void Start()
{
jointPoints = new JointPoint[PositionIndex.Count.Int()];
for (var i = 0; i < PositionIndex.Count.Int(); i++)
{
jointPoints[i] = new JointPoint();
}
anim = UnityChan.GetComponent <Animator>();
VideoPlayStart();
texture = new Texture2D(videoTexture.width, videoTexture.height);
// Clip size
videoWidth = texture.width;
videoHeight = texture.height;
float padWidth = (videoWidth < videoHeight) ? 0 : (videoHeight - videoWidth) / 2;
float padHeight = (videoWidth < videoHeight) ? (videoWidth - videoHeight) / 2 : 0;
var w = (videoWidth + padWidth * 2f) * 0.15f;
padWidth += w;
padHeight += w;
clipRect = new UnityEngine.Rect(-padWidth, -padHeight, videoWidth + padWidth * 2, videoHeight + padHeight * 2);
InitONNX();
Init();
}
/*
* Sets a joint point as the new start position. Removes all saved virtual paths and intersections.
* */
public void setStartPosition(JointPoint joint)
{
startJoint = joint;
intersections = new List <VirtualIntersection>();
paths = new List <VirtualPath>();
VirtualIntersection intersection = CreateInstance <VirtualIntersection>();
intersection.init(joint.getPosition(), joint, "" + intersections.Count);
intersections.Add(intersection);
intersection.setWalkingStartPosition(0, joint.getWalkingStartPosition(0));
intersection.setWalkingStartPosition(1, joint.getWalkingStartPosition(1));
intersection.setWalkingStartPosition(2, joint.getWalkingStartPosition(2));
intersection.setWalkingStartPosition(3, joint.getWalkingStartPosition(3));
#if UNITY_EDITOR
SceneView.RepaintAll();
AssetDatabase.AddObjectToAsset(intersection, this);
EditorUtility.SetDirty(this);
AssetDatabase.SaveAssets();
AssetDatabase.Refresh();
#endif
Debug.Log("Set new start position");
}
/*
* Initializes jointpoints and curves by using the defined positions. In the future
* it might be comfortable to automatically generate the positions by using the size of the
* tracking space.
* */
public void initJointsAndCurves(Vector3 jointAPosition, Vector3 jointBPosition, Vector3 jointCPosition, float walkingZoneRadius)
{
// Set three joint points (real world)
jointPointA = CreateInstance <JointPoint>();
jointPointA.init(jointAPosition, "A", walkingZoneRadius);
jointPointB = CreateInstance <JointPoint>();
jointPointB.init(jointBPosition, "B", walkingZoneRadius);
jointPointC = CreateInstance <JointPoint>();
jointPointC.init(jointCPosition, "C", walkingZoneRadius);
#if UNITY_EDITOR
AssetDatabase.AddObjectToAsset(jointPointA, this);
AssetDatabase.AddObjectToAsset(jointPointB, this);
AssetDatabase.AddObjectToAsset(jointPointC, this);
EditorUtility.SetDirty(this);
AssetDatabase.SaveAssets();
AssetDatabase.Refresh();
#endif
// Specify curves with small radii (real world)
curveABsmallRadius = createSmallCurve(jointPointA, jointPointB);
curveACsmallRadius = createSmallCurve(jointPointC, jointPointA);
curveBCsmallRadius = createSmallCurve(jointPointB, jointPointC);
// Specify curves with large radii (real world)
curveABlargeRadius = createLargeCurve(jointPointA, jointPointB, jointPointC);
curveAClargeRadius = createLargeCurve(jointPointC, jointPointA, jointPointB);
curveBClargeRadius = createLargeCurve(jointPointB, jointPointC, jointPointA);
#if UNITY_EDITOR
SceneView.RepaintAll();
#endif
Debug.Log("Initialized joints and curves");
}
public void UpdateJointPoint(JointPoint point)
{
using (var dbContextScope = DbContextScopeFactory.Create())
{
_jointPointRepository.Update(point);
dbContextScope.SaveChanges();
}
}
public void init(Vector3 position, JointPoint jointPoint, string label)
{
this.position = position;
this.jointPoint = jointPoint;
this.label = label;
this.paths = new VirtualPath[4];
this.walkingStartPositions = new Vector3[4];
}
public JointPoint getOtherJointPoint(JointPoint joint)
{
if (joint.Equals(endPoints[0]))
{
return(endPoints[1]);
}
return(endPoints[0]);
}
private void DrawConnectionJoint(JointPoint senderJoint, JointPoint nearJoint)
{
if (_shownDrawConnectionObject == null)
{
_shownDrawConnectionObject = Instantiate(nearJoint.JointBehaviour.ConnectionPreview);
}
TransformToJoint(_shownDrawConnectionObject, nearJoint, senderJoint);
_shownDrawConnectionObject.transform.SetParent(senderJoint.transform);
_shownDrawConnectionObject.SetActive(true);
}
/*
* Stops the redirection at the given intersection.
