// CopySkeleton copies the data from another skeleton.
public static void CopySkeleton(ref KinectCommon.NuiSkeletonData source, ref KinectCommon.NuiSkeletonData destination)
{
// if (null == source)
// {
// return;
// }
//
// if (null == destination)
// {
// destination = new Skeleton();
// }
destination.eTrackingState = source.eTrackingState;
destination.TrackingId = source.TrackingId;
destination.Position = source.Position;
int jointsCount = (int)KinectCommon.NuiSkeletonPositionIndex.Count;
if (destination.SkeletonPositions == null)
{
destination.SkeletonPositions = new Vector4[jointsCount];
}
if (destination.SkeletonTrackingState == null)
{
destination.SkeletonTrackingState = new KinectCommon.NuiSkeletonPositionTrackingState[jointsCount];
}
for (int jointIndex = 0; jointIndex < jointsCount; jointIndex++)
{
destination.SkeletonPositions[jointIndex] = source.SkeletonPositions[jointIndex];
destination.SkeletonTrackingState[jointIndex] = source.SkeletonTrackingState[jointIndex];
}
}
// ConstrainSelfIntersection collides joints with the skeleton to keep the skeleton's hands and wrists from puncturing its body
// A cylinder is created to represent the torso. Intersecting joints have their positions changed to push them outside the torso.
public void Constrain(ref KinectCommon.NuiSkeletonData skeleton)
{
// if (null == skeleton)
// {
// return;
// }
int SpineShoulderIndex = (int)KinectCommon.NuiSkeletonPositionIndex.SpineShoulder;
int SpineBaseIndex = (int)KinectCommon.NuiSkeletonPositionIndex.SpineBase;
if (skeleton.SkeletonTrackingState[SpineShoulderIndex] != KinectCommon.NuiSkeletonPositionTrackingState.NotTracked &&
skeleton.SkeletonTrackingState[SpineBaseIndex] != KinectCommon.NuiSkeletonPositionTrackingState.NotTracked)
{
Vector3 shoulderDiffLeft = KinectHelper.VectorBetween(ref skeleton, SpineShoulderIndex, (int)KinectCommon.NuiSkeletonPositionIndex.ShoulderLeft);
Vector3 shoulderDiffRight = KinectHelper.VectorBetween(ref skeleton, SpineShoulderIndex, (int)KinectCommon.NuiSkeletonPositionIndex.ShoulderRight);
float shoulderLengthLeft = shoulderDiffLeft.magnitude;
float shoulderLengthRight = shoulderDiffRight.magnitude;
// The distance between shoulders is averaged for the radius
float cylinderRadius = (shoulderLengthLeft + shoulderLengthRight) * 0.5f;
// Calculate the shoulder center and the hip center. Extend them up and down respectively.
Vector3 SpineShoulder = (Vector3)skeleton.SkeletonPositions[SpineShoulderIndex];
Vector3 SpineBase = (Vector3)skeleton.SkeletonPositions[SpineBaseIndex];
Vector3 hipShoulder = SpineBase - SpineShoulder;
hipShoulder.Normalize();
SpineShoulder = SpineShoulder - (hipShoulder * (ShoulderExtend * cylinderRadius));
SpineBase = SpineBase + (hipShoulder * (HipExtend * cylinderRadius));
// Optionally increase radius to account for bulky avatars
cylinderRadius *= RadiusMultiplier;
// joints to collide
int[] collisionIndices =
{
(int)KinectCommon.NuiSkeletonPositionIndex.WristLeft,
(int)KinectCommon.NuiSkeletonPositionIndex.HandLeft,
(int)KinectCommon.NuiSkeletonPositionIndex.WristRight,
(int)KinectCommon.NuiSkeletonPositionIndex.HandRight
};
foreach (int j in collisionIndices)
{
Vector3 collisionJoint = (Vector3)skeleton.SkeletonPositions[j];
Vector4 distanceNormal = KinectHelper.DistanceToLineSegment(SpineShoulder, SpineBase, collisionJoint);
Vector3 normal = new Vector3(distanceNormal.x, distanceNormal.y, distanceNormal.z);
// if distance is within the cylinder then push the joint out and away from the cylinder
if (distanceNormal.w < cylinderRadius)
{
collisionJoint += normal * ((cylinderRadius - distanceNormal.w) * CollisionTolerance);
skeleton.SkeletonPositions[j] = (Vector4)collisionJoint;
}
}
}
}
// IsTrackedOrInferred checks whether the skeleton joint is tracked or inferred.
