public void Update()
{
Tests.Screenshot("Tests/LineRenderer.jpg", 600, 600, V.XYZ(0, 0, 0.5f), Vec3.Zero);
// A ring of lines that goes out past the edge of the screen
Color32 c = Color32.White;
for (int i = 0; i < 16; i++)
{
Vec3 at = Vec3.AngleXY((i / 16.0f) * 360.0f) * 0.5f;
Lines.Add(at - V.XYZ(0, 0, 0.2f), at + V.XYZ(0, 0, 0.2f), c, 0.01f);
}
// A Circle
c = new Color(1, .5f, .5f, 1).ToLinear();
LinePoint[] points = new LinePoint[17];
for (int i = 0; i < points.Length; i++)
{
points[i] = new LinePoint(
Vec3.AngleXY((i / (float)(points.Length - 1)) * 360.0f) * 0.4f,
c, 0.01f);
}
Lines.Add(points);
// A square, worst case for this system
c = new Color(.5f, 1, .5f, 1).ToLinear();
Lines.Add(new LinePoint[] {
new LinePoint(V.XY0(-0.25f, 0.25f), c, 0.01f),
new LinePoint(V.XY0(0.25f, 0.25f), c, 0.01f),
new LinePoint(V.XY0(0.25f, -0.25f), c, 0.01f),
new LinePoint(V.XY0(-0.25f, -0.25f), c, 0.01f),
new LinePoint(V.XY0(-0.25f, 0.25f), c, 0.01f),
});
// A beveled square
c = new Color(.5f, .5f, 1, 1).ToLinear();
Lines.Add(new LinePoint[] {
new LinePoint(V.XY0(-0.2f, 0.19f), c, 0.01f),
new LinePoint(V.XY0(-0.19f, 0.2f), c, 0.01f),
new LinePoint(V.XY0(0.19f, 0.2f), c, 0.01f),
new LinePoint(V.XY0(0.2f, 0.19f), c, 0.01f),
new LinePoint(V.XY0(0.2f, -0.19f), c, 0.01f),
new LinePoint(V.XY0(0.19f, -0.2f), c, 0.01f),
new LinePoint(V.XY0(-0.19f, -0.2f), c, 0.01f),
new LinePoint(V.XY0(-0.2f, -0.19f), c, 0.01f),
new LinePoint(V.XY0(-0.2f, 0.19f), c, 0.01f),
});
// an Icosohedron
float t = (1.0f + SKMath.Sqrt(5.0f)) / 2.0f;
float s = 0.08f;
float s2 = 0.3f;
int h = 0;
Vec3 v;
Hierarchy.Push(Matrix.R(Quat.FromAngles(10, 10, 10)));
v = V.XYZ(-1, t, 0) * s; Lines.Add(v, v * s2, Color.HSV((h++) / 12.0f, 0.8f, 0.8f).ToLinear(), 0.01f);
v = V.XYZ(1, t, 0) * s; Lines.Add(v, v * s2, Color.HSV((h++) / 12.0f, 0.8f, 0.8f).ToLinear(), 0.01f);
v = V.XYZ(-1, -t, 0) * s; Lines.Add(v, v * s2, Color.HSV((h++) / 12.0f, 0.8f, 0.8f).ToLinear(), 0.01f);
v = V.XYZ(1, -t, 0) * s; Lines.Add(v, v * s2, Color.HSV((h++) / 12.0f, 0.8f, 0.8f).ToLinear(), 0.01f);
v = V.XYZ(0, -1, t) * s; Lines.Add(v, v * s2, Color.HSV((h++) / 12.0f, 0.8f, 0.8f).ToLinear(), 0.01f);
v = V.XYZ(0, 1, t) * s; Lines.Add(v, v * s2, Color.HSV((h++) / 12.0f, 0.8f, 0.8f).ToLinear(), 0.01f);
v = V.XYZ(0, -1, -t) * s; Lines.Add(v, v * s2, Color.HSV((h++) / 12.0f, 0.8f, 0.8f).ToLinear(), 0.01f);
v = V.XYZ(0, 1, -t) * s; Lines.Add(v, v * s2, Color.HSV((h++) / 12.0f, 0.8f, 0.8f).ToLinear(), 0.01f);
v = V.XYZ(t, 0, -1) * s; Lines.Add(v, v * s2, Color.HSV((h++) / 12.0f, 0.8f, 0.8f).ToLinear(), 0.01f);
v = V.XYZ(t, 0, 1) * s; Lines.Add(v, v * s2, Color.HSV((h++) / 12.0f, 0.8f, 0.8f).ToLinear(), 0.01f);
v = V.XYZ(-t, 0, -1) * s; Lines.Add(v, v * s2, Color.HSV((h++) / 12.0f, 0.8f, 0.8f).ToLinear(), 0.01f);
v = V.XYZ(-t, 0, 1) * s; Lines.Add(v, v * s2, Color.HSV((h++) / 12.0f, 0.8f, 0.8f).ToLinear(), 0.01f);