* Sets current intersection and current joint to the next point.
* If this intersection is not the same intersection the user started, the rotation angle is added (bool addAngle).
* */
private void stopRedirection(VirtualIntersection intersection, bool addAngle)
{
currentIntersection = intersection;
currentJoint = currentIntersection.getJoint();
if (addAngle)
{
oldRotation += Mathf.Rad2Deg * -redirectionDirection * (angleWalkedOnRealCircle - angleWalkedOnVirtualCircle); //(Mathf.Abs(currentCurve.getAngle()) - Mathf.Abs(currentPath.getAngle())) * -redirectionDirection;
}
redirectionStarted = false;
Debug.Log("Redirection stopped at joint: " + currentJoint.getLabel() + ", intersection: " + currentIntersection.getLabel() + " (old rotation: " + oldRotation + ")");
}
void Rotate(JointPoint _selectedJointPoint, bool _isClockwise)
{
if (_isClockwise)
{
_selectedJointPoint.RotateClockwise();
}
else
{
_selectedJointPoint.RotateCounterClockwise();
}
}
private IEnumerator RestoreJointsOnNextFrame(Dictionary <int, JointData> joints)
{
JointBehaviour.IsTempConnectionCreated = true;
yield return(new WaitForEndOfFrame());
Debug.Log("<Color=Olive>Restore joints started!</Color>");
var jointsScene = FindObjectsOfType <JointBehaviour>();
foreach (JointBehaviour joint in jointsScene)
{
joint.UnLockAndDisconnectPoints();
}
foreach (var joint in joints)
{
int instanseId = joint.Key;
JointData jointData = joint.Value;
ObjectController objectController = GameStateData.GetObjectInLocation(instanseId);
if (objectController == null)
{
continue;
}
JointBehaviour jointBehaviour = objectController.RootGameObject.GetComponent <JointBehaviour>();
if (jointBehaviour == null)
{
continue;
}
var jointPoints = Helper.GetJointPoints(objectController.RootGameObject);
foreach (var jointConnectionsData in jointData.JointConnetionsData)
{
int pointId = jointConnectionsData.Key;
JointPoint myJointPoint = jointPoints[pointId];
JointConnetionsData connectionData = jointConnectionsData.Value;
ObjectController otherObjectController = GameStateData.GetObjectInLocation(connectionData.ConnectedObjectInstanceId);
var otherJointPoints = Helper.GetJointPoints(otherObjectController.RootGameObject);
JointPoint otherJointPoint = otherJointPoints[connectionData.ConnectedObjectJointPointId];
jointBehaviour.ConnectToJointPoint(myJointPoint, otherJointPoint);
myJointPoint.IsForceLocked = connectionData.ForceLocked;
otherJointPoint.IsForceLocked = connectionData.ForceLocked;
}
}
yield return(new WaitForEndOfFrame());
JointBehaviour.IsTempConnectionCreated = false;
yield return(true);
}
public void ConnectToJointPoint(JointPoint myPoint, JointPoint otherPoint)
{
TransformToJoint(gameObject, myPoint, otherPoint);
otherPoint.Connect(gameObject, myPoint);
OnConnect?.Invoke();
otherPoint.JointBehaviour.OnConnect?.Invoke();