public static bool IsTrackedOrInferred(KinectCommon.NuiSkeletonData skeleton, int jointIndex)
{
// if (null == skeleton)
// {
// return false;
// }
return(skeleton.SkeletonTrackingState[jointIndex] != KinectCommon.NuiSkeletonPositionTrackingState.NotTracked);
}
/// VectorBetween calculates the Vector3 from start to end == subtract start from end
public static Vector3 VectorBetween(ref KinectCommon.NuiSkeletonData skeleton, int startJoint, int endJoint)
{
// if (null == skeleton)
// {
// return Vector3.Zero;
// }
Vector3 startPosition = (Vector3)skeleton.SkeletonPositions[startJoint];
Vector3 endPosition = (Vector3)skeleton.SkeletonPositions[endJoint];
return(endPosition - startPosition);
}
// Update the filter with a new frame of data and smooth.
public void UpdateFilter(ref KinectCommon.NuiSkeletonData skeleton)
{
// if (null == skeleton)
// {
// return;
// }
if (skeleton.eTrackingState != KinectCommon.NuiSkeletonTrackingState.SkeletonTracked)
{
return;
}
if (this.init == false)
{
this.Init(); // initialize with default parameters
}
//Array jointTypeValues = Enum.GetValues(typeof(KinectCommon.NuiSkeletonPositionIndex));
KinectCommon.NuiTransformSmoothParameters tempSmoothingParams = new KinectCommon.NuiTransformSmoothParameters();
// Check for divide by zero. Use an epsilon of a 10th of a millimeter
this.smoothParameters.fJitterRadius = Math.Max(0.0001f, this.smoothParameters.fJitterRadius);
tempSmoothingParams.fSmoothing = smoothParameters.fSmoothing;
tempSmoothingParams.fCorrection = smoothParameters.fCorrection;
tempSmoothingParams.fPrediction = smoothParameters.fPrediction;
int jointsCount = (int)KinectCommon.NuiSkeletonPositionIndex.Count;
for (int jointIndex = 0; jointIndex < jointsCount; jointIndex++)
{
//KinectCommon.NuiSkeletonPositionIndex jt = (KinectCommon.NuiSkeletonPositionIndex)jointTypeValues.GetValue(jointIndex);
// If not tracked, we smooth a bit more by using a bigger jitter radius
// Always filter feet highly as they are so noisy
if (skeleton.SkeletonTrackingState[jointIndex] != KinectCommon.NuiSkeletonPositionTrackingState.Tracked)
{
tempSmoothingParams.fJitterRadius = smoothParameters.fJitterRadius * 2.0f;
tempSmoothingParams.fMaxDeviationRadius = smoothParameters.fMaxDeviationRadius * 2.0f;
}
else
{
tempSmoothingParams.fJitterRadius = smoothParameters.fJitterRadius;
tempSmoothingParams.fMaxDeviationRadius = smoothParameters.fMaxDeviationRadius;
}
FilterJoint(ref skeleton, jointIndex, ref tempSmoothingParams);
}
}
// LerpAndApply performs a Lerp and applies the Lerped vector to the skeleton joint.
public static void LerpAndApply(ref KinectCommon.NuiSkeletonData skeleton, int jointIndex, Vector3 newJointPos, float lerpValue, KinectCommon.NuiSkeletonPositionTrackingState finalTrackingState)
{
// if (null == skeleton)
// {
// return;
// }
Vector3 jointPos = (Vector3)skeleton.SkeletonPositions[jointIndex];
jointPos = Vector3.Lerp(jointPos, newJointPos, lerpValue);
skeleton.SkeletonPositions[jointIndex] = (Vector4)jointPos;
skeleton.SkeletonTrackingState[jointIndex] = finalTrackingState;
}
// Initializes a new instance of the class.
