public async Task ShowRotations()
{
var rotations = await _rotationsApi.Get <List <Model.Rotation> >(null);
rotations.RemoveAll(r => !r.Available);
var currentDate = DateTime.Now.Date;
rotations.RemoveAll(r => !((currentDate > r.From) && (currentDate < r.To)));
rotations.RemoveAll(r => (r.ForBirthday) && (currentDate.Date != APIService.User.BirthDate.Date));
rotations = (from item in rotations orderby item.ForBirthday descending select item).ToList();
Rotations.Clear();
foreach (var rotation in rotations)
{
var movie = await _moviesApi.GetById <Model.Movie>(rotation.MovieId);
var show = await _showsApi.GetById <Model.Show>(rotation.ShowId);
var newItem = new Model.ObservableLists.RotationItem()
{
Birthday = rotation.ForBirthday,
From = rotation.From.Date.ToString("dd. MMMM yy"),
To = rotation.To.ToString("dd. MMMM yy"),
Description = rotation.Description,
MovieImage = movie.ImageLink,
ShowImage = show.ImageLink,
RotationId = rotation.RotationId
};
Rotations.Add(newItem);
}
}
public void AddRotation(String[] Parameters)
{
Affectation Affectation = new Affectation("R", GroupDepth, Parameters, CurrentLoop);
Rotations.Add(Affectation);
Content += Affectation.getEquivalentLine();
}
public void AddTransform(Matrix transform, float rotation, Color tint, bool rebuild)
{
LocalTransforms.Add(transform * Matrix.Invert(GlobalTransform));
Rotations.Add(rotation);
Tints.Add(tint);
if (rebuild)
{
RebuildPrimitive();
}
}
/// <summary>
/// Create a rotation
/// </summary>
/// <param name="name">Name</param>
/// <param name="description">Description</param>
/// <returns>Rotation</returns>
public Rotation CreateRotation(string name, string description)
{
Rotation rotation = new Rotation(name, description);
if (Rotations.Contains(rotation))
{
string msg = String.Format(WorkSchedule.GetMessage("rotation.already.exists"), name);
throw new Exception(msg);
}
Rotations.Add(rotation);
rotation.WorkSchedule = this;
return(rotation);
}
public void Deserialize(Stream stream)
{
using (var r = stream.ToBinaryReader(true))
{
Unk = r.ReadInt32();
int count = r.ReadInt32();
for (int j = 0; j < count; j++)
{
Rotations.Add(new Quaternion(r.ReadSingle(), r.ReadSingle(), r.ReadSingle(), r.ReadSingle()));
}
count = r.ReadInt32();
for (int j = 0; j < count; j++)
{
Positions.Add(new Vector3(r.ReadSingle(), r.ReadSingle(), r.ReadSingle()));
}
}
}
private void LoadDotVision(Picture picture)
{
string fileName = picture.Directorio + @"\.vision";
Rotations.Clear();
const Int32 BufferSize = 128;
using (var fileStream = File.OpenRead(fileName))
using (var streamReader = new StreamReader(fileStream, System.Text.Encoding.UTF8, true, BufferSize))
{
string line;
while ((line = streamReader.ReadLine()) != null)
{
string[] valores = line.Split('|');
double angulo = 0;
double.TryParse(valores[1], out angulo);
Rotations.Add(new Rotation(valores[0], angulo));
}
}
}
private void AddRotationControl(RotationInfo ri)
{
var DockPanel = new DockPanel()
{
Tag = ri
};
var Label = new Label()
{
MinWidth = 30
};
Label.Content = ri.Axis;
var ctm = new ContextMenu();
var rm = new MenuItem();
rm.Header = "Remove";
rm.Tag = DockPanel;
rm.Click += RotationSlider_Remove;
ctm.Items.Add(rm);
DockPanel.ContextMenu = ctm;
DockPanel.SetDock(Label, Dock.Left);
var Slider = new Slider()
{
Maximum = 100,
TickPlacement = System.Windows.Controls.Primitives.TickPlacement.BottomRight,
TickFrequency = 5,
Focusable = false,
IsSnapToTickEnabled = true,
Tag = ri
};
Slider.ValueChanged += RotationSlider_ValueChanged;
DockPanel.Children.Add(Label);
DockPanel.Children.Add(Slider);
Rotations.Add(ri);
RotationsList.Children.Add(DockPanel);
}
public void HandleModEnable()
{
Main.Mod.Debug(MethodBase.GetCurrentMethod());
foreach (KeyValuePair <string, string> kvp in CloneGuids)
{