if (AutoLock)
{
otherPoint.Lock();
}
}
void Start()
{
Debug.Log("Application started");
if (data == null)
{
this.loadPathLayout(pathLayoutAsset);
}
else
{
currentIntersection = data.intersections [0];
currentJoint = currentIntersection.getJoint();
}
}
private void JointPointOnJointExit(JointPoint senderJoint, JointPoint nearJoint)
{
if (IsGrabbed)
{
return;
}
HideConnectionJoint();
_senderJointPoint = null;
_nearJointBehaviour = null;
_nearJointPoint = null;
Debug.Log($"Joint exit! {senderJoint} {nearJoint}");
}
//Moves and rotates the given limb to attach to this mite
//Attaches the limb to this gameobject
public void connectLimb(MiteLimb limb, JointPoint myConPt)
{
JointPoint limbPt = limb.conPt;
Vector3 posDelta = myConPt.transform.position - limbPt.transform.position;
//move limb into place (note connection point is usually offset from obj origin)
limb.gameObject.transform.position = limb.gameObject.transform.position + posDelta;
//rotate to match orientation
Quaternion rot = limbPt.matchDirection(getCenter(), limb.gameObject.transform.position);
limb.gameObject.transform.rotation = rot;
//parent the limb
limb.gameObject.transform.parent = gameObject.transform;
}
/*
* Loads path layout asset with the specified name from a resources folder.
* */
public void loadPathLayout(string layoutName)
{
pathLayoutAsset = layoutName;
// Load data structure object (created by tool) from disk
data = (RedirectionDataStructure)Resources.LoadAll(pathLayoutAsset)[0] as RedirectionDataStructure;
if (data != null)
{
//Debug.Log("Label: " + data.jointPointA.getLabel());
currentIntersection = data.intersections[0];
currentJoint = currentIntersection.getJoint();
}
else
{
Debug.Log("Data is null");
}
}
public static void ReloadJointConnections(ObjectController objectController, JointData saveJointData)
{
JointBehaviour jointBehaviour = objectController.RootGameObject.GetComponent <JointBehaviour>();
var jointPoints = GetJointPoints(objectController.RootGameObject);
foreach (var jointConnectionsData in saveJointData.JointConnetionsData)
{
int pointId = jointConnectionsData.Key;
JointPoint myJointPoint = jointPoints[pointId];
JointConnetionsData connectionData = jointConnectionsData.Value;
ObjectController otherObjectController = GameStateData.GetObjectInLocation(connectionData.ConnectedObjectInstanceId);
var otherJointPoints = GetJointPoints(otherObjectController.RootGameObject);
JointPoint otherJointPoint = otherJointPoints[connectionData.ConnectedObjectJointPointId];
jointBehaviour.ConnectToJointPoint(myJointPoint, otherJointPoint);
myJointPoint.IsForceLocked = connectionData.ForceLocked;
otherJointPoint.IsForceLocked = connectionData.ForceLocked;
}
}
public void UpdateJointPoint(JointPointDto point)
{
// TODO: null-possibility should rather be checked in Buisness logic, and here just try-catch-toFaultConv
