protected override void UpdateFoot(LegSensor legSensor)
{
legSensor.foot.position = Target.ToVector(Kinect2Tracker.SmoothPosition(lastFootPosition, legSensor.foot.position));
legSensor.foot.rotation = Target.ToRotation(Kinect2Tracker.SmoothRotation(lastFootRotation, legSensor.foot.rotation));
base.UpdateFoot(legSensor);
lastFootPosition = footTarget.foot.target.transform.position;
lastFootRotation = footTarget.foot.target.transform.rotation;
}
protected override void UpdateLowerLeg(LegSensor legSensor)
{
legSensor.lowerLeg.position = Target.ToVector(Kinect2Tracker.SmoothPosition(lastLowerLegPosition, legSensor.lowerLeg.position));
legSensor.lowerLeg.rotation = Target.ToRotation(Kinect2Tracker.SmoothRotation(lastLowerLegRotation, legSensor.lowerLeg.rotation));
base.UpdateLowerLeg(legSensor);
lastLowerLegPosition = footTarget.lowerLeg.target.transform.position;
lastLowerLegRotation = footTarget.lowerLeg.target.transform.rotation;
}
protected virtual void UpdateUpperLeg(LegSensor legSensor)
{
if (footTarget.upperLeg.target.transform != null)
{
if (legSensor.upperLeg.confidence.position > 0)
{
footTarget.upperLeg.target.transform.position = HumanoidTarget.ToVector3(legSensor.upperLeg.position);
}
//else
// footTarget.upperLeg.target.transform.position = footTarget.shoulder.target.transform.position + footTarget.shoulder.target.transform.rotation * footTarget.outward * footTarget.shoulder.bone.length;
if (legSensor.upperLeg.confidence.rotation > 0)
{
footTarget.upperLeg.target.transform.rotation = HumanoidTarget.ToQuaternion(legSensor.upperLeg.rotation);
}
footTarget.upperLeg.target.confidence = legSensor.upperLeg.confidence;
}
}
protected virtual void UpdateFoot(LegSensor legSensor)
{
if (footTarget.foot.target.transform != null)
{
if (legSensor.foot.confidence.position > 0)
{
footTarget.foot.target.transform.position = HumanoidTarget.ToVector3(legSensor.foot.position);
}
else
{
footTarget.foot.target.transform.position = footTarget.lowerLeg.target.transform.position + footTarget.lowerLeg.target.transform.rotation * Vector3.down * footTarget.lowerLeg.bone.length;
}
if (legSensor.foot.confidence.rotation > 0)
{
footTarget.foot.target.transform.rotation = HumanoidTarget.ToQuaternion(legSensor.foot.rotation);
}
footTarget.foot.target.confidence = legSensor.foot.confidence;
}
}