Main.Mod.Debug(Positions.ContainsKey(kvp.Value));
if (Positions.ContainsKey(kvp.Value))
{
NewVendors[kvp.Value].Posistion = Positions[kvp.Value];
}
else
{
Positions.Add(CloneGuids["bokken"], bokkenPos);
}
if (Rotations.ContainsKey(kvp.Value))
{
NewVendors[kvp.Value].Rotation = Quaternion.LookRotation(Rotations[kvp.Value]);
}
else
{
Rotations.Add(CloneGuids["bokken"], bokkenRot);
}
}
}
// CalculateBoneRotations is called for calculating the bone rotations(global/local) in the method of joint angle mapping
public void CalculateBoneRotations()
{
// calculate the Bone Global Rotations
for (int i = 0; i < 15; i++)
{
Rotations.Add(Quaternion.identity); // initialize the Rotations
}
// check whether using absolute coordinate rotation and pick the different methods(aligning coordinates/relatively rotating) to calculate the bone rotations
if (UseAbsoluteCoordinate)
{
// calculate the bone global rotations using the method of aligning bone coordinates(make sure that the coordinate system will be the same(fixed to the bones) for every frame based on the human joint keypoints)
Rotations[0] = CalculateGlobalRotation(Positions[6] - Positions[2], Positions[7] - Positions[6]); //
Rotations[1] = CalculateGlobalRotation(Positions[2] - Positions[1], Positions[1] - Positions[0]); // rightThigh
Rotations[2] = CalculateGlobalRotation(Positions[1] - Positions[0], Positions[1] - Positions[2]); // rightCalf
Rotations[3] = CalculateGlobalRotation(Positions[6] - Positions[3], Positions[6] - Positions[7]); //
Rotations[4] = CalculateGlobalRotation(Positions[3] - Positions[4], Positions[4] - Positions[5]); // leftThigh
Rotations[5] = CalculateGlobalRotation(Positions[4] - Positions[5], Positions[4] - Positions[3]); // leftCalf
Rotations[6] = CalculateGlobalRotation(Positions[6] - Positions[7], Positions[3] - Positions[2]); //
Rotations[7] = CalculateGlobalRotation(Positions[7] - Positions[8], Positions[6] - Positions[7]); //
Rotations[8] = CalculateGlobalRotation(Positions[8] - Positions[9], Positions[7] - Positions[8]); //
Rotations[9] = CalculateGlobalRotation(Positions[8] - Positions[12], Positions[8] - Positions[7]); // rightClavicle
Rotations[10] = CalculateGlobalRotation(Positions[12] - Positions[11], Positions[11] - Positions[10]); // rightUpperArm
Rotations[11] = CalculateGlobalRotation(Positions[11] - Positions[10], Positions[11] - Positions[12]); // rightForearm
Rotations[12] = CalculateGlobalRotation(Positions[8] - Positions[13], Positions[7] - Positions[8]); //
Rotations[13] = CalculateGlobalRotation(Positions[13] - Positions[14], Positions[14] - Positions[15]); // leftUpperArm
Rotations[14] = CalculateGlobalRotation(Positions[14] - Positions[15], Positions[14] - Positions[13]); // leftForearm
}
else
{
// define the initial reference coordinate rotations
var rotLeftForward = Quaternion.LookRotation(Vector3.left, Vector3.forward);
var rotLeftBack = Quaternion.LookRotation(Vector3.left, Vector3.back);
var rotLeftDown = Quaternion.LookRotation(Vector3.left, Vector3.down);
var rotLeftUp = Quaternion.LookRotation(Vector3.left, Vector3.up);
// TODO: calculate the bone global rotations using the method of relatively rotating
Rotations[0] = CalculateGlobalRotation(Positions[2] - Positions[6], Positions[7] - Positions[6], rotLeftDown); // rightHipBone
Rotations[1] = CalculateGlobalRotation(Positions[1] - Positions[2], Positions[0] - Positions[1], rotLeftForward); // rightThigh
Rotations[2] = CalculateGlobalRotation(Positions[0] - Positions[1], Positions[2] - Positions[1], rotLeftForward); // rightCalf
Rotations[3] = CalculateGlobalRotation(Positions[3] - Positions[6], Positions[6] - Positions[7], rotLeftDown); // leftHipBone
Rotations[4] = CalculateGlobalRotation(Positions[4] - Positions[3], Positions[5] - Positions[4], rotLeftForward); // leftThigh
