public void ProcessSkeleton(nuitrack.Skeleton skeleton)
{
if (skeleton == null)
{
return;
}
if (!gameObject.activeSelf)
{
gameObject.SetActive(true);
}
for (int i = 0; i < jointsInfo.Length; i++)
{
nuitrack.Joint j = skeleton.GetJoint(jointsInfo[i]);
if (j.Confidence > 0.5f)
{
if (!joints[jointsInfo[i]].activeSelf)
{
joints[jointsInfo[i]].SetActive(true);
}
joints[jointsInfo[i]].transform.position = 0.001f * j.ToVector3();
joints[jointsInfo[i]].transform.rotation = j.ToQuaternionMirrored();
}
else
{
if (joints[jointsInfo[i]].activeSelf)
{
joints[jointsInfo[i]].SetActive(false);
}
}
}
for (int i = 0; i < connectionsInfo.GetLength(0); i++)
{
if (joints[connectionsInfo[i, 0]].activeSelf && joints[connectionsInfo[i, 1]].activeSelf)
{
if (!connections[i].activeSelf)
{
connections[i].SetActive(true);
}
Vector3 diff = joints[connectionsInfo[i, 1]].transform.position - joints[connectionsInfo[i, 0]].transform.position;
connections[i].transform.position = joints[connectionsInfo[i, 0]].transform.position;
connections[i].transform.rotation = Quaternion.LookRotation(diff);
connections[i].transform.localScale = new Vector3(1f, 1f, diff.magnitude);
}
else
{
if (connections[i].activeSelf)
{
connections[i].SetActive(false);
}
}
}
}
void ProcessSkeleton(nuitrack.Skeleton skeleton)
{
//Vector3 torsoPos = Quaternion.Euler(0f, 0f, 0f) * (0.001f * skeleton.GetJoint(nuitrack.JointType.Torso).ToVector3());
//transform.position = torsoPos;
foreach (var riggedJoint in jointsRigged)
{
nuitrack.Joint joint = skeleton.GetJoint(riggedJoint.Key);
ModelJoint modelJoint = riggedJoint.Value;
Quaternion jointOrient =
Quaternion.Inverse(CalibrationInfo.SensorOrientation)
* (joint.ToQuaternionMirrored())
* modelJoint.baseRotOffset;
modelJoint.bone.rotation = jointOrient;
}
}
/// <summary>
/// Getting skeleton data from sensor and update model bones transforms
/// </summary>
void ProcessSkeleton(nuitrack.Skeleton skeleton)
{
if (skeleton == null)
{
return;
}
if (!firstOffset)
{
firstOffset = true;
StartCoroutine(CalculateOffset());
}
foreach (var riggedJoint in jointsRigged)
{
nuitrack.Joint j = skeleton.GetJoint(riggedJoint.Key);
if (j.Confidence > 0.5f)
{
//Bone position
Vector3 newPos = (q180) * (Vector3.up * CalibrationInfo.FloorHeight + CalibrationInfo.SensorOrientation * (0.001f * j.ToVector3())) * scale + basePivotOffset;
ModelJoint rj = riggedJoint.Value;
//Bone scale
if (rj.parentBone != null)
{
Transform bone = rj.parentBone;
bone.parent = bone.root;
float scaleDif = rj.baseDistanceToParent / Vector3.Distance(newPos, bone.position);
bone.localScale = Vector3.one / scaleDif;
}
rj.bone.position = newPos;
if (j.Type != nuitrack.JointType.None)
{
Quaternion jointOrient = CalibrationInfo.SensorOrientation * (j.ToQuaternionMirrored());
rj.bone.rotation = q0 * Quaternion.Inverse(CalibrationInfo.SensorOrientation) * jointOrient * rj.baseRotOffset;
}
}
}
leftHandPos = jointsRigged[nuitrack.JointType.LeftWrist].bone.position;
rightHandPos = jointsRigged[nuitrack.JointType.RightWrist].bone.position;
}
void ProcessSkeleton(nuitrack.Skeleton skeleton)
{
//Calculate the model position: take the Torso position and invert movement along the Z axis
Vector3 torsoPos = Quaternion.Euler(0f, 180f, 0f) * (0.001f * skeleton.GetJoint(nuitrack.JointType.Torso).ToVector3());
transform.position = torsoPos + basePivotOffset;
foreach (var riggedJoint in jointsRigged)
{
//Get joint from the Nuitrack
nuitrack.Joint joint = skeleton.GetJoint(riggedJoint.Key);
ModelJoint modelJoint = riggedJoint.Value;
//Calculate the model bone rotation: take the mirrored joint orientation, add a basic rotation of the model bone, invert movement along the Z axis
Quaternion jointOrient = Quaternion.Inverse(CalibrationInfo.SensorOrientation) * (joint.ToQuaternionMirrored()) * modelJoint.baseRotOffset;
modelJoint.bone.rotation = jointOrient;
}
}
void ProcessSkeleton(nuitrack.Skeleton skeleton)
{
if (skeleton == null)
{
return;
}
if (headTransform != null)
{
#if UNITY_IOS