public ClippedLegsFilter()
{
this.lerpLeftKnee = new TimedLerp();
this.lerpLeftAnkle = new TimedLerp();
this.lerpLeftFoot = new TimedLerp();
this.lerpRightKnee = new TimedLerp();
this.lerpRightAnkle = new TimedLerp();
this.lerpRightFoot = new TimedLerp();
this.filterJoints = new JointPositionsFilter();
this.filteredSkeleton = new KinectCommon.NuiSkeletonData();
// knee, ankle, foot blend amounts
this.allTracked = new Vector3(0.0f, 0.0f, 0.0f); // All joints are tracked
this.footInferred = new Vector3(0.0f, 0.0f, 1.0f); // foot is inferred
this.ankleInferred = new Vector3(0.5f, 1.0f, 1.0f); // ankle is inferred
this.kneeInferred = new Vector3(1.0f, 1.0f, 1.0f); // knee is inferred
Reset();
}
// Update the filter with a new frame of data and smooth.
public void UpdateFilter(ref KinectCommon.NuiSkeletonData skeleton)
{
if (skeleton.eTrackingState != KinectCommon.NuiSkeletonTrackingState.SkeletonTracked)
{
return;
}
if (this.init == false)
{
this.Init(); // initialize with default parameters
}
// Check for divide by zero. Use an epsilon of a 10th of a millimeter
smoothParameters.fJitterRadius = Math.Max(0.0001f, smoothParameters.fJitterRadius);
int jointsCount = (int)KinectCommon.NuiSkeletonPositionIndex.Count;
for (int jointIndex = 0; jointIndex < jointsCount; jointIndex++)
{
FilterJoint(ref skeleton, jointIndex, ref smoothParameters);
}
}
// Update the filter for one joint.
protected void FilterJoint(ref KinectCommon.NuiSkeletonData skeleton, int jointIndex, ref KinectCommon.NuiTransformSmoothParameters smoothingParameters)
{
float filteredState;
float trend;
float diffVal;
float rawState = (float)skeleton.SkeletonTrackingState[jointIndex];
float prevFilteredState = history[jointIndex].FilteredState;
float prevTrend = history[jointIndex].Trend;
float prevRawState = history[jointIndex].RawState;
// If joint is invalid, reset the filter
if (rawState == 0f)
{
history[jointIndex].FrameCount = 0;
}
// Initial start values
if (history[jointIndex].FrameCount == 0)
{
filteredState = rawState;
trend = 0f;
}
else if (this.history[jointIndex].FrameCount == 1)
{
filteredState = (rawState + prevRawState) * 0.5f;
diffVal = filteredState - prevFilteredState;
trend = (diffVal * smoothingParameters.fCorrection) + (prevTrend * (1.0f - smoothingParameters.fCorrection));
}
else
{
// // First apply jitter filter
// diffVal = rawState - prevFilteredState;
//
// if (diffVal <= smoothingParameters.fJitterRadius)
// {
// filteredState = (rawState * (diffVal / smoothingParameters.fJitterRadius)) + (prevFilteredState * (1.0f - (diffVal / smoothingParameters.fJitterRadius)));
// }
// else
// {
// filteredState = rawState;
// }
filteredState = rawState;
// Now the double exponential smoothing filter
filteredState = (filteredState * (1.0f - smoothingParameters.fSmoothing)) + ((prevFilteredState + prevTrend) * smoothingParameters.fSmoothing);
diffVal = filteredState - prevFilteredState;
trend = (diffVal * smoothingParameters.fCorrection) + (prevTrend * (1.0f - smoothingParameters.fCorrection));
}
// Predict into the future to reduce latency
float predictedState = filteredState + (trend * smoothingParameters.fPrediction);
// Check that we are not too far away from raw data
diffVal = predictedState - rawState;
if (diffVal > smoothingParameters.fMaxDeviationRadius)
{
predictedState = (predictedState * (smoothingParameters.fMaxDeviationRadius / diffVal)) + (rawState * (1.0f - (smoothingParameters.fMaxDeviationRadius / diffVal)));
}
// Save the data from this frame
history[jointIndex].RawState = rawState;
history[jointIndex].FilteredState = filteredState;
history[jointIndex].Trend = trend;
history[jointIndex].FrameCount++;
// Set the filtered data back into the joint
skeleton.SkeletonTrackingState[jointIndex] = (KinectCommon.NuiSkeletonPositionTrackingState)(predictedState + 0.5f);
}
// Update the filter for one joint.
