private void updateKinectFloorData()
{
if (coordinateSystem)
{
coordinateSystem.ResetKinectFloorNormal();
coordinateSystem.ResetKinectDistanceFromFloor();
OpenNI.Plane3D floor = sceneAnalyzer.Floor;
Vector3 newFloorNormal = new Vector3(floor.Normal.X, floor.Normal.Y, floor.Normal.Z).normalized;
Vector3 newFloorPosition = coordinateSystem.ConvertKinectPosition(floor.Point);
//Project the position of the kinect camera onto the floor
//http://en.wikipedia.org/wiki/Point_on_plane_closest_to_origin
//http://en.wikipedia.org/wiki/Plane_(geometry)
float d = newFloorNormal.x * newFloorPosition.x + newFloorNormal.y * newFloorPosition.y + newFloorNormal.z * newFloorPosition.z;
Vector3 closestFloorPointToKinect = new Vector3(newFloorNormal.x, newFloorNormal.y, newFloorNormal.z);
closestFloorPointToKinect = (closestFloorPointToKinect * d) / closestFloorPointToKinect.sqrMagnitude;
//transform the point from Kinect's coordinate system rotation to Unity's rotation
closestFloorPointToKinect = Quaternion.FromToRotation(newFloorNormal, Vector3.up) * closestFloorPointToKinect;
//floorPlane.transform.position = closestFloorPointToKinect;
coordinateSystem.SetKinectFloorNormal(newFloorNormal);
//floorNormal = newFloorNormal.normalized;
coordinateSystem.SetKinectDistanceFromFloor(closestFloorPointToKinect.magnitude);
//if(!usingExistingSceneAnalyzer)
// sceneAnalyzer.StopGenerating();
}
}