Rotations[5] = CalculateGlobalRotation(Positions[5] - Positions[4], Positions[3] - Positions[4], rotLeftForward); // leftCalf
Rotations[6] = CalculateGlobalRotation(Positions[7] - Positions[6], Positions[3] - Positions[2], rotLeftDown); // waist
Rotations[7] = CalculateGlobalRotation(Positions[8] - Positions[7], Positions[6] - Positions[7], rotLeftDown); // chest
Rotations[8] = CalculateGlobalRotation(Positions[9] - Positions[8], Positions[13] - Positions[12], rotLeftDown); // neck
Rotations[9] = CalculateGlobalRotation(Positions[12] - Positions[8], Positions[8] - Positions[7], rotLeftUp); // rightClavicle
Rotations[10] = CalculateGlobalRotation(Positions[11] - Positions[12], Positions[10] - Positions[11], rotLeftBack); // rightUpperArm
Rotations[11] = CalculateGlobalRotation(Positions[10] - Positions[11], Positions[12] - Positions[11], rotLeftBack); // rightForearm
Rotations[12] = CalculateGlobalRotation(Positions[13] - Positions[8], Positions[7] - Positions[8], rotLeftUp); // leftClavicle
Rotations[13] = CalculateGlobalRotation(Positions[14] - Positions[13], Positions[15] - Positions[14], rotLeftBack); // leftUpperArm
Rotations[14] = CalculateGlobalRotation(Positions[15] - Positions[14], Positions[13] - Positions[14], rotLeftBack); // leftForearm
}
// calculate the Bone Local Rotations
for (int j = 0; j < 15; j++)
{
LocalRotations.Add(Quaternion.identity); // initialize the LocalRotations
}
// check whether using local rotation of bones for driving avatar
if (UseLocalRotation)
{
// calculate the bone local rotations using the method of relatively rotating
LocalRotations[0] = CalculateLocalRotation(Rotations[6], Rotations[0]); // rightHipBone
LocalRotations[1] = CalculateLocalRotation(Rotations[0], Rotations[1]); // rightThigh
LocalRotations[2] = CalculateLocalRotation(Rotations[1], Rotations[2]); // rightCalf
LocalRotations[3] = CalculateLocalRotation(Rotations[6], Rotations[3]); // leftHipBone
LocalRotations[4] = CalculateLocalRotation(Rotations[3], Rotations[4]); // leftThigh
LocalRotations[5] = CalculateLocalRotation(Rotations[4], Rotations[5]); // leftCalf
LocalRotations[6] = Rotations[6]; // waist
LocalRotations[7] = CalculateLocalRotation(Rotations[6], Rotations[7]); // chest
LocalRotations[8] = CalculateLocalRotation(Rotations[7], Rotations[8]); // neck
LocalRotations[9] = CalculateLocalRotation(Rotations[8], Rotations[9]); // rightClavicle
LocalRotations[10] = CalculateLocalRotation(Rotations[9], Rotations[10]); // rightUpperArm
LocalRotations[11] = CalculateLocalRotation(Rotations[10], Rotations[11]); // rightForearm
LocalRotations[12] = CalculateLocalRotation(Rotations[8], Rotations[12]); // leftClavicle
LocalRotations[13] = CalculateLocalRotation(Rotations[12], Rotations[13]); // leftUpperArm
LocalRotations[14] = CalculateLocalRotation(Rotations[13], Rotations[14]); // leftForearm
}
}
// Update is called once per frame
void Update()
{
if (!Finish)
{
if (GravelCount < NumOfGravel)
{
if (TimeAccumulated > DropTimeInterval)
{
string fileName = FileNames[rnd.Next() % FileNames.Length];
GameObject loadedObject = new OBJLoader().Load(fileName).transform.GetChild(0).gameObject;
PickFileNames.Add(fileName);
// add Rigidbody
Rigidbody rb = loadedObject.AddComponent <Rigidbody>();
rb.useGravity = true;
rb.isKinematic = false;
// add MeshCollider
MeshCollider mc = loadedObject.AddComponent <MeshCollider>();
mc.convex = true;
// set parent
loadedObject.transform.parent.parent = Stone;
// set position
float X = Convert.ToSingle(rnd.NextDouble() * Math.Abs(Xmax - Xmin) + Xmin);
float Z = Convert.ToSingle(rnd.NextDouble() * Math.Abs(Zmax - Zmin) + Zmin);
loadedObject.transform.position = new Vector3(X, Y, Z);
// add position and rotation
Positions.Add(Vector3.zero);
Rotations.Add(Vector3.zero);
GravelCount++;
