public bool GetJointPosition(NiteWrapper.SkeletonJoint joint, out Vector3 position)
{
if (kinectConnect && calibratedUser)
{
NiteWrapper.SkeletonJointTransformation trans = new NiteWrapper.SkeletonJointTransformation();
NiteWrapper.GetJointTransformation(calibratedUserId, joint, ref trans);
// Nite gives position in mm convert to Unity unit = meters
position = new Vector3(trans.pos.x / 1000.0F, trans.pos.y / 1000.0F, trans.pos.z / 1000.0F);
return(trans.pos.confidence > confidenceThreshold);
}
else
{
position = new Vector3(0.0F, 0.0F, 0.0F);
return(false);
}
}
public bool GetJointOrientation(NiteWrapper.SkeletonJoint joint, out Quaternion rotation)
{
if (kinectConnect && calibratedUser)
{
NiteWrapper.SkeletonJointTransformation trans = new NiteWrapper.SkeletonJointTransformation();
NiteWrapper.GetJointTransformation(calibratedUserId, joint, ref trans);
Vector3 worldZVec = new Vector3(trans.ori.m02, trans.ori.m12, trans.ori.m22);
Vector3 worldYVec = new Vector3(trans.ori.m01, trans.ori.m11, trans.ori.m21);
rotation = Quaternion.LookRotation(worldZVec, worldYVec);
return(trans.ori.confidence > confidenceThreshold);
}
else
{
rotation = Quaternion.identity;
return(false);
}
}
void TransformBone(uint userId, NiteWrapper.SkeletonJoint joint, Transform dest)
{
NiteWrapper.SkeletonJointTransformation trans = new NiteWrapper.SkeletonJointTransformation();
NiteWrapper.GetJointTransformation(userId, joint, ref trans);
// only modify joint if confidence is high enough in this frame
if (trans.ori.confidence > 0.5)
{
// Z coordinate in OpenNI is opposite from Unity. We will create a quat
// to rotate from OpenNI to Unity (relative to initial rotation)
Vector3 worldZVec = new Vector3(trans.ori.m02, -trans.ori.m12, trans.ori.m22);
Vector3 worldYVec = new Vector3(-trans.ori.m01, trans.ori.m11, -trans.ori.m21);
Quaternion jointRotation = Quaternion.LookRotation(worldZVec, worldYVec);
Quaternion newRotation = jointRotation * initialRotations[(int)joint];
// Some smoothing
dest.rotation = Quaternion.Slerp(dest.rotation, newRotation, Time.deltaTime * 20);
}
}
// Rotate the spine of the avatar to the direction of the main fly arm.
void RotateSpineInFlight(uint userId, NiteWrapper.SkeletonJoint joint) {
NiteWrapper.SkeletonJointTransformation trans = new NiteWrapper.SkeletonJointTransformation();
NiteWrapper.GetJointTransformation(userId, joint, ref trans);
// Smooth spine rotation, but currently results in a buggy avatar.
//spine.forward = Vector3.SmoothDamp(spine.forward, -mainFlyArm.right, ref velocity, smoothTime);
// Instant spine rotation to the direction of the main fly arm.
spine.forward = -mainFlyArm.right;
}
// This function moves the avatar around according to the movement of the user relative to the kinect.
void MoveBone(uint userId, NiteWrapper.SkeletonJoint joint, Transform dest) {
NiteWrapper.SkeletonJointTransformation trans = new NiteWrapper.SkeletonJointTransformation();
NiteWrapper.GetJointTransformation(userId, joint, ref trans);
// Save the first position of the user relative to the kinect once it stopped flying.
if (firstMoveAfterFlight == true)
kinectOffsetPosition = new Vector3(trans.pos.x/1000, trans.pos.y/1000 -1, -trans.pos.z/1000);
// The position of the avatar is based on the characterPosition (i.e. the position where the avatar
// has flown to) and the movement around the initial position of the user after flight (kinectOffsetPosition)
// relative to the kinect.
dest.position = characterPosition - kinectOffsetPosition + new Vector3(trans.pos.x/1000, trans.pos.y/1000 -1, -trans.pos.z/1000);
}
// Retrieves the latest rotation information from the kinect.
void RotateBone(uint userId, NiteWrapper.SkeletonJoint joint, Transform dest) {
NiteWrapper.SkeletonJointTransformation trans = new NiteWrapper.SkeletonJointTransformation();
NiteWrapper.GetJointTransformation(userId, joint, ref trans);
// Only modify joint if confidence is high enough in this frame.
