public ColladaAnimationData GetColladaAnimation(NUIHumanoidAnimation animation)
{
NUISkeleton outputStructure = GetTargetStructure();
ColladaAnimationData colladaAnimation = new ColladaAnimationData(rigData);
List <float> elapsedTimes = new List <float>();
Vector3 startingPosition = Vector3.zero;
Vector3 rigStartingPosition = rigData.GetJoint("SpineBase").Translation;
int frameRate = 0;
switch (selectedFrameRateIndex)
{
case 0:
frameRate = 30;
break;
case 1:
frameRate = 60;
break;
}
NUIHumanoidAnimation animationConstrained = animation.ConstrainFramerate(frameRate);
for (int k = 0; k < animationConstrained.Keyframes.Count; k++)
{
NUIAnimationKeyframe keyframe = animationConstrained.Keyframes[k];
elapsedTimes.Add(keyframe.ElapsedTime);
ColladaRigData currentRig = new ColladaRigData();
ColladaJointData parentJoint = rigData.GetJoint("SpineBase");
currentRig.Add(parentJoint.Id, parentJoint);
foreach (KeyValuePair <string, ColladaJointData> jointData in rigData.JointData)
{
ColladaJointData colladaJointData = rigData.GetJoint(jointData.Key);
if (colladaJointData.Id == "SpineBase")
{
Vector3 hipPosition = keyframe.Skeleton.Joints[NUIJointType.SpineBase].Position * 100;
hipPosition.x *= -1;
if (startingPosition == Vector3.zero)
{
startingPosition = hipPosition;
}
colladaJointData.Translation = (hipPosition - startingPosition) + rigStartingPosition;
}
colladaAnimation.jointTranslateX[jointData.Key] += string.Format(cultureUS, "{0} ", colladaJointData.Translation.x);
colladaAnimation.jointTranslateY[jointData.Key] += string.Format(cultureUS, "{0} ", colladaJointData.Translation.y);
colladaAnimation.jointTranslateZ[jointData.Key] += string.Format(cultureUS, "{0} ", colladaJointData.Translation.z);
}
foreach (KeyValuePair <NUIJointType, NUIJoint> kvp in keyframe.Skeleton.Joints)
{
// For parent joints
Quaternion rotation = kvp.Value.Rotation;
string id = NUIJointToColladaMapping(kvp.Key);
ColladaJointData colladaJointData = rigData.GetJoint(id);
if (!outputStructure.Structure.IsJointAnExtremity(kvp.Key))
{
Vector3 revert = QuaternionHelper.ToEulerAnglesXYZ(rotation);
Vector3 corrected = new Vector3(revert.x, -revert.y, -revert.z);
colladaAnimation.jointRotateX[id] += string.Format(cultureUS, "{0} ", corrected.x);
colladaAnimation.jointRotateY[id] += string.Format(cultureUS, "{0} ", corrected.y);
colladaAnimation.jointRotateZ[id] += string.Format(cultureUS, "{0} ", corrected.z);
Matrix4x4 transformation = Matrix4x4.TRS(colladaJointData.Translation, QuaternionHelper.FromEulerAnglesXYZ(corrected), Vector3.one);
colladaAnimation.jointValues[id] += string.Format(cultureUS, "{0} ", transformation.ToString());
}
else
{
// Extremeties
colladaAnimation.jointRotateX[id] += string.Format(cultureUS, "{0} ", colladaJointData.RotationVector.x);
colladaAnimation.jointRotateY[id] += string.Format(cultureUS, "{0} ", colladaJointData.RotationVector.y);
colladaAnimation.jointRotateZ[id] += string.Format(cultureUS, "{0} ", colladaJointData.RotationVector.z);
Matrix4x4 transformation = Matrix4x4.TRS(colladaJointData.Translation, colladaJointData.Rotation, Vector3.one);
colladaAnimation.jointValues[id] += string.Format(cultureUS, "{0} ", transformation.ToString());
}
}
}
colladaAnimation.frameTimelapse = elapsedTimes;
return(colladaAnimation);
}
public override void Start()
{
angle = QuaternionHelper.ToEulerAngles(transform.localRotation);
}
/// <summary>
/// Get the structure for what is expected in this output method.
