private KinectIKBone createKinectBone(JointType jointType, String boneSimObjectName, String translationSimObjectName, KinectIKBone parent, Vector3 additionalOffset, SimScene scene, SimSubScene subScene, String additionalName = "")
{
dragControl.BoneSimObjectName = boneSimObjectName;
var targetSimObject = medicalController.getSimObject(dragControl.BoneSimObjectName);
var ikBone = targetSimObject.getElement("IKBone") as BEPUikBone;
ikBone.Pinned = false;
dragSimObjectDefinition.Name = jointType + "DragControl" + additionalName;
dragSimObjectDefinition.Enabled = allowMovement;
dragSimObjectDefinition.Translation = medicalController.getSimObject(translationSimObjectName).Translation + additionalOffset;
SimObjectBase instance = dragSimObjectDefinition.register(subScene);
medicalController.addSimObject(instance);
scene.buildScene();
ikDragSimObjects.Add(instance);
float distanceToParent = 0;
if (parent != null)
{
distanceToParent = (instance.Translation - parent.Translation).length();
}
var bone = new KinectIKBone(jointType, distanceToParent, instance);
if (parent != null)
{
parent.addChild(bone);
}
return(bone);
}
public void destroyIkControls(SimScene scene)
{
if (ikDebug != null)
{
medicalController.PluginManager.RendererPlugin.destroyDebugDrawingSurface(ikDebug);
ikDebug = null;
}
hips = null;
ikDragSimObjects.Clear();
}
public KinectIKFace(KinectIKBone parentBone, float distanceToParent, SimObjectBase faceTargetSimObject)
{
leftCP = ControlPointController.getControlPoint("LeftCP");
rightCP = ControlPointController.getControlPoint("RightCP");
movingMuscle = MuscleController.getMuscle("MovingMuscleDynamic");
movingMuscleTarget = MuscleController.MovingTarget;
neutralProtrusion = leftCP.NeutralLocation;
this.parentBone = parentBone;
this.distanceToParent = distanceToParent;
this.faceTargetSimObject = faceTargetSimObject;
currentOrientation = Quaternion.Identity;
}
public void createIkControls(SimScene scene)
{
if (!canConnectToScene())
{
return;
}
var subScene = scene.getDefaultSubScene();
ikDebug = medicalController.PluginManager.RendererPlugin.createDebugDrawingSurface("KinectIKDebug", subScene);
ikDebug.setVisible(debugVisible);
hips = createKinectBone(JointType.SpineBase, "Pelvis", "Pelvis", null, scene, subScene);
KinectIKBone hipsLeft = createKinectBone(JointType.HipRight, "Pelvis", "Pelvis", hips, new Vector3(15, 0, 0), scene, subScene);
KinectIKBone hipsRight = createKinectBone(JointType.HipLeft, "Pelvis", "Pelvis", hips, new Vector3(-15, 0, 0), scene, subScene);
KinectIKBone neck = createKinectBone(JointType.SpineShoulder, "UpperTSpineMover", "UpperTSpineMover", hips, scene, subScene);
KinectIKBone leftShoulderSpine = createKinectBone(JointType.ShoulderRight, "UpperTSpineMover", "LeftScapula", neck, Vector3.Zero, scene, subScene, "SpineShoulder");
KinectIKBone rightShoulderSpine = createKinectBone(JointType.ShoulderLeft, "UpperTSpineMover", "RightScapula", neck, Vector3.Zero, scene, subScene, "SpineShoulder");
KinectIKBone skull = createKinectBone(JointType.Head, "CSpineMover", "CSpineMover", neck, scene, subScene);
KinectIKBone leftKnee = createKinectBone(JointType.KneeRight, "LeftFemur", "LeftFemurTibiaJoint", hipsLeft, scene, subScene);
KinectIKBone leftAnkle = createKinectBone(JointType.AnkleRight, "LeftTibia", "LeftTibiaFootBaseJoint", leftKnee, scene, subScene);
KinectIKBone leftFoot = createKinectBone(JointType.FootRight, "LeftFootBase", "LeftFootBase", leftAnkle, new Vector3(0, -2, 5), scene, subScene);
KinectIKBone rightKnee = createKinectBone(JointType.KneeLeft, "RightFemur", "RightFemurTibiaJoint", hipsRight, scene, subScene);
KinectIKBone rightAnkle = createKinectBone(JointType.AnkleLeft, "RightTibia", "RightTibiaFootBaseJoint", rightKnee, scene, subScene);
KinectIKBone rightFoot = createKinectBone(JointType.FootLeft, "RightFootBase", "RightFootBase", rightAnkle, new Vector3(0, -2, 5), scene, subScene);
KinectIKBone leftShoulder = createKinectBone(JointType.ShoulderRight, "LeftScapula", "LeftScapula", neck, scene, subScene);
KinectIKBone leftElbow = createKinectBone(JointType.ElbowRight, "LeftHumerus", "LeftHumerusUlnaJoint", leftShoulder, scene, subScene);
KinectIKBone leftWrist = createKinectBone(JointType.WristRight, "LeftUlna", "LeftRadiusHandBaseJoint", leftElbow, scene, subScene);
KinectIKBone leftThumb = createKinectBone(JointType.ThumbRight, "LeftHandBase", "LeftHandBase", leftWrist, new Vector3(10, 0, 0), scene, subScene);
KinectIKBone leftHand = createKinectBone(JointType.HandRight, "LeftHandBase", "LeftHandBase", leftWrist, new Vector3(0, -15, 2), scene, subScene);
KinectIKBone rightShoulder = createKinectBone(JointType.ShoulderLeft, "RightScapula", "RightScapula", neck, scene, subScene);
KinectIKBone rightElbow = createKinectBone(JointType.ElbowLeft, "RightHumerus", "RightHumerusUlnaJoint", rightShoulder, scene, subScene);
KinectIKBone rightWrist = createKinectBone(JointType.WristLeft, "RightUlna", "RightRadiusHandBaseJoint", rightElbow, scene, subScene);
KinectIKBone rightThumb = createKinectBone(JointType.ThumbLeft, "RightHandBase", "RightHandBase", rightWrist, new Vector3(-10, 0, 0), scene, subScene);
KinectIKBone rightHand = createKinectBone(JointType.HandLeft, "RightHandBase", "RightHandBase", rightWrist, new Vector3(0, -15, 2), scene, subScene);
face = createKinectFace("CSpineMover", "CSpineMover", skull, Vector3.Forward * 20, scene, subScene);
face.JawTracking = jawTracking;
}
private KinectIKBone createKinectBone(JointType jointType, String boneSimObjectName, String translationSimObjectName, KinectIKBone parent, SimScene scene, SimSubScene subScene)
{
return(createKinectBone(jointType, boneSimObjectName, translationSimObjectName, parent, Vector3.Zero, scene, subScene));
}
public void removeChild(KinectIKBone child)
{
children.Remove(child);
}
public void addChild(KinectIKBone child)
{
children.Add(child);
}
