Quaternion GetRotation(Astra.Joint jo)
{
Vector3 jointUp = new Vector3(jo.Orientation.M01,
jo.Orientation.M11,
jo.Orientation.M21);
Vector3 jointForward = new Vector3(jo.Orientation.M02,
jo.Orientation.M12,
jo.Orientation.M22);
return(Quaternion.LookRotation(jointForward, jointUp));
}
void PrintBody(Astra.BodyFrame bodyFrame)
{
if (bodyFrame != null)
{
Body[] bodies = { };
bodyFrame.CopyBodyData(ref bodies);
foreach (Body body in bodies)
{
Astra.Joint headJoint = body.Joints[(int)JointType.Head];
Debug.Log("Body " + body.Id + " COM " + body.CenterOfMass +
" Head Depth: " + headJoint.DepthPosition.X + "," + headJoint.DepthPosition.Y +
" World: " + headJoint.WorldPosition.X + "," + headJoint.WorldPosition.Y + "," + headJoint.WorldPosition.Z +
" Status: " + headJoint.Status.ToString());
}
}
}