if (point == null)
{
var fault = new ArgumentFault
{
Message = "Argumnet is null",
ArgumentName = nameof(point)
};
throw new FaultException <ArgumentFault>(fault);
}
JointPoint pointEntity = Mapper.Map <JointPoint>(point);
_robotProgramBusinessLogic.UpdateJointPoint(pointEntity);
}
void Start()
{
jointPoints = new JointPoint[PositionIndex.Count.Int()];
for (var i = 0; i < PositionIndex.Count.Int(); i++)
{
jointPoints[i] = new JointPoint();
}
anim = UnityChan.GetComponent <Animator>();
if (UseWebCam)
{
CameraPlayStart();
}
else
{
VideoPlayStart();
}
// Clip size
videoWidth = texture.width;
videoHeight = texture.height;
float padWidth = (videoWidth < videoHeight) ? 0 : (videoHeight - videoWidth) / 2;
float padHeight = (videoWidth < videoHeight) ? (videoWidth - videoHeight) / 2 : 0;
if (clipScale == 0f)
{
clipScale = 0.001f;
}
var w = (videoWidth + padWidth * 2f) * clipScale;
padWidth += w;
padHeight += w;
clipRect = new UnityEngine.Rect(-padWidth, -padHeight, videoWidth + padWidth * 2, videoHeight + padHeight * 2);
#if UNITY_WEBGL && !UNITY_EDITOR
getFilePath_Coroutine = GetFilePath();
StartCoroutine(getFilePath_Coroutine);
#else
model_filepath = Utils.getFilePath("MobileNet3D2.onnx");
InitONNX();
Init();
#endif
}
protected virtual void Start()
{
jointPoints = new JointPoint[PositionIndex.Count.Int()];
for (var i = 0; i < PositionIndex.Count.Int(); i++)
{
jointPoints[i] = new JointPoint();
}
if (Texture_Mode == TextureMode.VideoClip)
{
SetupVideo_Mode();
}
else if (Texture_Mode == TextureMode.Image)
{
SetupImage_Mode();
}
else
{
SetupCamera_Mode();
}
// Clip size
videoWidth = texture.width;
videoHeight = texture.height;
float padWidth = (videoWidth < videoHeight) ? 0 : (videoHeight - videoWidth) / 2;
float padHeight = (videoWidth < videoHeight) ? (videoWidth - videoHeight) / 2 : 0;
if (OptimizerScale == 0f)
{
OptimizerScale = 0.001f;
}
var w = (videoWidth + padWidth * 2f) * OptimizerScale;
padWidth += w;
padHeight += w;
clipRect = new UnityEngine.Rect(-padWidth, -padHeight, videoWidth + padWidth * 2, videoHeight + padHeight * 2);
Onnx = Net.ReadNetFromONNX(Application.dataPath + @"\Training Data\MobileNet3D2.onnx");
for (var i = 0; i < 4; i++)
{
outputs[i] = new Mat();
}
}
private void JointPointOnJointEnter(JointPoint senderJoint, JointPoint nearJoint)
{
_senderJointPoint = senderJoint;
_nearJointPoint = nearJoint;
_nearJointBehaviour = nearJoint.JointBehaviour;
if (!IsGrabbed || !senderJoint.IsFree || !nearJoint.IsFree)
{
return;
}
if (IsGrabbed && nearJoint.JointBehaviour.IsGrabbed)
{
//ToDo case 3 here
return;
}
nearJoint.JointBehaviour.DrawConnectionJoint(nearJoint, senderJoint);
Debug.Log($"Joint enter! {senderJoint} {nearJoint}");
}
/*
* Returns the direction (left or right) to that the current path is bent.
* -1 is left, 1 is right.
