private static void addJointsToRig(ColladaRigData rig, XmlNode xmlNode, ColladaJointData parentJoint)
{
// Find the next child joint node.
foreach (XmlNode node in xmlNode.ChildNodes)
{
bool isJoint = false;
string id = string.Empty;
// Look at the attributes to check if this node is a joint
foreach (XmlAttribute attribute in node.Attributes)
{
if (attribute.Name == id_label)
{
id = attribute.Value;
}
if (attribute.Name == type && attribute.Value == JOINT)
{
isJoint = true;
}
}
if (isJoint) // found a child joint. Create the data, get the parent, add it to the rig
{
ColladaJointData jointData = getColladaJointFromNode(node, id);
Quaternion lhsRotation = QuaternionHelper.RHStoLHS(jointData.RotationVector);
jointData.LHSTransformationMatrix =
Matrix4x4.TRS(new Vector3(-jointData.Translation.x, jointData.Translation.y, jointData.Translation.z),
lhsRotation, Vector3.one);
// Get parent joint
if (parentJoint != null)
{
jointData.LHSWorldTransformationMatrix = parentJoint.LHSWorldTransformationMatrix * jointData.LHSTransformationMatrix;
rig.Add(id, parentJoint.Id, jointData);
}
else
{
rig.Add(id, jointData);
}
// look for children joints.
addJointsToRig(rig, node, jointData);
}
}
}
/// <summary>
/// Get the structure for what is expected in this output method.
/// </summary>
/// <returns></returns>
public override NUISkeleton GetTargetStructure()
{
// Define the skeletal structure
SkeletonStructure structure = new SkeletonStructure();
structure.SetRootJoint(NUIJointType.SpineBase);
structure.AddBone(ColladaToNUIJointMapping("SpineMid"), ColladaToNUIJointMapping("SpineBase"));
structure.AddBone(ColladaToNUIJointMapping("SpineShoulder"), ColladaToNUIJointMapping("SpineMid"));
structure.AddBone(ColladaToNUIJointMapping("Neck"), ColladaToNUIJointMapping("SpineShoulder"));
structure.AddBone(ColladaToNUIJointMapping("Head"), ColladaToNUIJointMapping("Neck"));
structure.AddBone(ColladaToNUIJointMapping("ShoulderLeft"), ColladaToNUIJointMapping("SpineShoulder"));
structure.AddBone(ColladaToNUIJointMapping("ElbowLeft"), ColladaToNUIJointMapping("ShoulderLeft"));
structure.AddBone(ColladaToNUIJointMapping("WristLeft"), ColladaToNUIJointMapping("ElbowLeft"));
structure.AddBone(ColladaToNUIJointMapping("HandLeft"), ColladaToNUIJointMapping("WristLeft"));
structure.AddBone(ColladaToNUIJointMapping("HandTipLeft"), ColladaToNUIJointMapping("HandLeft"));
structure.AddBone(ColladaToNUIJointMapping("ThumbLeft"), ColladaToNUIJointMapping("HandLeft"));
structure.AddBone(ColladaToNUIJointMapping("ShoulderRight"), ColladaToNUIJointMapping("SpineShoulder"));
structure.AddBone(ColladaToNUIJointMapping("ElbowRight"), ColladaToNUIJointMapping("ShoulderRight"));
structure.AddBone(ColladaToNUIJointMapping("WristRight"), ColladaToNUIJointMapping("ElbowRight"));
structure.AddBone(ColladaToNUIJointMapping("HandRight"), ColladaToNUIJointMapping("WristRight"));
structure.AddBone(ColladaToNUIJointMapping("HandTipRight"), ColladaToNUIJointMapping("HandRight"));
structure.AddBone(ColladaToNUIJointMapping("ThumbRight"), ColladaToNUIJointMapping("HandRight"));
structure.AddBone(ColladaToNUIJointMapping("HipLeft"), ColladaToNUIJointMapping("SpineBase"));
structure.AddBone(ColladaToNUIJointMapping("KneeLeft"), ColladaToNUIJointMapping("HipLeft"));
structure.AddBone(ColladaToNUIJointMapping("AnkleLeft"), ColladaToNUIJointMapping("KneeLeft"));
structure.AddBone(ColladaToNUIJointMapping("FootLeft"), ColladaToNUIJointMapping("AnkleLeft"));
structure.AddBone(ColladaToNUIJointMapping("HipRight"), ColladaToNUIJointMapping("SpineBase"));
structure.AddBone(ColladaToNUIJointMapping("KneeRight"), ColladaToNUIJointMapping("HipRight"));
structure.AddBone(ColladaToNUIJointMapping("AnkleRight"), ColladaToNUIJointMapping("KneeRight"));
structure.AddBone(ColladaToNUIJointMapping("FootRight"), ColladaToNUIJointMapping("AnkleRight"));
// Define the skeleton in Unity terms.