protected void FilterJoint(ref KinectCommon.NuiSkeletonData skeleton, int jointIndex, ref KinectCommon.NuiTransformSmoothParameters smoothingParameters)
{
// if (null == skeleton)
// {
// return;
// }
//int jointIndex = (int)jt;
Vector3 filteredPosition;
Vector3 diffvec;
Vector3 trend;
float diffVal;
Vector3 rawPosition = (Vector3)skeleton.SkeletonPositions[jointIndex];
Vector3 prevFilteredPosition = this.history[jointIndex].FilteredPosition;
Vector3 prevTrend = this.history[jointIndex].Trend;
Vector3 prevRawPosition = this.history[jointIndex].RawPosition;
bool jointIsValid = KinectHelper.JointPositionIsValid(rawPosition);
// If joint is invalid, reset the filter
if (!jointIsValid)
{
history[jointIndex].FrameCount = 0;
}
// Initial start values
if (this.history[jointIndex].FrameCount == 0)
{
filteredPosition = rawPosition;
trend = Vector3.zero;
}
else if (this.history[jointIndex].FrameCount == 1)
{
filteredPosition = (rawPosition + prevRawPosition) * 0.5f;
diffvec = filteredPosition - prevFilteredPosition;
trend = (diffvec * smoothingParameters.fCorrection) + (prevTrend * (1.0f - smoothingParameters.fCorrection));
}
else
{
// First apply jitter filter
diffvec = rawPosition - prevFilteredPosition;
diffVal = Math.Abs(diffvec.magnitude);
if (diffVal <= smoothingParameters.fJitterRadius)
{
filteredPosition = (rawPosition * (diffVal / smoothingParameters.fJitterRadius)) + (prevFilteredPosition * (1.0f - (diffVal / smoothingParameters.fJitterRadius)));
}
else
{
filteredPosition = rawPosition;
}
// Now the double exponential smoothing filter
filteredPosition = (filteredPosition * (1.0f - smoothingParameters.fSmoothing)) + ((prevFilteredPosition + prevTrend) * smoothingParameters.fSmoothing);
diffvec = filteredPosition - prevFilteredPosition;
trend = (diffvec * smoothingParameters.fCorrection) + (prevTrend * (1.0f - smoothingParameters.fCorrection));
}
// Predict into the future to reduce latency
Vector3 predictedPosition = filteredPosition + (trend * smoothingParameters.fPrediction);
// Check that we are not too far away from raw data
diffvec = predictedPosition - rawPosition;
diffVal = Mathf.Abs(diffvec.magnitude);
if (diffVal > smoothingParameters.fMaxDeviationRadius)
{
predictedPosition = (predictedPosition * (smoothingParameters.fMaxDeviationRadius / diffVal)) + (rawPosition * (1.0f - (smoothingParameters.fMaxDeviationRadius / diffVal)));
}
// Save the data from this frame
history[jointIndex].RawPosition = rawPosition;
history[jointIndex].FilteredPosition = filteredPosition;
history[jointIndex].Trend = trend;
history[jointIndex].FrameCount++;
// Set the filtered data back into the joint
// Joint j = skeleton.Joints[jt];
// j.Position = KinectHelper.Vector3ToSkeletonPoint(predictedPosition);
// skeleton.Joints[jt] = j;
skeleton.SkeletonPositions[jointIndex] = (Vector4)predictedPosition;
}
// Update the filter for one joint.