TimeAccumulated = 0;
}
}
else if (TimeAccumulated > CheckTimeInterval)
{
if (TimeAccumulated > TimeOutThreshold)
{
Debug.Log("Time out! Just output results directly...");
Finish = true;
}
else
{
Debug.Log("Checking...");
Finish = true;
for (int i = Positions.Count - 1; i >= 0; i--)
{
if (CompareVector(Positions[i], Stone.GetChild(i).GetChild(0).position) &&
CompareVector(Rotations[i], Stone.GetChild(i).GetChild(0).eulerAngles))
{
Positions.RemoveAt(i);
Rotations.RemoveAt(i);
StopGravelsNum++;
}
else
{
Finish = false;
var newPosition = Stone.GetChild(i).GetChild(0).position;
Positions[i] = new Vector3(newPosition.x, newPosition.y, newPosition.z);
var newRotation = Stone.GetChild(i).GetChild(0).eulerAngles;
Rotations[i] = new Vector3(newRotation.x, newRotation.y, newRotation.z);
}
}
}
TimeAccumulated = 0;
}
TimeAccumulated += Time.deltaTime;
}
else
{
if (!FinishDisplayed)
{
WriteCSV("scene_" + SceneCount.ToString() + ".csv");
WriteXML("scene_" + SceneCount.ToString() + ".xml");
Debug.Log("Finish");
FinishDisplayed = true;
SceneCount++;
// reset
if (SceneCount < NumOfScene)
{
Finish = false;
Positions = new List <Vector3>();
Rotations = new List <Vector3>();
PickFileNames = new List <string>();
GravelCount = 0;
TimeAccumulated = 0;
FinishDisplayed = false;
foreach (Transform child in Stone)
{
GameObject.Destroy(child.gameObject);
}
Debug.Log("Start Scene " + SceneCount.ToString());
}
}
}
}
public void CalculateBoneRotations()
{
// calculate the Bone Global Rotations
for (int i = 0; i < 15; i++)
{
Rotations.Add(Quaternion.identity); // initialize the Rotations
}
// define the initial reference coordinate rotations
var rotLeftForward = Quaternion.LookRotation(Vector3.left, Vector3.forward);
var rotLeftBack = Quaternion.LookRotation(Vector3.left, Vector3.back);
var rotLeftDown = Quaternion.LookRotation(Vector3.left, Vector3.down);
var rotLeftUp = Quaternion.LookRotation(Vector3.left, Vector3.up);
// TODO: make sure that the coordinate system will be the same(fixed to the bones) for every frame based on the human joint keypoints
Rotations[0] = CalculateGlobalRotation(Positions[2] - Positions[6], Positions[7] - Positions[6], rotLeftDown);
Rotations[1] = CalculateGlobalRotation(Positions[1] - Positions[2], Positions[0] - Positions[1], rotLeftForward);
Rotations[2] = CalculateGlobalRotation(Positions[0] - Positions[1], Positions[2] - Positions[1], rotLeftForward);
Rotations[3] = CalculateGlobalRotation(Positions[3] - Positions[6], Positions[6] - Positions[7], rotLeftDown);
Rotations[4] = CalculateGlobalRotation(Positions[4] - Positions[3], Positions[5] - Positions[4], rotLeftForward);
Rotations[5] = CalculateGlobalRotation(Positions[5] - Positions[4], Positions[3] - Positions[4], rotLeftForward);
Rotations[6] = CalculateGlobalRotation(Positions[7] - Positions[6], Positions[3] - Positions[2], rotLeftDown);
Rotations[7] = CalculateGlobalRotation(Positions[8] - Positions[7], Positions[6] - Positions[7], rotLeftDown);
Rotations[8] = CalculateGlobalRotation(Positions[9] - Positions[8], Positions[13] - Positions[12], rotLeftDown);
Rotations[9] = CalculateGlobalRotation(Positions[12] - Positions[8], Positions[8] - Positions[7], rotLeftUp);
Rotations[10] = CalculateGlobalRotation(Positions[11] - Positions[12], Positions[10] - Positions[11], rotLeftBack);
Rotations[11] = CalculateGlobalRotation(Positions[10] - Positions[11], Positions[12] - Positions[11], rotLeftBack);
Rotations[12] = CalculateGlobalRotation(Positions[13] - Positions[8], Positions[7] - Positions[8], rotLeftUp);
Rotations[13] = CalculateGlobalRotation(Positions[14] - Positions[13], Positions[15] - Positions[14], rotLeftBack);
Rotations[14] = CalculateGlobalRotation(Positions[15] - Positions[14], Positions[13] - Positions[14], rotLeftBack);