* */
private int getRedirectionDirection(JointPoint joint, Curve curve)
{
if (joint.Equals(data.jointPointA))
{
JointPoint endJoint = curve.getOtherJointPoint(joint);
if (endJoint.Equals(data.jointPointB))
{
return(-1);
}
if (endJoint.Equals(data.jointPointC))
{
return(1);
}
}
if (joint.Equals(data.jointPointB))
{
JointPoint endJoint = curve.getOtherJointPoint(joint);
if (endJoint.Equals(data.jointPointA))
{
return(1);
}
if (endJoint.Equals(data.jointPointC))
{
return(-1);
}
}
if (joint.Equals(data.jointPointC))
{
JointPoint endJoint = curve.getOtherJointPoint(joint);
if (endJoint.Equals(data.jointPointB))
{
return(1);
}
if (endJoint.Equals(data.jointPointA))
{
return(-1);
}
}
return(0);
}
private static void TransformToJoint(GameObject go, JointPoint nearJointPoint, JointPoint senderJoint)
{
GameObject temp = new GameObject("temp");
Transform saveTransform = go.transform.parent;
var var = nearJointPoint.transform;
temp.transform.position = var.position;
temp.transform.rotation = var.rotation;
var o = nearJointPoint.JointBehaviour.gameObject;
go.transform.position = o.transform.position;
go.transform.rotation = o.transform.rotation;
go.transform.SetParent(temp.transform);
var var2 = senderJoint.transform;
temp.transform.position = var2.position;
temp.transform.rotation = var2.rotation;
temp.transform.Rotate(new Vector3(180, 0, 0));
go.transform.SetParent(saveTransform);
Destroy(temp);
}
void RotateCommand(bool _isClockwise)
{
JointPoint selectedJointPoint = selectedJoint.GetComponent <JointPoint>();
Rotate(selectedJointPoint, _isClockwise);
if (CheckIfMarkableHexagonsExist())
{
SuccessfulMoveRoutine(true);
}
else
{
Rotate(selectedJointPoint, _isClockwise);
if (CheckIfMarkableHexagonsExist())
{
SuccessfulMoveRoutine(true);
}
else
{
Rotate(selectedJointPoint, _isClockwise);
}
}
}
/*
* Creates a curve from joint1 to joint2 with the center between both points (plus offset for real walking area at joint point).
* */
private Curve createSmallCurve(JointPoint joint1, JointPoint joint2)
{
Vector3 circleCenter = Vector3.Lerp(joint1.getPosition(), joint2.getPosition(), 0.5f);
float radius = 0.5f * Vector3.Magnitude(joint1.getPosition() - joint2.getPosition());
List <JointPoint> endPoints = new List <JointPoint>();
endPoints.Add(joint1);
endPoints.Add(joint2);
Curve curve = CreateInstance <Curve>();
curve.init(circleCenter, radius, endPoints, true);
#if UNITY_EDITOR
AssetDatabase.AddObjectToAsset(curve, this);
EditorUtility.SetDirty(this);
AssetDatabase.SaveAssets();
AssetDatabase.Refresh();
#endif
return(curve);
}
void Start()
{
jointPoints = new JointPoint[PositionIndex.Count.Int()];
for (var i = 0; i < PositionIndex.Count.Int(); i++)
{
jointPoints[i] = new JointPoint();
}
anim = UnityChan.GetComponent <Animator>();
if (UseWebCam)
{
CameraPlayStart();
}
else
{
VideoPlayStart();
}
// Clip size
videoWidth = texture.width;
videoHeight = texture.height;
float padWidth = (videoWidth < videoHeight) ? 0 : (videoHeight - videoWidth) / 2;
float padHeight = (videoWidth < videoHeight) ? (videoWidth - videoHeight) / 2 : 0;
if (clipScale == 0f)
{
clipScale = 0.001f;
}
var w = (videoWidth + padWidth * 2f) * clipScale;
padWidth += w;
padHeight += w;
clipRect = new UnityEngine.Rect(-padWidth, -padHeight, videoWidth + padWidth * 2, videoHeight + padHeight * 2);
InitONNX();
Init();
}
/*
* Returns the sign for the angle (curve to the right 1 or left -1?)