protected void FilterJoint(ref KinectCommon.NuiSkeletonData skeleton, int jointIndex, ref KinectCommon.NuiTransformSmoothParameters smoothingParameters, ref Matrix4x4[] jointOrientations)
{
// if (null == skeleton)
// {
// return;
// }
// int jointIndex = (int)jt;
Quaternion filteredOrientation;
Quaternion trend;
Vector3 fwdVector = (Vector3)jointOrientations[jointIndex].GetColumn(2);
if (fwdVector == Vector3.zero)
{
return;
}
Quaternion rawOrientation = Quaternion.LookRotation(fwdVector, jointOrientations[jointIndex].GetColumn(1));
Quaternion prevFilteredOrientation = this.history[jointIndex].FilteredBoneOrientation;
Quaternion prevTrend = this.history[jointIndex].Trend;
Vector3 rawPosition = (Vector3)skeleton.SkeletonPositions[jointIndex];
bool orientationIsValid = KinectHelper.JointPositionIsValid(rawPosition) && KinectHelper.IsTrackedOrInferred(skeleton, jointIndex) && KinectHelper.BoneOrientationIsValid(rawOrientation);
if (!orientationIsValid)
{
if (this.history[jointIndex].FrameCount > 0)
{
rawOrientation = history[jointIndex].FilteredBoneOrientation;
history[jointIndex].FrameCount = 0;
}
}
// Initial start values or reset values
if (this.history[jointIndex].FrameCount == 0)
{
// Use raw position and zero trend for first value
filteredOrientation = rawOrientation;
trend = Quaternion.identity;
}
else if (this.history[jointIndex].FrameCount == 1)
{
// Use average of two positions and calculate proper trend for end value
Quaternion prevRawOrientation = this.history[jointIndex].RawBoneOrientation;
filteredOrientation = KinectHelper.EnhancedQuaternionSlerp(prevRawOrientation, rawOrientation, 0.5f);
Quaternion diffStarted = KinectHelper.RotationBetweenQuaternions(filteredOrientation, prevFilteredOrientation);
trend = KinectHelper.EnhancedQuaternionSlerp(prevTrend, diffStarted, smoothingParameters.fCorrection);
}
else
{
// First apply a jitter filter
Quaternion diffJitter = KinectHelper.RotationBetweenQuaternions(rawOrientation, prevFilteredOrientation);
float diffValJitter = (float)Math.Abs(KinectHelper.QuaternionAngle(diffJitter));
if (diffValJitter <= smoothingParameters.fJitterRadius)
{
filteredOrientation = KinectHelper.EnhancedQuaternionSlerp(prevFilteredOrientation, rawOrientation, diffValJitter / smoothingParameters.fJitterRadius);
}
else
{
filteredOrientation = rawOrientation;
}
// Now the double exponential smoothing filter
filteredOrientation = KinectHelper.EnhancedQuaternionSlerp(filteredOrientation, prevFilteredOrientation * prevTrend, smoothingParameters.fSmoothing);
diffJitter = KinectHelper.RotationBetweenQuaternions(filteredOrientation, prevFilteredOrientation);
trend = KinectHelper.EnhancedQuaternionSlerp(prevTrend, diffJitter, smoothingParameters.fCorrection);
}
// Use the trend and predict into the future to reduce latency
Quaternion predictedOrientation = filteredOrientation * KinectHelper.EnhancedQuaternionSlerp(Quaternion.identity, trend, smoothingParameters.fPrediction);
// Check that we are not too far away from raw data
Quaternion diff = KinectHelper.RotationBetweenQuaternions(predictedOrientation, filteredOrientation);
float diffVal = (float)Math.Abs(KinectHelper.QuaternionAngle(diff));
if (diffVal > smoothingParameters.fMaxDeviationRadius)
{
predictedOrientation = KinectHelper.EnhancedQuaternionSlerp(filteredOrientation, predictedOrientation, smoothingParameters.fMaxDeviationRadius / diffVal);
}
// predictedOrientation.Normalize();
// filteredOrientation.Normalize();
// trend.Normalize();
// Save the data from this frame
history[jointIndex].RawBoneOrientation = rawOrientation;
history[jointIndex].FilteredBoneOrientation = filteredOrientation;
history[jointIndex].Trend = trend;
history[jointIndex].FrameCount++;
// Set the filtered and predicted data back into the bone orientation
if (KinectHelper.BoneOrientationIsValid(predictedOrientation))
{
jointOrientations[jointIndex].SetTRS(Vector3.zero, predictedOrientation, Vector3.one);
}
}
// Implements the per-frame filter logic for the arms up patch.
