public override void Update(GameTime gameTime)
{
if (Joint == null)
{
try
{
// A GearJoint can only have two revolutes or a revolute and a prismatic joint
if (Joint1.GetType() == typeof(PrismaticJointObject))
{
if (Joint2.GetType() == typeof(RevoluteJointObject))
{
Joint = JointFactory.CreateGearJoint(Level.Physics, Joint1.Joint, Joint2.Joint, Ratio);
}
}
else if (Joint1.GetType() == typeof(RevoluteJointObject))
{
if (Joint2.GetType() == typeof(RevoluteJointObject) || Joint2.GetType() == typeof(PrismaticJointObject))
{
Joint = JointFactory.CreateGearJoint(Level.Physics, Joint1.Joint, Joint2.Joint, Ratio);
}
}
}
catch (Exception e)
{
#if DEBUG
Console.WriteLine("OMG - Wasn't able to create Gear Joint.");
#endif
}
}
Circle.position = position;
}
/// <inheritdoc />
protected override void OnRender()
{
ImGui.SetNextWindowPos(new Vector2(10.0f, 100.0f));
ImGui.SetNextWindowSize(new Vector2(200.0f, 100.0f));
ImGui.Begin("Joint Controls", ImGuiWindowFlags.NoMove | ImGuiWindowFlags.NoResize);
if (ImGui.Checkbox("Limit", ref EnableLimit))
{
Joint1.EnableLimit(EnableLimit);
}
if (ImGui.Checkbox("Motor", ref EnableMotor))
{
Joint1.EnableMotor(EnableMotor);
}
if (ImGui.SliderFloat("Speed", ref MotorSpeed, -20.0f, 20.0f, "%.0f"))
{
Joint1.SetMotorSpeed(MotorSpeed);
}
ImGui.End();
}
private void Reader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
{
bool dataReceived = false;
var currentrecord = record;
using (BodyFrame bodyFrame = e.FrameReference.AcquireFrame())
{
if (bodyFrame != null)
{
if (this.bodies == null)
{
this.bodies = new Body[bodyFrame.BodyCount];
}
// The first time GetAndRefreshBodyData is called, Kinect will allocate each Body in the array.
// As long as those body objects are not disposed and not set to null in the array,
// those body objects will be re-used.
bodyFrame.GetAndRefreshBodyData(this.bodies);
dataReceived = true;
}
}
//Console.WriteLine(" foo");
if (dataReceived)
{
using (DrawingContext dc = this.drawingGroup.Open())
{
// Draw a transparent background to set the render size
dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, this.displayWidth, this.displayHeight));
int penIndex = 0;
foreach (Body body in this.bodies)
{
Pen drawPen = this.bodyColors[penIndex++];
if (body.IsTracked)
{
this.DrawClippedEdges(body, dc);
IReadOnlyDictionary <JointType, Joint> joints = body.Joints;
// convert the joint points to depth (display) space
Dictionary <JointType, Point> jointPoints = new Dictionary <JointType, Point>();
var frame = new Frame();
foreach (JointType jointType in joints.Keys)
{
// sometimes the depth(Z) of an inferred joint may show as negative
// clamp down to 0.1f to prevent coordinatemapper from returning (-Infinity, -Infinity)
CameraSpacePoint position = joints[jointType].Position;
if (position.Z < 0)
{
position.Z = InferredZPositionClamp;
}
DepthSpacePoint depthSpacePoint = this.coordinateMapper.MapCameraPointToDepthSpace(position);
jointPoints[jointType] = new Point(depthSpacePoint.X, depthSpacePoint.Y);
var z = joints[jointType].Position.Z * 275.36339626;
var joint = new Joint1();
joint.Name = Enum.GetName(typeof(JointType), jointType);
joint.X = jointPoints[jointType].X.ToString();
joint.Y = jointPoints[jointType].Y.ToString();
joint.Z = z.ToString();
if (currentrecord)
{
frame.Joint.Add(joint);
}
}
if (currentrecord)
{
signs.Sign.Frame.Add(frame);
}
this.DrawBody(joints, jointPoints, dc, drawPen);
this.DrawHand(body.HandLeftState, jointPoints[JointType.HandLeft], dc);
this.DrawHand(body.HandRightState, jointPoints[JointType.HandRight], dc);
}
}
// prevent drawing outside of our render area
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, this.displayWidth, this.displayHeight));
}
}
}