* */
public int getSignOfCurve(JointPoint startJointPoint, JointPoint endJointPoint)
{
if (startJointPoint.Equals(jointPointA))
{
if (endJointPoint.Equals(jointPointB))
{
return(-1);
}
if (endJointPoint.Equals(jointPointC))
{
return(1);
}
}
if (startJointPoint.Equals(jointPointB))
{
if (endJointPoint.Equals(jointPointA))
{
return(1);
}
if (endJointPoint.Equals(jointPointC))
{
return(-1);
}
}
if (startJointPoint.Equals(jointPointC))
{
if (endJointPoint.Equals(jointPointB))
{
return(1);
}
if (endJointPoint.Equals(jointPointA))
{
return(-1);
}
}
return(-1);
}
public List <JointBehaviour> GetAllConnectedJoints(JointPoint jointPoint, List <JointBehaviour> sender = null)
{
if (jointPoint == null)
{
return(null);
}
var result = sender ?? new List <JointBehaviour>()
{
this
};
if (jointPoint.IsFree)
{
return(result);
}
JointBehaviour candidate = jointPoint.ConnectedJointPoint.JointBehaviour;
result.Add(candidate);
jointPoint.ConnectedJointPoint.JointBehaviour.GetAllConnectedJoints(result);
return(result);
}
private Quaternion GetInverse(JointPoint p1, JointPoint p2, Vector3 forward)
{
return(Quaternion.Inverse(Quaternion.LookRotation(p1.Transform.position - p2.Transform.position, forward)));
}
public JointPoint[] Init(int inputImageSize)
{
movementScale = 0.01f * 224f / inputImageSize;
centerTall = inputImageSize * 0.75f;
tall = inputImageSize * 0.75f;
prevTall = inputImageSize * 0.75f;
jointPoints = new JointPoint[PositionIndex.Count.Int()];
for (var i = 0; i < PositionIndex.Count.Int(); i++)
{
jointPoints[i] = new JointPoint();
jointPoints[i].Index = (PositionIndex)i;
jointPoints[i].UpperBody = false;
}
anim = ModelObject.GetComponent <Animator>();
jointPoints[PositionIndex.hip.Int()].Transform = transform;
// Right Arm
jointPoints[PositionIndex.rShldrBend.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightUpperArm);
jointPoints[PositionIndex.rForearmBend.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightLowerArm);
jointPoints[PositionIndex.rHand.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightHand);
jointPoints[PositionIndex.rThumb2.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightThumbIntermediate);
jointPoints[PositionIndex.rMid1.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightMiddleProximal);
// Left Arm
jointPoints[PositionIndex.lShldrBend.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftUpperArm);
jointPoints[PositionIndex.lForearmBend.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftLowerArm);
jointPoints[PositionIndex.lHand.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftHand);
jointPoints[PositionIndex.lThumb2.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftThumbIntermediate);
jointPoints[PositionIndex.lMid1.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftMiddleProximal);
// Face
jointPoints[PositionIndex.lEar.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Head);
jointPoints[PositionIndex.lEye.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftEye);
jointPoints[PositionIndex.rEar.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Head);
jointPoints[PositionIndex.rEye.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightEye);
jointPoints[PositionIndex.Nose.Int()].Transform = Nose.transform;
// Right Leg
jointPoints[PositionIndex.rThighBend.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightUpperLeg);
jointPoints[PositionIndex.rShin.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightLowerLeg);
jointPoints[PositionIndex.rFoot.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightFoot);