public bool FilterSkeleton(ref KinectCommon.NuiSkeletonData skeleton, float deltaNuiTime)
{
// if (null == skeleton)
// {
// return false;
// }
// exit early if we lose tracking on the entire skeleton
if (skeleton.eTrackingState != KinectCommon.NuiSkeletonTrackingState.SkeletonTracked)
{
filterJoints.Reset();
}
KinectHelper.CopySkeleton(ref skeleton, ref filteredSkeleton);
filterJoints.UpdateFilter(ref filteredSkeleton);
// Update lerp state with the current delta NUI time.
this.lerpLeftKnee.Tick(deltaNuiTime);
this.lerpLeftAnkle.Tick(deltaNuiTime);
this.lerpLeftFoot.Tick(deltaNuiTime);
this.lerpRightKnee.Tick(deltaNuiTime);
this.lerpRightAnkle.Tick(deltaNuiTime);
this.lerpRightFoot.Tick(deltaNuiTime);
// Exit early if we do not have a valid body basis - too much of the skeleton is invalid.
if ((!KinectHelper.IsTracked(skeleton, (int)KinectCommon.NuiSkeletonPositionIndex.SpineBase)) ||
(!KinectHelper.IsTrackedOrInferred(skeleton, (int)KinectCommon.NuiSkeletonPositionIndex.HipLeft)) ||
(!KinectHelper.IsTrackedOrInferred(skeleton, (int)KinectCommon.NuiSkeletonPositionIndex.HipRight)))
{
return(false);
}
// Determine if the skeleton is clipped by the bottom of the FOV.
bool clippedBottom = (skeleton.ClippedEdges & KinectCommon.FrameEdges.Bottom) != 0;
// Select a mask for the left leg depending on which joints are not tracked.
// These masks define how much of the filtered joint positions should be blended
// with the raw positions. Based on the tracking state of the leg joints, we apply
// more filtered data as more joints lose tracking.
Vector3 leftLegMask = this.allTracked;
if (!KinectHelper.IsTracked(skeleton, (int)KinectCommon.NuiSkeletonPositionIndex.KneeLeft))
{
leftLegMask = this.kneeInferred;
}
else if (!KinectHelper.IsTracked(skeleton, (int)KinectCommon.NuiSkeletonPositionIndex.AnkleLeft))
{
leftLegMask = this.ankleInferred;
}
else if (!KinectHelper.IsTracked(skeleton, (int)KinectCommon.NuiSkeletonPositionIndex.FootLeft))
{
leftLegMask = this.footInferred;
}
// Select a mask for the right leg depending on which joints are not tracked.
Vector3 rightLegMask = this.allTracked;
if (!KinectHelper.IsTracked(skeleton, (int)KinectCommon.NuiSkeletonPositionIndex.KneeRight))
{
rightLegMask = this.kneeInferred;
}
else if (!KinectHelper.IsTracked(skeleton, (int)KinectCommon.NuiSkeletonPositionIndex.AnkleRight))
{
rightLegMask = this.ankleInferred;
}
else if (!KinectHelper.IsTracked(skeleton, (int)KinectCommon.NuiSkeletonPositionIndex.FootRight))
{
rightLegMask = this.footInferred;
}
// If the skeleton is not clipped by the bottom of the FOV, cut the filtered data
// blend in half.