// Rotations[0] = CalculateGlobalRotation(Positions[2]-Positions[6], Positions[7]-Positions[6]);
// Rotations[1] = CalculateGlobalRotation(Positions[1]-Positions[2], Positions[0]-Positions[1]);
// Rotations[2] = CalculateGlobalRotation(Positions[0]-Positions[1], Positions[2]-Positions[1]);
// Rotations[3] = CalculateGlobalRotation(Positions[3]-Positions[6], Positions[6]-Positions[7]);
// Rotations[4] = CalculateGlobalRotation(Positions[4]-Positions[3], Positions[5]-Positions[4]);
// Rotations[5] = CalculateGlobalRotation(Positions[5]-Positions[4], Positions[3]-Positions[4]);
// Rotations[6] = CalculateGlobalRotation(Positions[7]-Positions[6], Positions[3]-Positions[2]);
// Rotations[7] = CalculateGlobalRotation(Positions[8]-Positions[7], Positions[6]-Positions[7]);
// Rotations[8] = CalculateGlobalRotation(Positions[9]-Positions[8], Positions[13]-Positions[12]);
// Rotations[9] = CalculateGlobalRotation(Positions[12]-Positions[8], Positions[8]-Positions[7]);
// Rotations[10] = CalculateGlobalRotation(Positions[11]-Positions[12], Positions[10]-Positions[11]);
// Rotations[11] = CalculateGlobalRotation(Positions[10]-Positions[11], Positions[12]-Positions[11]);
// Rotations[12] = CalculateGlobalRotation(Positions[13]-Positions[8], Positions[7]-Positions[8]);
// Rotations[13] = CalculateGlobalRotation(Positions[14]-Positions[13], Positions[15]-Positions[14]);
// Rotations[14] = CalculateGlobalRotation(Positions[15]-Positions[14], Positions[13]-Positions[14]);
// calculate the Bone Local Rotations
LocalRotations = Rotations.ToList(); // initialize the LocalRotations
// construct the reference coordinate rotations
var invRightHipBine = Quaternion.Inverse(Rotations[0]);
var invRightThigh = Quaternion.Inverse(Rotations[1]);
var invLeftHipBone = Quaternion.Inverse(Rotations[3]);
var invLeftThigh = Quaternion.Inverse(Rotations[4]);
var invWaist = Quaternion.Inverse(Rotations[6]);
var invCheset = Quaternion.Inverse(Rotations[7]);
var invNeck = Quaternion.Inverse(Rotations[8]);
var invRightClavicle = Quaternion.Inverse(Rotations[9]);
var invRigthUpperArm = Quaternion.Inverse(Rotations[10]);
var invLeftClavicle = Quaternion.Inverse(Rotations[12]);
var invLeftUpperArm = Quaternion.Inverse(Rotations[13]);
// calculate the bone local roataions of human
LocalRotations[0] = invWaist * LocalRotations[0];
LocalRotations[1] = invRightHipBine * LocalRotations[1];
LocalRotations[2] = invRightThigh * LocalRotations[2];
LocalRotations[3] = invWaist * LocalRotations[3];
LocalRotations[4] = invLeftHipBone * LocalRotations[4];
LocalRotations[5] = invLeftThigh * LocalRotations[5];
// LocalRotations[6] = invWaist * LocalRotations[6];
LocalRotations[7] = invWaist * LocalRotations[7];
LocalRotations[8] = invCheset * LocalRotations[8];
LocalRotations[9] = invNeck * LocalRotations[9];
LocalRotations[10] = invRightClavicle * LocalRotations[10];
LocalRotations[11] = invRigthUpperArm * LocalRotations[11];
LocalRotations[12] = invNeck * LocalRotations[12];
LocalRotations[13] = invLeftClavicle * LocalRotations[13];
LocalRotations[14] = invLeftUpperArm * LocalRotations[14];
}
// CalculateBoneRotations is called for calculating the bone rotations(global/local) in the method of joint angle mapping
public void CalculateBoneRotations()
{
// calculate the Bone Global Rotations
for (int i = 0; i < 16; i++)
{
Rotations.Add(Quaternion.identity); // initialize the Rotations
}
// check whether using absolute coordinate rotation and pick the different methods(aligning coordinates/relatively rotating) to calculate the bone rotations
if (UseAbsoluteCoordinate)
{
// calculate the bone global rotations using the method of aligning bone coordinates(make sure that the coordinate system will be the same(fixed to the bones) for every frame based on the human joint keypoints)