jointPoints[PositionIndex.rToe.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightToes);
// Left Leg
jointPoints[PositionIndex.lThighBend.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftUpperLeg);
jointPoints[PositionIndex.lShin.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftLowerLeg);
jointPoints[PositionIndex.lFoot.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftFoot);
jointPoints[PositionIndex.lToe.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftToes);
// etc
jointPoints[PositionIndex.abdomenUpper.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Spine);
jointPoints[PositionIndex.head.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Head);
jointPoints[PositionIndex.hip.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Hips);
jointPoints[PositionIndex.neck.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Neck);
jointPoints[PositionIndex.spine.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Spine);
// UpperBody Settings
jointPoints[PositionIndex.hip.Int()].UpperBody = true;
// Right Arm
jointPoints[PositionIndex.rShldrBend.Int()].UpperBody = true;
jointPoints[PositionIndex.rForearmBend.Int()].UpperBody = true;
jointPoints[PositionIndex.rHand.Int()].UpperBody = true;
jointPoints[PositionIndex.rThumb2.Int()].UpperBody = true;
jointPoints[PositionIndex.rMid1.Int()].UpperBody = true;
// Left Arm
jointPoints[PositionIndex.lShldrBend.Int()].UpperBody = true;
jointPoints[PositionIndex.lForearmBend.Int()].UpperBody = true;
jointPoints[PositionIndex.lHand.Int()].UpperBody = true;
jointPoints[PositionIndex.lThumb2.Int()].UpperBody = true;
jointPoints[PositionIndex.lMid1.Int()].UpperBody = true;
// Face
jointPoints[PositionIndex.lEar.Int()].UpperBody = true;
jointPoints[PositionIndex.lEye.Int()].UpperBody = true;
jointPoints[PositionIndex.rEar.Int()].UpperBody = true;
jointPoints[PositionIndex.rEye.Int()].UpperBody = true;
jointPoints[PositionIndex.Nose.Int()].UpperBody = true;
// etc
jointPoints[PositionIndex.spine.Int()].UpperBody = true;
jointPoints[PositionIndex.neck.Int()].UpperBody = true;
// Parent and Child Settings
// Right Arm
jointPoints[PositionIndex.rShldrBend.Int()].Child = jointPoints[PositionIndex.rForearmBend.Int()];
jointPoints[PositionIndex.rForearmBend.Int()].Child = jointPoints[PositionIndex.rHand.Int()];
jointPoints[PositionIndex.rForearmBend.Int()].Parent = jointPoints[PositionIndex.rShldrBend.Int()];
//jointPoints[PositionIndex.rHand.Int()].Parent = jointPoints[PositionIndex.rForearmBend.Int()];
// Left Arm
jointPoints[PositionIndex.lShldrBend.Int()].Child = jointPoints[PositionIndex.lForearmBend.Int()];
jointPoints[PositionIndex.lForearmBend.Int()].Child = jointPoints[PositionIndex.lHand.Int()];
jointPoints[PositionIndex.lForearmBend.Int()].Parent = jointPoints[PositionIndex.lShldrBend.Int()];
//jointPoints[PositionIndex.lHand.Int()].Parent = jointPoints[PositionIndex.lForearmBend.Int()];
// Fase
// Right Leg
jointPoints[PositionIndex.rThighBend.Int()].Child = jointPoints[PositionIndex.rShin.Int()];
jointPoints[PositionIndex.rShin.Int()].Child = jointPoints[PositionIndex.rFoot.Int()];
jointPoints[PositionIndex.rFoot.Int()].Child = jointPoints[PositionIndex.rToe.Int()];
jointPoints[PositionIndex.rFoot.Int()].Parent = jointPoints[PositionIndex.rShin.Int()];
// Left Leg
jointPoints[PositionIndex.lThighBend.Int()].Child = jointPoints[PositionIndex.lShin.Int()];
jointPoints[PositionIndex.lShin.Int()].Child = jointPoints[PositionIndex.lFoot.Int()];
jointPoints[PositionIndex.lFoot.Int()].Child = jointPoints[PositionIndex.lToe.Int()];