Hierarchy.Pop();
}
public void Step()
{
const float shoulderWidth = 0.16f; // half the total shoulder width
const float forearm = 0.22f; // length of the forearm
const float uarm = 0.25f; // length of the upper arm
const float headLength = 0.1f; // length from head point to neck
const float neckLength = 0.02f; // length from neck to center shoulders
const float shoulderDrop = 0.05f; // shoulder drop height from shoulder center
const float elbowFlare = 0.45f; // Elbows point at a location 1m down, and elbowFlare out from the shoulder
Pose head = Input.Head;
// Head, neck, and shoulder center
headLine[0].pt = head.position;
headLine[1].pt = headLine[0].pt + head.orientation * V.XYZ(0, -headLength, 0);
headLine[2].pt = headLine[1].pt - V.XYZ(0, neckLength, 0);
headLine[0].pt = Vec3.Lerp(headLine[0].pt, headLine[1].pt, 0.1f);
Lines.Add(headLine);
// Shoulder forward facing direction is head direction weighted
// equally with the direction of both hands.
Vec3 forward =
head.Forward.X0Z.Normalized * 2
+ (Input.Hand(Handed.Right).wrist.position - headLine[2].pt.X0Z).Normalized
+ (Input.Hand(Handed.Left).wrist.position - headLine[2].pt.X0Z).Normalized;
forward = forward * 0.25f;
Vec3 right = Vec3.PerpendicularRight(forward, Vec3.Up).Normalized;
// Now for each arm
for (int h = 0; h < 2; h++)
{
float handed = h == 0 ? -1 : 1;
Hand hand = Input.Hand((Handed)h);
Vec3 handPos = hand.wrist.position;
if (!hand.IsTracked)
{
continue;
}
armLine[0].pt = headLine[2].pt;
armLine[1].pt = armLine[0].pt + right * handed * shoulderWidth - Vec3.Up * shoulderDrop;
armLine[3].pt = handPos;
// Triangle represented by 3 edges, forearm, uarm, and armDist
float armDist = Math.Min(forearm + uarm, Vec3.Distance(armLine[1].pt, handPos));
// Heron's formula to find area
float s = (forearm + uarm + armDist) / 2;
float area = SKMath.Sqrt(s * (s - forearm) * (s - uarm) * (s - armDist));
// Height of triangle based on area
float offsetH = (2 * area) / armDist;
// Height can now be used to calculate how far off the elbow is
float offsetD = SKMath.Sqrt(Math.Abs(offsetH * offsetH - uarm * uarm));
// Elbow calculation begins somewhere along the line between the
// shoulder and the wrist.
Vec3 dir = (handPos - armLine[1].pt).Normalized;
Vec3 at = armLine[1].pt + dir * offsetD;
// The elbow naturally flares out to the side, rather than
// dropping straight down. Here, we find a point to flare out
// towards.
Vec3 flarePoint = headLine[2].pt + right * handed * elbowFlare - Vec3.Up;
Plane flarePlane = new Plane(flarePoint, Ray.FromTo(headLine[2].pt, handPos).Closest(flarePoint) - flarePoint);
Vec3 dirDown = (flarePlane.Closest(at) - at).Normalized;
armLine[2].pt = at + dirDown * offsetH;
Lines.Add(armLine);
for (int i = 1; i < 5; i++)
{
Lines.Add(handPos, hand[(FingerId)i, JointId.KnuckleMajor].position, Color32.White, new Color32(255, 255, 255, 0), 0.01f);
}
}
}