Rotations[0] = CalculateGlobalRotation(Positions[6] - Positions[7], Positions[3] - Positions[2], 3); // rightHipBone(rotTypeFlag:3)
Rotations[1] = CalculateGlobalRotation(Positions[2] - Positions[1], Positions[1] - Positions[0], 1); // rightThigh(rotTypeFlag:1)
Rotations[2] = CalculateGlobalRotation(Positions[1] - Positions[0], Positions[1] - Positions[2], 1); // rightCalf(rotTypeFlag:1)
Rotations[3] = CalculateGlobalRotation(Positions[6] - Positions[7], Positions[3] - Positions[2], 3); // leftHipBone(rotTypeFlag:3)
Rotations[4] = CalculateGlobalRotation(Positions[3] - Positions[4], Positions[4] - Positions[5], 1); // leftThigh(rotTypeFlag:1)
Rotations[5] = CalculateGlobalRotation(Positions[4] - Positions[5], Positions[4] - Positions[3], 1); // leftCalf(rotTypeFlag:1)
Rotations[6] = CalculateGlobalRotation(Positions[6] - Positions[7], Positions[3] - Positions[2], 3); // waist(rotTypeFlag:3)
Rotations[7] = CalculateGlobalRotation(Positions[7] - Positions[8], Positions[6] - Positions[7], 1); // chest(rotTypeFlag:1)
Rotations[8] = CalculateGlobalRotation(Positions[8] - Positions[9], Positions[7] - Positions[8], 1) * new Quaternion(0.0f, 0.0f, 0.342f, 0.940f); // neck(rotTypeFlag:1)(correct the neck up for 40 degrees in z axis rotation direction)
Rotations[9] = CalculateGlobalRotation(Positions[9] - Positions[10], Positions[8] - Positions[9], 1); // head(rotTypeFlag:1)
Rotations[10] = CalculateGlobalRotation(Positions[8] - Positions[13], Vector3.Cross(Positions[8] - Positions[13], Positions[8] - Positions[7]), 2); // rightClavicle(rotTypeFlag:2)
Rotations[11] = CalculateGlobalRotation(Positions[13] - Positions[12], Positions[12] - Positions[11], 1); // rightUpperArm(rotTypeFlag:1)
Rotations[12] = CalculateGlobalRotation(Positions[12] - Positions[11], Positions[12] - Positions[13], 1); // rightForearm(rotTypeFlag:1)
Rotations[13] = CalculateGlobalRotation(Positions[8] - Positions[14], Vector3.Cross(Positions[8] - Positions[14], Positions[7] - Positions[8]), 2); // leftClavicle(rotTypeFlag:2)
Rotations[14] = CalculateGlobalRotation(Positions[14] - Positions[15], Positions[15] - Positions[16], 1); // leftUpperArm(rotTypeFlag:1)
Rotations[15] = CalculateGlobalRotation(Positions[15] - Positions[16], Positions[15] - Positions[14], 1); // leftForearm(rotTypeFlag:1)
}
else
{
// define the initial reference coordinate rotations
var rotLeftForward = Quaternion.LookRotation(Vector3.left, Vector3.forward);
var rotLeftBack = Quaternion.LookRotation(Vector3.left, Vector3.back);
var rotLeftDown = Quaternion.LookRotation(Vector3.left, Vector3.down);
var rotLeftUp = Quaternion.LookRotation(Vector3.left, Vector3.up);
// calculate the bone global rotations using the method of relatively rotating
Rotations[0] = CalculateGlobalRotation(Positions[2] - Positions[6], Positions[7] - Positions[6], rotLeftDown); // rightHipBone
Rotations[1] = CalculateGlobalRotation(Positions[1] - Positions[2], Positions[0] - Positions[1], rotLeftForward); // rightThigh
Rotations[2] = CalculateGlobalRotation(Positions[0] - Positions[1], Positions[2] - Positions[1], rotLeftForward); // rightCalf
Rotations[3] = CalculateGlobalRotation(Positions[3] - Positions[6], Positions[6] - Positions[7], rotLeftDown); // leftHipBone
Rotations[4] = CalculateGlobalRotation(Positions[4] - Positions[3], Positions[5] - Positions[4], rotLeftForward); // leftThigh
Rotations[5] = CalculateGlobalRotation(Positions[5] - Positions[4], Positions[3] - Positions[4], rotLeftForward); // leftCalf
Rotations[6] = CalculateGlobalRotation(Positions[7] - Positions[6], Positions[3] - Positions[2], rotLeftDown); // waist
Rotations[7] = CalculateGlobalRotation(Positions[8] - Positions[7], Positions[6] - Positions[7], rotLeftDown); // chest
Rotations[8] = CalculateGlobalRotation(Positions[9] - Positions[8], Positions[13] - Positions[12], rotLeftDown); // neck
