// ApplyBoneOrientationConstraints and constrain rotations.
public void Constrain(ref KinectInterop.BodyData bodyData)
{
KinectManager manager = KinectManager.Instance;
for (int i = 0; i < this.jointConstraints.Count; i++)
{
BoneOrientationConstraint jc = this.jointConstraints[i];
if (jc.thisJoint == (int)JointType.SpineBase || bodyData.joint[jc.thisJoint].normalRotation == Quaternion.identity)
{
continue;
}
if (bodyData.joint[jc.thisJoint].trackingState == TrackingState.NotTracked)
{
continue;
}
int prevJoint = (int)KinectInterop.GetParentJoint((JointType)jc.thisJoint);
if (bodyData.joint[prevJoint].trackingState == TrackingState.NotTracked)
{
continue;
}
Quaternion rotJointN = bodyData.joint[jc.thisJoint].normalRotation;
Quaternion rotParentN = bodyData.joint[prevJoint].normalRotation;
Quaternion rotLocalN = Quaternion.Inverse(rotParentN) * rotJointN;
Vector3 eulerAnglesN = rotLocalN.eulerAngles;
Quaternion rotJointM = bodyData.joint[jc.thisJoint].mirroredRotation;
Quaternion rotParentM = bodyData.joint[prevJoint].mirroredRotation;
Quaternion rotLocalM = Quaternion.Inverse(rotParentM) * rotJointM;
Vector3 eulerAnglesM = rotLocalM.eulerAngles;
bool isConstrained = false;
for (int a = 0; a < jc.axisConstrainrs.Count; a++)
{
AxisOrientationConstraint ac = jc.axisConstrainrs[a];
Quaternion axisRotation = Quaternion.AngleAxis(eulerAnglesN[ac.axis], ac.rotateAround);
float angleFromMin = Quaternion.Angle(axisRotation, ac.minQuaternion);
float angleFromMax = Quaternion.Angle(axisRotation, ac.maxQuaternion);
if (!(angleFromMin <= ac.angleRange && angleFromMax <= ac.angleRange))
{
// correct the axis that has fallen out of range.
if (angleFromMin > angleFromMax)
{
eulerAnglesN[ac.axis] = ac.angleMax;
}
else
{
eulerAnglesN[ac.axis] = ac.angleMin;
}
// fix mirrored rotation as well
if (ac.axis == 0)
{
eulerAnglesM[ac.axis] = eulerAnglesN[ac.axis];
}
else
{
eulerAnglesM[ac.axis] = -eulerAnglesN[ac.axis];
}
isConstrained = true;
}
}
if (isConstrained)
{
rotLocalN = Quaternion.Euler(eulerAnglesN);
rotJointN = rotParentN * rotLocalN;
rotLocalM = Quaternion.Euler(eulerAnglesM);
rotJointM = rotParentM * rotLocalM;
// Put it back into the bone directions
bodyData.joint[jc.thisJoint].normalRotation = rotJointN;
bodyData.joint[jc.thisJoint].mirroredRotation = rotJointM;
// dirJoint = constrainedRotation * dirParent;
// bodyData.joint[jc.thisJoint].direction = dirJoint;
}
}
}
