public void set(Kinect kinect, int n, bool mirrored = false, bool move = false, bool headMove = true)
{
Vector3 faceDir = kinect.getFaceDirectionByTrackingId(kinect.skeletonTrackingId[n]);
if (isSavedPosition == false &&
kinect.skeletonState[n][Kinect.JointType_SpineBase] != Kinect.TrackingState_NotTracked)
{
isSavedPosition = true;
savedPosition = kinect.skeleton[n][Kinect.JointType_SpineBase];
}
for (int i = 0; i < kinect.skeleton[n].Count; i++)
{
Vector3 jt = kinect.skeleton[n][i];
if (mirrored)
{
joint[i] = new Vector3(-jt.x, jt.y, -jt.z);
}
else
{
joint[i] = new Vector3(jt.x, jt.y, savedPosition.z * 2 - jt.z);
}
jointState[i] = kinect.skeletonState[n][i];
}
if (mirrored)
{
swapJoint(Kinect.JointType_ShoulderLeft, Kinect.JointType_ShoulderRight);
swapJoint(Kinect.JointType_ElbowLeft, Kinect.JointType_ElbowRight);
swapJoint(Kinect.JointType_WristLeft, Kinect.JointType_WristRight);
swapJoint(Kinect.JointType_HandLeft, Kinect.JointType_HandRight);
swapJoint(Kinect.JointType_HipLeft, Kinect.JointType_HipRight);
swapJoint(Kinect.JointType_KneeLeft, Kinect.JointType_KneeRight);
swapJoint(Kinect.JointType_AnkleLeft, Kinect.JointType_AnkleRight);
swapJoint(Kinect.JointType_FootLeft, Kinect.JointType_FootRight);
swapJoint(Kinect.JointType_HandTipLeft, Kinect.JointType_HandTipRight);
swapJoint(Kinect.JointType_ThumbLeft, Kinect.JointType_ThumbRight);
}
for (int i = 0; i < targetBone.Length; i++)
{
int s = jointSegment[2 * i], e = jointSegment[2 * i + 1];
trackingSegment[targetBone[i]] = joint[e] - joint[s];
trackingState[targetBone[i]] = System.Math.Min(jointState[e], jointState[s]);
}
Vector3 waist = joint[Kinect.JointType_HipRight] - joint[Kinect.JointType_HipLeft];
waist = new Vector3(waist.x, 0, waist.z);
Quaternion rot = Quaternion.FromToRotation(Vector3.right, waist);
Quaternion rotInv = Quaternion.Inverse(rot);
Vector3 shoulder = joint[Kinect.JointType_ShoulderRight] - joint[Kinect.JointType_ShoulderLeft];
shoulder = new Vector3(shoulder.x, 0, shoulder.z);
//Quaternion srot = Quaternion.FromToRotation(Vector3.right,shoulder);
//Quaternion srotInv = Quaternion.Inverse(srot);
humanoid.transform.rotation = Quaternion.identity;
//humanoid.transform.rotation = savedHumanoidRotation;
foreach (HumanBodyBones bone in targetBone)
{
if (rigBone[bone].isValid && trackingState[bone] != Kinect.TrackingState_NotTracked)
{
rigBone[bone].transform.rotation = rotInv * Quaternion.FromToRotation(Vector3.up, trackingSegment[bone]);
}
}
//rigBone[HumanBodyBones.Chest].offset(srot);
if (headMove && faceDir.magnitude > 1e-6)
{
float pitch = faceDir.x, yaw = faceDir.y, roll = faceDir.z;
if (mirrored)
{
pitch = -pitch;
roll = -roll;
}
else
{
pitch = -pitch;
yaw = -yaw;
}
rigBone[HumanBodyBones.Head].transform.rotation = Util.toQ(pitch, yaw, roll);
}
Quaternion bodyRot = rot;
if (mirrored)
{
bodyRot = Quaternion.AngleAxis(180, Vector3.up) * bodyRot;
}
humanoid.transform.rotation = bodyRot;
if (move == true)
{
Vector3 m = joint[Kinect.JointType_SpineBase];
if (mirrored)
{
m = new Vector3(-m.x, m.y, -m.z);
}
humanoid.transform.position = m;
}
}
public void set(Kinect kinect, int n, float correction, bool mirrored = false, bool move = false, bool headMove = true)
{
Vector3 faceDir = kinect.getFaceDirectionByTrackingId(kinect.skeletonTrackingId[n]);
if (isSavedPosition == false &&
kinect.skeletonState[n][Kinect.JointType_SpineBase] != Kinect.TrackingState_NotTracked)
{
isSavedPosition = true;