Rotations[9] = CalculateGlobalRotation(Positions[10] - Positions[9], Positions[8] - Positions[9], rotLeftDown); // head
Rotations[10] = CalculateGlobalRotation(Positions[13] - Positions[8], Positions[8] - Positions[7], rotLeftUp); // rightClavicle
Rotations[11] = CalculateGlobalRotation(Positions[12] - Positions[13], Positions[11] - Positions[12], rotLeftBack); // rightUpperArm
Rotations[12] = CalculateGlobalRotation(Positions[11] - Positions[12], Positions[13] - Positions[12], rotLeftBack); // rightForearm
Rotations[13] = CalculateGlobalRotation(Positions[14] - Positions[8], Positions[7] - Positions[8], rotLeftUp); // leftClavicle
Rotations[14] = CalculateGlobalRotation(Positions[15] - Positions[14], Positions[16] - Positions[15], rotLeftBack); // leftUpperArm
Rotations[15] = CalculateGlobalRotation(Positions[16] - Positions[15], Positions[14] - Positions[15], rotLeftBack); // leftForearm
}
// calculate the Bone Local Rotations
for (int j = 0; j < 16; j++)
{
LocalRotations.Add(Quaternion.identity); // initialize the LocalRotations
}
// check whether using local rotation of bones for driving avatar
if (UseLocalRotation)
{
// calculate the bone local rotations using the method of relatively rotating
LocalRotations[0] = CalculateLocalRotation(Rotations[6], Rotations[0]); // rightHipBone
LocalRotations[1] = CalculateLocalRotation(Rotations[0], Rotations[1]); // rightThigh
LocalRotations[2] = CalculateLocalRotation(Rotations[1], Rotations[2]); // rightCalf
LocalRotations[3] = CalculateLocalRotation(Rotations[6], Rotations[3]); // leftHipBone
LocalRotations[4] = CalculateLocalRotation(Rotations[3], Rotations[4]); // leftThigh
LocalRotations[5] = CalculateLocalRotation(Rotations[4], Rotations[5]); // leftCalf
// LocalRotations[6] = Rotations[6]; // waist
LocalRotations[6] = CalculateLocalRotation(new Quaternion(-0.5f, 0.5f, 0.5f, 0.5f), Rotations[6]); // waist(relative rotation of pelvis to the world coordinate system)
LocalRotations[7] = CalculateLocalRotation(Rotations[6], Rotations[7]); // chest
LocalRotations[8] = CalculateLocalRotation(Rotations[7], Rotations[8]); // neck
LocalRotations[9] = CalculateLocalRotation(Rotations[8], Rotations[9]); // head
LocalRotations[10] = CalculateLocalRotation(Rotations[8], Rotations[10]); // rightClavicle
LocalRotations[11] = CalculateLocalRotation(Rotations[10], Rotations[11]); // rightUpperArm
LocalRotations[12] = CalculateLocalRotation(Rotations[11], Rotations[12]); // rightForearm
LocalRotations[13] = CalculateLocalRotation(Rotations[8], Rotations[13]); // leftClavicle
LocalRotations[14] = CalculateLocalRotation(Rotations[13], Rotations[14]); // leftUpperArm
LocalRotations[15] = CalculateLocalRotation(Rotations[14], Rotations[15]); // leftForearm
}
}
public void CalculateBoneRotations()
{
// Global Rotations
for (int i = 0; i < 15; i++)
{
Rotations.Add(Quaternion.identity);
}
// TODO: make sure that the coordinate system will be the same(fixed to the bones) for every frame based on the human joint keypoints
Rotations[0] = CalculateGlobalRotation(Positions[2] - Positions[6], Positions[7] - Positions[6], HumanToAvatarTransformRotations[0]);
Rotations[1] = CalculateGlobalRotation(Positions[1] - Positions[2], Positions[0] - Positions[1], HumanToAvatarTransformRotations[1]);
Rotations[2] = CalculateGlobalRotation(Positions[0] - Positions[1], Positions[2] - Positions[1], HumanToAvatarTransformRotations[2]);
Rotations[3] = CalculateGlobalRotation(Positions[3] - Positions[6], Positions[6] - Positions[7], HumanToAvatarTransformRotations[3]);
Rotations[4] = CalculateGlobalRotation(Positions[4] - Positions[3], Positions[5] - Positions[4], HumanToAvatarTransformRotations[4]);