// We set it to 0 since we always want the latest rotation information.
if (trans.ori.confidence > 0.0) {
// Z coordinate in OpenNI is opposite from Unity. We will create a quaternion
// to rotate from OpenNI to Unity (relative to initial rotation).
Vector3 worldZVec = new Vector3(-trans.ori.m02, -trans.ori.m12, trans.ori.m22);
Vector3 worldYVec = new Vector3(trans.ori.m01, trans.ori.m11, -trans.ori.m21);
Quaternion jointRotation = Quaternion.LookRotation(worldZVec, worldYVec);
Quaternion newRotation = jointRotation * initialRotations[(int)joint];
// Smoothing results in a shaky avatar, but might be useful if it is made to work.
// dest.rotation = Quaternion.Slerp(dest.rotation, newRotation, Time.deltaTime * 20);
dest.rotation = newRotation;
}
}
public bool GetJointPosition(NiteWrapper.SkeletonJoint joint, out Vector3 position) {
if (kinectConnect && calibratedUser) {
NiteWrapper.SkeletonJointTransformation trans = new NiteWrapper.SkeletonJointTransformation();
NiteWrapper.GetJointTransformation(calibratedUserId, joint, ref trans);
// Nite gives position in mm convert to Unity unit = meters
position = new Vector3(trans.pos.x/1000.0F, trans.pos.y/1000.0F, trans.pos.z/1000.0F);
return (trans.pos.confidence > confidenceThreshold);
}
else {
position = new Vector3(0.0F, 0.0F, 0.0F);
return false;
}
}
public bool GetJointOrientation(NiteWrapper.SkeletonJoint joint, out Quaternion rotation) {
if (kinectConnect && calibratedUser) {
NiteWrapper.SkeletonJointTransformation trans = new NiteWrapper.SkeletonJointTransformation();
NiteWrapper.GetJointTransformation(calibratedUserId, joint, ref trans);
Vector3 worldZVec = new Vector3(trans.ori.m02, trans.ori.m12, trans.ori.m22);
Vector3 worldYVec = new Vector3(trans.ori.m01, trans.ori.m11, trans.ori.m21);
rotation = Quaternion.LookRotation(worldZVec, worldYVec);
return (trans.ori.confidence > confidenceThreshold);
}
else {
rotation = Quaternion.identity;
return false;
}
}
void TransformBone(uint userId, NiteWrapper.SkeletonJoint joint, Transform dest)
{
NiteWrapper.SkeletonJointTransformation trans = new NiteWrapper.SkeletonJointTransformation();
NiteWrapper.GetJointTransformation(userId, joint, ref trans);
// only modify joint if confidence is high enough in this frame
if (trans.ori.confidence > 0.5)
{
// Z coordinate in OpenNI is opposite from Unity. We will create a quat
// to rotate from OpenNI to Unity (relative to initial rotation)
Vector3 worldZVec = new Vector3(-trans.ori.m02, -trans.ori.m12, trans.ori.m22);
Vector3 worldYVec = new Vector3(trans.ori.m01, trans.ori.m11, -trans.ori.m21);
Quaternion jointRotation = Quaternion.LookRotation(worldZVec, worldYVec);
Quaternion newRotation = jointRotation * initialRotations[(int)joint];
// Some smoothing
dest.rotation = Quaternion.Slerp(dest.rotation, newRotation, Time.deltaTime * 20);
}
}
public Vector3 left, right; // 3d world positions of hands
public HandPositions(NiteWrapper.SkeletonJointTransformation leftHand, NiteWrapper.SkeletonJointTransformation rightHand)
{
left = new Vector3(leftHand.pos.x, leftHand.pos.y, leftHand.pos.z);
right = new Vector3(rightHand.pos.x, rightHand.pos.y, rightHand.pos.z);
}