/// </summary>
/// <returns></returns>
public override NUISkeleton GetTargetStructure()
{
// Define the skeletal structure
SkeletonStructure structure = new SkeletonStructure();
structure.SetRootJoint(NUIJointType.SpineBase);
structure.AddBone(ColladaToNUIJointMapping("SpineMid"), ColladaToNUIJointMapping("SpineBase"));
structure.AddBone(ColladaToNUIJointMapping("SpineShoulder"), ColladaToNUIJointMapping("SpineMid"));
structure.AddBone(ColladaToNUIJointMapping("Neck"), ColladaToNUIJointMapping("SpineShoulder"));
structure.AddBone(ColladaToNUIJointMapping("Head"), ColladaToNUIJointMapping("Neck"));
structure.AddBone(ColladaToNUIJointMapping("ShoulderLeft"), ColladaToNUIJointMapping("SpineShoulder"));
structure.AddBone(ColladaToNUIJointMapping("ElbowLeft"), ColladaToNUIJointMapping("ShoulderLeft"));
structure.AddBone(ColladaToNUIJointMapping("WristLeft"), ColladaToNUIJointMapping("ElbowLeft"));
structure.AddBone(ColladaToNUIJointMapping("HandLeft"), ColladaToNUIJointMapping("WristLeft"));
structure.AddBone(ColladaToNUIJointMapping("HandTipLeft"), ColladaToNUIJointMapping("HandLeft"));
structure.AddBone(ColladaToNUIJointMapping("ThumbLeft"), ColladaToNUIJointMapping("HandLeft"));
structure.AddBone(ColladaToNUIJointMapping("ShoulderRight"), ColladaToNUIJointMapping("SpineShoulder"));
structure.AddBone(ColladaToNUIJointMapping("ElbowRight"), ColladaToNUIJointMapping("ShoulderRight"));
structure.AddBone(ColladaToNUIJointMapping("WristRight"), ColladaToNUIJointMapping("ElbowRight"));
structure.AddBone(ColladaToNUIJointMapping("HandRight"), ColladaToNUIJointMapping("WristRight"));
structure.AddBone(ColladaToNUIJointMapping("HandTipRight"), ColladaToNUIJointMapping("HandRight"));
structure.AddBone(ColladaToNUIJointMapping("ThumbRight"), ColladaToNUIJointMapping("HandRight"));
structure.AddBone(ColladaToNUIJointMapping("HipLeft"), ColladaToNUIJointMapping("SpineBase"));
structure.AddBone(ColladaToNUIJointMapping("KneeLeft"), ColladaToNUIJointMapping("HipLeft"));
structure.AddBone(ColladaToNUIJointMapping("AnkleLeft"), ColladaToNUIJointMapping("KneeLeft"));
structure.AddBone(ColladaToNUIJointMapping("FootLeft"), ColladaToNUIJointMapping("AnkleLeft"));
structure.AddBone(ColladaToNUIJointMapping("HipRight"), ColladaToNUIJointMapping("SpineBase"));
structure.AddBone(ColladaToNUIJointMapping("KneeRight"), ColladaToNUIJointMapping("HipRight"));
structure.AddBone(ColladaToNUIJointMapping("AnkleRight"), ColladaToNUIJointMapping("KneeRight"));
structure.AddBone(ColladaToNUIJointMapping("FootRight"), ColladaToNUIJointMapping("AnkleRight"));
// Define the skeleton in Unity terms.
NUISkeleton skeleton = new NUISkeleton(structure);
// Get the hip right and the chest right.
