/// <summary>
/// This method retrieves a new skeleton frame if necessary.
/// </summary>
/// <param name="gameTime">The elapsed game time.</param>
public override void Update(GameTime gameTime)
{
// If the sensor is not found, not running, or not connected, return now
if (null == this.Chooser || null == this.Chooser.Sensor || false == this.Chooser.Sensor.IsRunning || this.Chooser.Sensor.Status != KinectStatus.Connected)
{
return;
}
// If we have already drawn this skeleton, then we should retrieve a new frame
// This prevents us from calling the next frame more than once per update
if (false == this.SkeletonDrawn && null != this.skeleton && this.useKinectAvateering && this.SkeletonVisible)
{
// Copy all bind pose matrices to boneTransforms
// Note: most are identity, but the translation is important to describe bone length/the offset between bone drawing positions
this.skinningDataValue.BindPose.CopyTo(this.boneTransforms, 0);
this.UpdateWorldTransforms(Matrix.Identity);
this.UpdateSkinTransforms();
// If required, we should modify the joint positions before we access the bone orientations, as orientations are calculated
// on the first access, and then whenever a joint position changes. Hence changing joint positions interleaved with accessing
// rotations will cause unnecessary additional computation.
float currentNuiTime = (float)this.frameTimer.AbsoluteTime;
float deltaNuiTime = currentNuiTime - this.lastNuiTime;
// Fixup Skeleton to improve avatar appearance.
if (this.filterClippedLegs && null != this.clippedLegs && null != this.Chooser && !this.Chooser.SeatedMode)
{
this.clippedLegs.FilterSkeleton(this.skeleton, deltaNuiTime);
}
if (this.selfIntersectionConstraints)
{
// Constrain the wrist and hand joint positions to not intersect the torso
SkeletonJointsSelfIntersectionConstraint.Constrain(this.skeleton);
}
if (this.tiltCompensate)
{
int elevationAngle = 0;
try
{
elevationAngle = this.Chooser.Sensor.ElevationAngle;
}
catch (InvalidOperationException)
{
// Ignore any exception accessing the sensor if it has just been disconnected
}
// Correct for sensor tilt if we have a valid floor plane or a sensor tilt value from the motor.
SkeletonJointsSensorTiltCorrection.CorrectSensorTilt(this.skeleton, this.FloorClipPlane, elevationAngle);
}
if (this.floorOffsetCompensate && 0.0f != this.AvatarHipCenterHeight)
{
// Correct for the sensor height from the floor (moves the skeleton to the floor plane) if we have a valid plane, or feet visible in the image.
// Note that by default this will not run unless we have set a non-zero AvatarHipCenterHeight
this.sensorOffsetCorrection.CorrectSkeletonOffsetFromFloor(this.skeleton, this.FloorClipPlane, this.AvatarHipCenterHeight);
}
if (this.mirrorView)
{
SkeletonJointsMirror.MirrorSkeleton(this.skeleton);
}
// Filter the joint positions manually, using a double exponential filter.
this.jointPositionFilter.UpdateFilter(this.skeleton);
if (this.boneConstraints && null != this.boneOrientationConstraints)
{
// Constrain the joint positions to approximate range of human motion.
this.boneOrientationConstraints.Constrain(this.skeleton, this.mirrorView);
}
if (this.filterBoneOrientations && null != this.boneOrientationFilter)
{
// Double Exponential Filtering of the joint orientations.
// Note: This updates the joint orientations directly in the skeleton.
// It should be performed after all joint position modifications.
this.boneOrientationFilter.UpdateFilter(this.skeleton);
}
if (null != this.retargetMethod)
{
// Adapt the rotation matrices to the avatar mesh joint local coordinate systems
this.retargetMethod(this.skeleton, this.skinningDataValue.BindPose[0], this.boneTransforms);
}
// Calculate the Avatar world transforms from the relative bone transforms of Kinect skeleton
this.UpdateWorldTransforms(Matrix.Identity);
// Refresh the Avatar SkinTransforms data based on the transforms we just applied
this.UpdateSkinTransforms();
this.lastNuiTime = currentNuiTime;
}
this.HandleInput();
base.Update(gameTime);
}
/// <summary>
/// This method retrieves a new skeleton frame if necessary.
/// </summary>
/// <param name="gameTime">The elapsed game time.</param>
public Skeleton Filter(Skeleton skel)
{
this.skeleton = skel;
// If we have already drawn this skeleton, then we should retrieve a new frame
// This prevents us from calling the next frame more than once per update
if (null != this.skeleton)
{
// If required, we should modify the joint positions before we access the bone orientations, as orientations are calculated
// on the first access, and then whenever a joint position changes. Hence changing joint positions interleaved with accessing
// rotations will cause unnecessary additional computation.
float currentNuiTime = (float)this.frameTimer.AbsoluteTime;
float deltaNuiTime = currentNuiTime - this.lastNuiTime;
// Fixup Skeleton to improve avatar appearance.
if (this.filterClippedLegs && null != this.clippedLegs)
{
this.clippedLegs.FilterSkeleton(this.skeleton, deltaNuiTime);
}
if (this.selfIntersectionConstraints)
{
// Constrain the wrist and hand joint positions to not intersect the torso
SkeletonJointsSelfIntersectionConstraint.Constrain(this.skeleton);
}
if (this.tiltCompensate)
{
int elevationAngle = 0;
try
{
elevationAngle = this.sensor.ElevationAngle;
}
catch (InvalidOperationException)
{
// Ignore any exception accessing the sensor if it has just been disconnected
}
// Correct for sensor tilt if we have a valid floor plane or a sensor tilt value from the motor.
SkeletonJointsSensorTiltCorrection.CorrectSensorTilt(this.skeleton, this.FloorClipPlane, elevationAngle);
}
if (this.floorOffsetCompensate && 0.0f != this.AvatarHipCenterHeight)
{
// Correct for the sensor height from the floor (moves the skeleton to the floor plane) if we have a valid plane, or feet visible in the image.
// Note that by default this will not run unless we have set a non-zero AvatarHipCenterHeight
this.sensorOffsetCorrection.CorrectSkeletonOffsetFromFloor(this.skeleton, this.FloorClipPlane, this.AvatarHipCenterHeight);
}
if (this.mirrorView)
{
SkeletonJointsMirror.MirrorSkeleton(this.skeleton);
}
// Filter the joint positions manually, using a double exponential filter.
this.jointPositionFilter.UpdateFilter(this.skeleton);
if (this.boneConstraints && null != this.boneOrientationConstraints)
{
// Constrain the joint positions to approximate range of human motion.
this.boneOrientationConstraints.Constrain(this.skeleton, this.mirrorView);
}
/*if (this.filterBoneOrientations && null != this.boneOrientationFilter)
* {
* // Double Exponential Filtering of the joint orientations.
* // Note: This updates the joint orientations directly in the skeleton.
* // It should be performed after all joint position modifications.
* this.boneOrientationFilter.UpdateFilter(this.skeleton);
* }
*/
this.lastNuiTime = currentNuiTime;
}
return(skel);
}