savedPosition = kinect.skeleton[n][Kinect.JointType_SpineBase];
}
for (int i = 0; i < kinect.skeleton[n].Count; i++)
{
Vector3 jt = kinect.skeleton[n][i];
if (mirrored)
{
joint[i] = new Vector3(jt.x, jt.y, -jt.z); // (-jt.x, jt.y, -jt.z)
}
else
{
joint[i] = new Vector3(jt.x, jt.y, savedPosition.z * 2 - jt.z);
}
jointState[i] = kinect.skeletonState[n][i];
}
/*if (mirrored)
* {
* swapJoint(Kinect.JointType_ShoulderLeft, Kinect.JointType_ShoulderRight);
* swapJoint(Kinect.JointType_ElbowLeft, Kinect.JointType_ElbowRight);
* swapJoint(Kinect.JointType_WristLeft, Kinect.JointType_WristRight);
* swapJoint(Kinect.JointType_HandLeft, Kinect.JointType_HandRight);
* swapJoint(Kinect.JointType_HipLeft, Kinect.JointType_HipRight);
* swapJoint(Kinect.JointType_KneeLeft, Kinect.JointType_KneeRight);
* swapJoint(Kinect.JointType_AnkleLeft, Kinect.JointType_AnkleRight);
* swapJoint(Kinect.JointType_FootLeft, Kinect.JointType_FootRight);
* swapJoint(Kinect.JointType_HandTipLeft, Kinect.JointType_HandTipRight);
* swapJoint(Kinect.JointType_ThumbLeft, Kinect.JointType_ThumbRight);
* }*/
//set humanoid
for (int i = 0; i < targetBone.Length; i++)
{
int s = jointSegment[2 * i], e = jointSegment[2 * i + 1];
trackingSegment[targetBone[i]] = joint[e] - joint[s]; // targetBone is unity model joint
trackingState[targetBone[i]] = System.Math.Min(jointState[e], jointState[s]);
}
//set 腰部 joint for setting every Joint's roatation
Vector3 waist = joint[Kinect.JointType_HipRight] - joint[Kinect.JointType_HipLeft];
waist = new Vector3(waist.x, 0, waist.z);/////////////////////這邊
Quaternion rot = Quaternion.FromToRotation(Vector3.right, waist);
Quaternion rotInv = Quaternion.Inverse(rot);
Vector3 shoulder = joint[Kinect.JointType_ShoulderRight] - joint[Kinect.JointType_ShoulderLeft];
shoulder = new Vector3(shoulder.x, 0, shoulder.z);
//Quaternion srot = Quaternion.FromToRotation(Vector3.right,shoulder);
//Quaternion srotInv = Quaternion.Inverse(srot);
humanoid.transform.rotation = Quaternion.identity;
//humanoid.transform.rotation = savedHumanoidRotation;
//setting joint's rotation by using fromto
foreach (HumanBodyBones bone in targetBone)
{
if (rigBone[bone].isValid && trackingState[bone] != Kinect.TrackingState_NotTracked)
{
rigBone[bone].transform.rotation = rotInv * Quaternion.FromToRotation(Vector3.up, trackingSegment[bone]);
}
}
//rigBone[HumanBodyBones.Chest].offset(srot);
//head rotation (maybe i can annotation it
if (headMove && faceDir.magnitude > 1e-6)
{
float pitch = faceDir.x, yaw = faceDir.y, roll = faceDir.z;
if (mirrored)
{
pitch = -pitch;
roll = -roll;
}
else
{
pitch = -pitch;
yaw = -yaw;
}
rigBone[HumanBodyBones.Head].transform.rotation = Util.toQ(pitch, yaw, roll);
}
//hip for rotation model
Quaternion bodyRot = rot;
if (mirrored)
{
// bodyRot = Quaternion.AngleAxis(180, Vector3.up) * bodyRot;
float rota = PointRotation(joint[NtUnity.Kinect.JointType_ShoulderRight], joint[NtUnity.Kinect.JointType_ShoulderLeft]);
//humanoid.transform.rotation = Quaternion.Euler(0, rota, 0);
bodyRot = Quaternion.AngleAxis(-rota, Vector3.up) * bodyRot;
}
humanoid.transform.rotation = bodyRot;
//spine for position model
if (move == true)
{
Vector3 m = joint[Kinect.JointType_SpineBase];
if (mirrored)
{
m = new Vector3(-m.x, m.y, -m.z);
}
//edit model position----------------------
m.x = m.x * Constants.prodis + correction;
m.y = m.y * Constants.prodis;
//edit model position----------------------
humanoid.transform.position = m;
}
}