C.And(mNUIRaw >= 0f, mNUIRaw <= mHeight);
mConstrained = Nui.constrain(mNUIRaw, .01f, mHeight, .10f, false);
}
if (xActiveLeft != null && yActiveLeft != null)
{
mOnScreenConditionLeft = C.And(xActiveLeft, yActiveLeft);
}
}
else
{
if (mX)
{
mNUIRaw = Nui.x(mHand) - mTopLeftX;
xActiveRight = C.And(mNUIRaw >= 0f, mNUIRaw <= mWidth);
mConstrained = Nui.constrain(mNUIRaw, .01f, mWidth, .10f, false);
}
else
{
mNUIRaw = Nui.y(mHand) - mTopLeftY;
yActiveRight = C.And(mNUIRaw >= 0f, mNUIRaw <= mHeight);
mConstrained = Nui.constrain(mNUIRaw, .01f, mHeight, .10f, false);
}
if (xActiveRight != null && yActiveRight != null)
{
mOnScreenConditionRight = C.And(xActiveRight, yActiveRight);
}
}
}
public void Init(Frame frame)
{
mFrame = frame;
//TODO - this should be set properly - as a property
mOrientation = Rotation.Zero;
mOrientation.Changed += orientation_Changed;
mFrame.Changed += (win, args) => ConfigureFromWindow();
mPlaneTopLeft = Vector.Create("PlanePoint", 1f, 1f, 0f);
mPlaneNormal = Nui.normalize(Vector.Create("PlaneNormal", 0f, 0f, 1f));
mWorldW = Scalar.Create("WorldW", (float)mFrame.Width);
mWorldH = Scalar.Create("WorldH", (float)mFrame.Height);
mScreenW = Scalar.Create("ScreenW", mFrame.Monitor.Bounds.Width);
mScreenH = Scalar.Create("ScreenH", mFrame.Monitor.Bounds.Height);
Vector pointEnd = Nui.joint(Nui.Hand_Right) * SCALE;
if (mTest)
{
mPointStart = Vector.Create("PointStart", 0f, 0f, 5f);
mPointDir = Vector.Create("PointDir", 0f, 0f, -1f);
}
else
{
mPointStart = Nui.joint(Nui.Elbow_Right) * SCALE;
mPointDir = Nui.normalize(mPointStart - pointEnd);
}
//Calculate the intersection of the plane defined by the point mPlaneTopLeft and the normal mPlaneNormal and the line defined by the point mPointStart and the direction mPointDir.
Scalar numerator = Nui.dot(mPointStart - mPlaneTopLeft, mPlaneNormal);
Scalar denominator = Nui.dot(mPlaneNormal, mPointDir);
mIntersects = denominator != 0f;
mIntersection = mPointStart + Nui.scale(mPointDir, Nui.ifScalar(mIntersects, numerator / denominator, 0f));
Vector vertical = Vector.Create(0f, 1f, 0f); // Vertical
//Calculate a vector that represents the orientation of the top of the input.
mTop = Nui.scale(Nui.cross(vertical, mPlaneNormal), mWorldW);
//Calculate a vector that represents the orientation of the side of the input.
mSide = Nui.scale(Nui.cross(mPlaneNormal, mTop), mWorldH);
//Calculate the vector (running along the plane) between the top left corner and the point of intersection.
Vector diff = mIntersection - mPlaneTopLeft;
//Project the diff line onto the top and side vectors to get x and y values.
Scalar kinectCoordX = Nui.project(diff, mTop);
Scalar kinectCoordY = Nui.project(diff, mSide);
Scalar x = (mWorldW - kinectCoordX) / mWorldW;
Scalar y = (mWorldH - kinectCoordY) / mWorldH;
mX = Nui.ifScalar(C.And(mIntersects, C.And(x >= 0f, x <= 1f)), x, -1f);
mY = Nui.ifScalar(C.And(mIntersects, C.And(y >= 0f, y <= 1f)), y, -1f);
mIntersection.Name = "Intersection";
mTop.Name = "Top";
mSide.Name = "Side";
mX.Name = "X";
mY.Name = "Y";
ConfigureFromWindow();
Nui.Tick += Tick;
}