headTransform.position = headDirectionTransform.rotation * neckHMDOffset + (rotate180 ? q180 : q0) * (Vector3.up * CalibrationInfo.FloorHeight + CalibrationInfo.SensorOrientation * (0.001f * skeleton.GetJoint(nuitrack.JointType.Neck).ToVector3())) + basePivotOffset;
#else
headTransform.position = (rotate180 ? q180 : q0) * (Vector3.up * CalibrationInfo.FloorHeight + CalibrationInfo.SensorOrientation * (0.001f * skeleton.GetJoint(nuitrack.JointType.Head).ToVector3())) + basePivotOffset;
#endif
basePivot = (rotate180 ? q180 : q0) * (Vector3.up * CalibrationInfo.FloorHeight + CalibrationInfo.SensorOrientation * (0.001f * skeleton.GetJoint(nuitrack.JointType.Waist).ToVector3())) + basePivotOffset;
}
if (!skeletonRoot.activeSelf)
{
skeletonRoot.SetActive(true);
}
for (int i = 0; i < jointsInfo.Length; i++)
{
nuitrack.Joint j = skeleton.GetJoint(jointsInfo[i]);
if (j.Confidence > 0.5f)
{
if (!joints[jointsInfo[i]].activeSelf)
{
joints[jointsInfo[i]].SetActive(true);
}
joints[jointsInfo[i]].transform.position = (rotate180 ? q180 : q0) * (Vector3.up * CalibrationInfo.FloorHeight + CalibrationInfo.SensorOrientation * (0.001f * j.ToVector3())) + basePivotOffset;
joints[jointsInfo[i]].transform.rotation = (rotate180 ? q180 : q0) * CalibrationInfo.SensorOrientation * j.ToQuaternionMirrored();
leftHandPos = (rotate180 ? q180 : q0) * (Vector3.up * CalibrationInfo.FloorHeight + CalibrationInfo.SensorOrientation * (0.001f * skeleton.GetJoint(nuitrack.JointType.LeftHand).ToVector3())) + basePivotOffset;
rightHandPos = (rotate180 ? q180 : q0) * (Vector3.up * CalibrationInfo.FloorHeight + CalibrationInfo.SensorOrientation * (0.001f * skeleton.GetJoint(nuitrack.JointType.RightHand).ToVector3())) + basePivotOffset;
}
else
{
if (joints[jointsInfo[i]].activeSelf)
{
joints[jointsInfo[i]].SetActive(false);
}
}
}
for (int i = 0; i < connectionsInfo.GetLength(0); i++)
{
if (joints[connectionsInfo[i, 0]].activeSelf && joints[connectionsInfo[i, 1]].activeSelf)
{
if (!connections[i].activeSelf)
{
connections[i].SetActive(true);
}
Vector3 diff = joints[connectionsInfo[i, 1]].transform.position - joints[connectionsInfo[i, 0]].transform.position;
connections[i].transform.position = joints[connectionsInfo[i, 0]].transform.position;
connections[i].transform.rotation = Quaternion.LookRotation(diff);
connections[i].transform.localScale = new Vector3(1f, 1f, diff.magnitude);
}
else
{
if (connections[i].activeSelf)
{
connections[i].SetActive(false);
}
}
}
}
/// <summary>
/// Getting skeleton data from thr sensor and updating transforms of the model bones
/// </summary>
void ProcessSkeleton(nuitrack.Skeleton skeleton)
{
foreach (var riggedJoint in jointsRigged)
{
//Get joint from the Nuitrack
nuitrack.Joint joint = skeleton.GetJoint(riggedJoint.Key);
//Get modelJoint
ModelJoint modelJoint = riggedJoint.Value;
//Bone position
Vector3 newPos = Quaternion.Euler(0f, 180f, 0f) * (0.001f * joint.ToVector3());
modelJoint.bone.position = newPos;
//Bone rotation
Quaternion jointOrient = Quaternion.Inverse(CalibrationInfo.SensorOrientation) * (joint.ToQuaternionMirrored()) * modelJoint.baseRotOffset;
modelJoint.bone.rotation = jointOrient;
//Bone scale
if (modelJoint.parentBone != null)
{
//Take the Transform of a parent bone
Transform parentBone = modelJoint.parentBone;
//calculate how many times the distance between the child bone and its parent bone has changed compared to the base distance (which was recorded at the start)
float scaleDif = modelJoint.baseDistanceToParent / Vector3.Distance(newPos, parentBone.position);
//change the size of the bone to the resulting value (On default bone size (1,1,1))
parentBone.localScale = Vector3.one / scaleDif;
}
}
}
void LateUpdate()
{
if (CurrentUserTracker.CurrentSkeleton != null)
{
nuitrack.Skeleton skeleton = CurrentUserTracker.CurrentSkeleton;
transform.position = Quaternion.Euler(0f, 180f, 0f) * (0.001f * skeleton.GetJoint(rootJoint).ToVector3());
foreach (SimpleJoint item in joints)
{
nuitrack.Joint joint = skeleton.GetJoint(item.nuitrackJoint);
Quaternion rotation = Quaternion.Inverse(CalibrationInfo.SensorOrientation) * joint.ToQuaternionMirrored() * item.Offset;
item.Bone.rotation = rotation;
}
}
}