NUISkeleton skeleton = new NUISkeleton(structure);
// Get the hip right and the chest right.
Vector3 hipRightTranslation = rigData.GetJoint("HipRight").LHSWorldTransformationMatrix.GetColumn(3);
Vector3 hipLeftTranslation = rigData.GetJoint("HipLeft").LHSWorldTransformationMatrix.GetColumn(3);
Vector3 shoulderRightTranslation = rigData.GetJoint("ShoulderRight").LHSWorldTransformationMatrix.GetColumn(3);
Vector3 shoulderLeftTranslation = rigData.GetJoint("ShoulderLeft").LHSWorldTransformationMatrix.GetColumn(3);
Vector3 hipRight = hipRightTranslation - hipLeftTranslation;
Vector3 chestRight = shoulderRightTranslation - shoulderLeftTranslation;
skeleton.SpineBaseRight = rigData.GetJoint("SpineBase").LHSWorldTransformationMatrix.inverse.MultiplyVector(hipRight);
skeleton.ChestRight = rigData.GetJoint("SpineMid").LHSWorldTransformationMatrix.inverse.MultiplyVector(chestRight);
foreach (KeyValuePair <string, ColladaJointData> jointData in rigData.JointData)
{
NUIJointType jointType = ColladaToNUIJointMapping(jointData.Key);
NUIJoint joint = new NUIJoint(jointType);
// Convert the Collada Joint rotation from RHS to LHS (Unity)
ColladaJointData currentJoint = jointData.Value;
joint.Position = currentJoint.Translation;
joint.Rotation = QuaternionHelper.RHStoLHS(currentJoint.RotationVector);
joint.TransformationMatrix = currentJoint.LHSTransformationMatrix;
joint.WorldTransformationMatrix = currentJoint.LHSWorldTransformationMatrix;
Vector3 directionToChild = Vector3.zero;
if (!structure.IsJointAnExtremity(jointType)) // directionToChild is not needed for extremeties.
{
NUIJointType childType = structure.GetChildJoint(jointType);
if (childType != NUIJointType.Unspecified)
{
Vector3 child = rigData.GetJoint(NUIJointToColladaMapping(childType)).LHSWorldTransformationMatrix.GetColumn(3);
Vector3 parent = currentJoint.LHSWorldTransformationMatrix.GetColumn(3);
directionToChild = child - parent;
}
}
if (jointType == NUIJointType.SpineBase) // The Hip is a special case.
{
Vector3 rightHipWorldPosition = rigData.GetJoint("HipRight").LHSWorldTransformationMatrix.GetColumn(3);
Vector3 leftHipWorldPosition = rigData.GetJoint("HipLeft").LHSWorldTransformationMatrix.GetColumn(3);
Vector3 hipWorldPosition = rigData.GetJoint("SpineBase").LHSWorldTransformationMatrix.GetColumn(3);
directionToChild = ((rightHipWorldPosition + leftHipWorldPosition) / 2F) - hipWorldPosition;
//float angle = Vector3.Angle(Vector3.up, directionToChild);
//directionToChild = Quaternion.AngleAxis(40 - angle, hipRight) * directionToChild;
}
joint.directionToChild = currentJoint.LHSWorldTransformationMatrix.inverse.MultiplyVector(directionToChild);
skeleton.Joints.Add(jointType, joint);
}
skeleton.ChestRight -= Vector3.Project(skeleton.ChestRight, skeleton.Joints[NUIJointType.SpineMid].directionToChild);
return(skeleton);
}