Vector3 hipRightTranslation = rigData.GetJoint("HipRight").LHSWorldTransformationMatrix.GetColumn(3);
Vector3 hipLeftTranslation = rigData.GetJoint("HipLeft").LHSWorldTransformationMatrix.GetColumn(3);
Vector3 shoulderRightTranslation = rigData.GetJoint("ShoulderRight").LHSWorldTransformationMatrix.GetColumn(3);
Vector3 shoulderLeftTranslation = rigData.GetJoint("ShoulderLeft").LHSWorldTransformationMatrix.GetColumn(3);
Vector3 hipRight = hipRightTranslation - hipLeftTranslation;
Vector3 chestRight = shoulderRightTranslation - shoulderLeftTranslation;
skeleton.SpineBaseRight = rigData.GetJoint("SpineBase").LHSWorldTransformationMatrix.inverse.MultiplyVector(hipRight);
skeleton.ChestRight = rigData.GetJoint("SpineMid").LHSWorldTransformationMatrix.inverse.MultiplyVector(chestRight);
foreach (KeyValuePair <string, ColladaJointData> jointData in rigData.JointData)
{
NUIJointType jointType = ColladaToNUIJointMapping(jointData.Key);
NUIJoint joint = new NUIJoint(jointType);
// Convert the Collada Joint rotation from RHS to LHS (Unity)
ColladaJointData currentJoint = jointData.Value;
joint.Position = currentJoint.Translation;
joint.Rotation = QuaternionHelper.RHStoLHS(currentJoint.RotationVector);
joint.TransformationMatrix = currentJoint.LHSTransformationMatrix;
joint.WorldTransformationMatrix = currentJoint.LHSWorldTransformationMatrix;
Vector3 directionToChild = Vector3.zero;
if (!structure.IsJointAnExtremity(jointType)) // directionToChild is not needed for extremeties.
{
NUIJointType childType = structure.GetChildJoint(jointType);
if (childType != NUIJointType.Unspecified)
{
Vector3 child = rigData.GetJoint(NUIJointToColladaMapping(childType)).LHSWorldTransformationMatrix.GetColumn(3);
Vector3 parent = currentJoint.LHSWorldTransformationMatrix.GetColumn(3);
directionToChild = child - parent;
}
}
if (jointType == NUIJointType.SpineBase) // The Hip is a special case.
{
Vector3 rightHipWorldPosition = rigData.GetJoint("HipRight").LHSWorldTransformationMatrix.GetColumn(3);
Vector3 leftHipWorldPosition = rigData.GetJoint("HipLeft").LHSWorldTransformationMatrix.GetColumn(3);
Vector3 hipWorldPosition = rigData.GetJoint("SpineBase").LHSWorldTransformationMatrix.GetColumn(3);
directionToChild = ((rightHipWorldPosition + leftHipWorldPosition) / 2F) - hipWorldPosition;
//float angle = Vector3.Angle(Vector3.up, directionToChild);
//directionToChild = Quaternion.AngleAxis(40 - angle, hipRight) * directionToChild;
}
joint.directionToChild = currentJoint.LHSWorldTransformationMatrix.inverse.MultiplyVector(directionToChild);
skeleton.Joints.Add(jointType, joint);
}
skeleton.ChestRight -= Vector3.Project(skeleton.ChestRight, skeleton.Joints[NUIJointType.SpineMid].directionToChild);
return(skeleton);
}
public void NormalizeAngleLessThanZero()
{
Assert.That(QuaternionHelper.NormaliseAngle(-10), Is.EqualTo(350));
}
private static void ApplyToChild(Transform visible, Transform network, ref Vector3 positionVelocity, ref Quaternion rotationVelocity)
{
visible.localPosition = Vector3.SmoothDamp(visible.localPosition, network.localPosition, ref positionVelocity, SmoothTime);
visible.localRotation = QuaternionHelper.SmoothDamp(visible.localRotation, network.localRotation, ref rotationVelocity, SmoothTime);
}
public void LookAt(Vector3 pos, Vector3 up)
{
Vector3 dir = (pos - position).Normalized() * 100;
rotation = QuaternionHelper.LookRotation(dir, up);
}
void UpdateAngVelocity()
{
Quaternion rotOffset = QuaternionHelper.Euler(angVelocity * AngSpeed * Time.fixedDeltaTime);
transform.rotation *= rotOffset;
}
