void TransformBone(uint userId, SkeletonJoint joint, Transform dest, bool move)
{
// SkeletonJointPosition sjp = this.joints[userId][joint];
// Point3D pos = sjp.position;
//Debug.Log("joint " + joint + "x " + pos.X + " y " + pos.Y + " z " + pos.Z);
SkeletonJointOrientation ori = new SkeletonJointOrientation();
this.skeletonCapbility.GetSkeletonJointOrientation(userId, joint, ref ori);
//float [] m = ori.Orientation.elements;
//Debug.Log(m.Length);
// only modify joint if confidence is high enough in this frame
if (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(-ori.m02, -ori.m12, ori.m22);
// elem1 elem2 elem3
// elem4 elem5 elem6
// elem7 elem8 elem9
Vector3 worldZVec = new Vector3(-ori.Orientation.elem3, -ori.Orientation.elem6, ori.Orientation.elem9);
// Vector3 worldYVec = new Vector3(trans.ori.m01, trans.ori.m11, -trans.ori.m21);
Vector3 worldYVec = new Vector3(ori.Orientation.elem2, ori.Orientation.elem5, -ori.Orientation.elem8);
Quaternion jointRotation = Quaternion.LookRotation(worldZVec, worldYVec);
Quaternion newRotation = (jointRotation * initialRotations[(int)joint]);
// Some smoothing
dest.rotation = Quaternion.Slerp(dest.rotation, newRotation, Time.deltaTime * 20);
}
//if (move)
//{
// dest.position = new Vector3(trans.pos.x/1000, trans.pos.y/1000 -1, -trans.pos.z/1000);
// dest.position = new Vector3(pos.X/1000, pos.Y/1000 -1, -pos.Z/1000);
//}
}
void TransformBone(uint userId, SkeletonJoint joint, Transform dest, bool move)
{
SkeletonJointPosition sjp = this.joints[userId][joint];
Point3D pos = sjp.position;
SkeletonJointOrientation ori = new SkeletonJointOrientation();
this.skeletonCapbility.GetSkeletonJointOrientation(userId,joint, ori);
float [] m = ori.Orientation.elements;
// only modify joint if confidence is high enough in this frame
if (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(-ori.m02, -ori.m12, ori.m22);
Vector3 worldZVec = new Vector3(-m[2], -m[5], m[8]);
// Vector3 worldYVec = new Vector3(trans.ori.m01, trans.ori.m11, -trans.ori.m21);
Vector3 worldYVec = new Vector3(m[1], m[4], -m[7]);
Quaternion jointRotation = Quaternion.LookRotation(worldZVec, worldYVec);
Quaternion newRotation = jointRotation * initialRotations[(int)joint];
// Some smoothing
dest.rotation = Quaternion.Slerp(dest.rotation, newRotation, Time.deltaTime * 20);
}
if (move)
{
// dest.position = new Vector3(trans.pos.x/1000, trans.pos.y/1000 -1, -trans.pos.z/1000);
dest.position = new Vector3(pos.X/1000, pos.Y/1000 -1, -pos.Z/1000);
}
}
public void Reset(UserID user)
{
UInt32 status = OpenNIImporter.xnResetSkeleton(this.InternalObject, user);
WrapperUtils.CheckStatus(status);
}
