public Quaternion GetJointOrientation(uint UserId, int joint, bool flip)
{
KinectWrapper.GetJointTransformation(UserId, joint, ref jointTransform);
KinectWrapper.SkeletonJointOrientation ori = jointTransform.ori;
Quaternion quat = ConvertMatrixToQuat(ori, joint, flip);
return(quat);
}
// convert the matrix to quaternion, taking care of the mirroring
private Quaternion ConvertMatrixToQuat(KinectWrapper.SkeletonJointOrientation ori, int joint, bool flip)
{
Vector3 vZ = Vector3.zero;
Vector3 vY = Vector3.zero;
if (ori.confidence > 0.5)
{
if (flip)
{
// For the spine and waist, we flip y rotation.
//if(joint <= 4)
{
vZ = new Vector3(ori.m02, -ori.m12, ori.m22);
vY = new Vector3(-ori.m01, ori.m11, -ori.m21);
}
// // Everything else, we flip in a way that doesn't break the model (MAGICAL)
// else
// {
// vZ = new Vector3(-ori.m02, ori.m12, -ori.m22);
// vY = new Vector3(ori.m01, -ori.m11, ori.m21);
// }
}
else
{
vZ = new Vector3(-ori.m02, -ori.m12, ori.m22);
vY = new Vector3(ori.m01, ori.m11, -ori.m21);
}
if (vZ.x != 0.0f || vZ.y != 0.0f || vZ.z != 0.0f)
{
return(Quaternion.LookRotation(vZ, vY));
}
}
return(Quaternion.identity);
}