Rotations[5] = CalculateGlobalRotation(Positions[5] - Positions[4], Positions[3] - Positions[4], HumanToAvatarTransformRotations[5]);
Rotations[6] = CalculateGlobalRotation(Positions[7] - Positions[6], Positions[3] - Positions[2], HumanToAvatarTransformRotations[6]);
Rotations[7] = CalculateGlobalRotation(Positions[8] - Positions[7], Positions[6] - Positions[7], HumanToAvatarTransformRotations[7]);
Rotations[8] = CalculateGlobalRotation(Positions[9] - Positions[8], Positions[13] - Positions[12], HumanToAvatarTransformRotations[8]);
Rotations[9] = CalculateGlobalRotation(Positions[12] - Positions[8], Positions[8] - Positions[7], HumanToAvatarTransformRotations[9]);
Rotations[10] = CalculateGlobalRotation(Positions[11] - Positions[12], Positions[10] - Positions[11], HumanToAvatarTransformRotations[10]);
Rotations[11] = CalculateGlobalRotation(Positions[10] - Positions[11], Positions[12] - Positions[11], HumanToAvatarTransformRotations[11]);
Rotations[12] = CalculateGlobalRotation(Positions[13] - Positions[8], Positions[7] - Positions[8], HumanToAvatarTransformRotations[12]);
Rotations[13] = CalculateGlobalRotation(Positions[14] - Positions[13], Positions[15] - Positions[14], HumanToAvatarTransformRotations[13]);
Rotations[14] = CalculateGlobalRotation(Positions[15] - Positions[14], Positions[13] - Positions[14], HumanToAvatarTransformRotations[14]);
// Local Rotations
LocalRotations = Rotations.ToList();
// construct the reference coordinate rotations
var invRightHipBine = Quaternion.Inverse(Rotations[0]);
var invRightThigh = Quaternion.Inverse(Rotations[1]);
var invLeftHipBone = Quaternion.Inverse(Rotations[3]);
var invLeftThigh = Quaternion.Inverse(Rotations[4]);
var invWaist = Quaternion.Inverse(Rotations[6]);
var invCheset = Quaternion.Inverse(Rotations[7]);
var invNeck = Quaternion.Inverse(Rotations[8]);
var invRightClavicle = Quaternion.Inverse(Rotations[9]);
var invRigthUpperArm = Quaternion.Inverse(Rotations[10]);
var invLeftClavicle = Quaternion.Inverse(Rotations[12]);
var invLeftUpperArm = Quaternion.Inverse(Rotations[13]);
// calculate the bone local roataions of human
// TODO: make sure the inv on the left or the right
LocalRotations[0] = LocalRotations[0] * invWaist;
LocalRotations[1] = LocalRotations[1] * invRightHipBine;
LocalRotations[2] = LocalRotations[2] * invRightThigh;
LocalRotations[3] = LocalRotations[3] * invWaist;
LocalRotations[4] = LocalRotations[4] * invLeftHipBone;
LocalRotations[5] = LocalRotations[5] * invLeftThigh;
// LocalRotations[6] = LocalRotations[6] * invWaist;
LocalRotations[7] = LocalRotations[7] * invWaist;
LocalRotations[8] = LocalRotations[8] * invCheset;
LocalRotations[9] = LocalRotations[9] * invNeck;
LocalRotations[10] = LocalRotations[10] * invRightClavicle;
LocalRotations[11] = LocalRotations[11] * invRigthUpperArm;
LocalRotations[12] = LocalRotations[12] * invNeck;
LocalRotations[13] = LocalRotations[13] * invLeftClavicle;
LocalRotations[14] = LocalRotations[14] * invLeftUpperArm;
// LocalRotations[0] = invWaist * LocalRotations[0];
// LocalRotations[1] = invRightHipBine * LocalRotations[1];
// LocalRotations[2] = invRightThigh * LocalRotations[2];
// LocalRotations[3] = invWaist * LocalRotations[3];
// LocalRotations[4] = invLeftHipBone * LocalRotations[4];
// LocalRotations[5] = invLeftThigh * LocalRotations[5];
// // LocalRotations[6] = invWaist * LocalRotations[6];
// LocalRotations[7] = invWaist * LocalRotations[7];
// LocalRotations[8] = invCheset * LocalRotations[8];
// LocalRotations[9] = invNeck * LocalRotations[9];
// LocalRotations[10] = invRightClavicle * LocalRotations[10];
// LocalRotations[11] = invRigthUpperArm * LocalRotations[11];
// LocalRotations[12] = invNeck * LocalRotations[12];
// LocalRotations[13] = invLeftClavicle * LocalRotations[13];
// LocalRotations[14] = invLeftUpperArm * LocalRotations[14];
}