float clipMask = clippedBottom ? 1.0f : 0.5f;
// Apply the mask values to the joints of each leg, by placing the mask values into the lerp targets.
this.lerpLeftKnee.SetEnabled(leftLegMask.x * clipMask);
this.lerpLeftAnkle.SetEnabled(leftLegMask.y * clipMask);
this.lerpLeftFoot.SetEnabled(leftLegMask.z * clipMask);
this.lerpRightKnee.SetEnabled(rightLegMask.x * clipMask);
this.lerpRightAnkle.SetEnabled(rightLegMask.y * clipMask);
this.lerpRightFoot.SetEnabled(rightLegMask.z * clipMask);
// The bSkeletonUpdated flag tracks whether we have modified the output skeleton or not.
bool skeletonUpdated = false;
// Apply lerp to the left knee, which will blend the raw joint position with the filtered joint position based on the current lerp value.
if (this.lerpLeftKnee.IsLerpEnabled())
{
int jointIndex = (int)KinectCommon.NuiSkeletonPositionIndex.KneeLeft;
KinectHelper.LerpAndApply(ref skeleton, jointIndex, (Vector3)filteredSkeleton.SkeletonPositions[jointIndex], lerpLeftKnee.SmoothValue, KinectCommon.NuiSkeletonPositionTrackingState.Tracked);
skeletonUpdated = true;
}
// Apply lerp to the left ankle.
if (this.lerpLeftAnkle.IsLerpEnabled())
{
int jointIndex = (int)KinectCommon.NuiSkeletonPositionIndex.AnkleLeft;
KinectHelper.LerpAndApply(ref skeleton, jointIndex, (Vector3)filteredSkeleton.SkeletonPositions[jointIndex], lerpLeftAnkle.SmoothValue, KinectCommon.NuiSkeletonPositionTrackingState.Tracked);
skeletonUpdated = true;
}
// Apply lerp to the left foot.
if (this.lerpLeftFoot.IsLerpEnabled())
{
int jointIndex = (int)KinectCommon.NuiSkeletonPositionIndex.FootLeft;
KinectHelper.LerpAndApply(ref skeleton, jointIndex, (Vector3)filteredSkeleton.SkeletonPositions[jointIndex], lerpLeftFoot.SmoothValue, KinectCommon.NuiSkeletonPositionTrackingState.Inferred);
skeletonUpdated = true;
}
// Apply lerp to the right knee.
if (this.lerpRightKnee.IsLerpEnabled())
{
int jointIndex = (int)KinectCommon.NuiSkeletonPositionIndex.KneeRight;
KinectHelper.LerpAndApply(ref skeleton, jointIndex, (Vector3)filteredSkeleton.SkeletonPositions[jointIndex], lerpRightKnee.SmoothValue, KinectCommon.NuiSkeletonPositionTrackingState.Tracked);
skeletonUpdated = true;
}
// Apply lerp to the right ankle.
if (this.lerpRightAnkle.IsLerpEnabled())
{
int jointIndex = (int)KinectCommon.NuiSkeletonPositionIndex.AnkleRight;
KinectHelper.LerpAndApply(ref skeleton, jointIndex, (Vector3)filteredSkeleton.SkeletonPositions[jointIndex], lerpRightAnkle.SmoothValue, KinectCommon.NuiSkeletonPositionTrackingState.Tracked);
skeletonUpdated = true;
}
// Apply lerp to the right foot.
if (this.lerpRightFoot.IsLerpEnabled())
{
int jointIndex = (int)KinectCommon.NuiSkeletonPositionIndex.FootRight;
KinectHelper.LerpAndApply(ref skeleton, jointIndex, (Vector3)filteredSkeleton.SkeletonPositions[jointIndex], lerpRightFoot.SmoothValue, KinectCommon.NuiSkeletonPositionTrackingState.Inferred);
skeletonUpdated = true;
}
return(skeletonUpdated);
}