jointPoints[PositionIndex.lFoot.Int()].Parent = jointPoints[PositionIndex.lShin.Int()];
// etc
jointPoints[PositionIndex.spine.Int()].Child = jointPoints[PositionIndex.neck.Int()];
jointPoints[PositionIndex.neck.Int()].Child = jointPoints[PositionIndex.head.Int()];
//jointPoints[PositionIndex.head.Int()].Child = jointPoints[PositionIndex.Nose.Int()];
//jointPoints[PositionIndex.hip.Int()].Child = jointPoints[PositionIndex.spine.Int()];
// Line Child Settings
// Right Arm
AddSkeleton(PositionIndex.rShldrBend, PositionIndex.rForearmBend, true);
AddSkeleton(PositionIndex.rForearmBend, PositionIndex.rHand, true);
AddSkeleton(PositionIndex.rHand, PositionIndex.rThumb2, true);
AddSkeleton(PositionIndex.rHand, PositionIndex.rMid1, true);
// Left Arm
AddSkeleton(PositionIndex.lShldrBend, PositionIndex.lForearmBend, true);
AddSkeleton(PositionIndex.lForearmBend, PositionIndex.lHand, true);
AddSkeleton(PositionIndex.lHand, PositionIndex.lThumb2, true);
AddSkeleton(PositionIndex.lHand, PositionIndex.lMid1, true);
// Face
//AddSkeleton(PositionIndex.lEar, PositionIndex.lEye);
//AddSkeleton(PositionIndex.lEye, PositionIndex.Nose);
//AddSkeleton(PositionIndex.rEar, PositionIndex.rEye);
//AddSkeleton(PositionIndex.rEye, PositionIndex.Nose);
AddSkeleton(PositionIndex.lEar, PositionIndex.Nose, true);
AddSkeleton(PositionIndex.rEar, PositionIndex.Nose, true);
// Right Leg
AddSkeleton(PositionIndex.rThighBend, PositionIndex.rShin, false);
AddSkeleton(PositionIndex.rShin, PositionIndex.rFoot, false);
AddSkeleton(PositionIndex.rFoot, PositionIndex.rToe, false);
// Left Leg
AddSkeleton(PositionIndex.lThighBend, PositionIndex.lShin, false);
AddSkeleton(PositionIndex.lShin, PositionIndex.lFoot, false);
AddSkeleton(PositionIndex.lFoot, PositionIndex.lToe, false);
// etc
AddSkeleton(PositionIndex.spine, PositionIndex.neck, true);
AddSkeleton(PositionIndex.neck, PositionIndex.head, true);
AddSkeleton(PositionIndex.head, PositionIndex.Nose, true);
AddSkeleton(PositionIndex.neck, PositionIndex.rShldrBend, true);
AddSkeleton(PositionIndex.neck, PositionIndex.lShldrBend, true);
AddSkeleton(PositionIndex.rThighBend, PositionIndex.rShldrBend, true);
AddSkeleton(PositionIndex.lThighBend, PositionIndex.lShldrBend, true);
AddSkeleton(PositionIndex.rShldrBend, PositionIndex.abdomenUpper, true);
AddSkeleton(PositionIndex.lShldrBend, PositionIndex.abdomenUpper, true);
AddSkeleton(PositionIndex.rThighBend, PositionIndex.abdomenUpper, true);
AddSkeleton(PositionIndex.lThighBend, PositionIndex.abdomenUpper, true);
AddSkeleton(PositionIndex.lThighBend, PositionIndex.rThighBend, true);
// Set Inverse
var forward = TriangleNormal(jointPoints[PositionIndex.hip.Int()].Transform.position, jointPoints[PositionIndex.lThighBend.Int()].Transform.position, jointPoints[PositionIndex.rThighBend.Int()].Transform.position);
foreach (var jointPoint in jointPoints)
{
if (jointPoint.Transform != null)
{
jointPoint.InitRotation = jointPoint.Transform.rotation;
}
if (jointPoint.Child != null)
{
jointPoint.Inverse = GetInverse(jointPoint, jointPoint.Child, forward);
jointPoint.InverseRotation = jointPoint.Inverse * jointPoint.InitRotation;
}
}
var hip = jointPoints[PositionIndex.hip.Int()];
initPosition = transform.position;
//initPosition = jointPoints[PositionIndex.hip.Int()].Transform.position;
hip.Inverse = Quaternion.Inverse(Quaternion.LookRotation(forward));
hip.InverseRotation = hip.Inverse * hip.InitRotation;
// For Head Rotation
var head = jointPoints[PositionIndex.head.Int()];
head.InitRotation = jointPoints[PositionIndex.head.Int()].Transform.rotation;
var gaze = jointPoints[PositionIndex.Nose.Int()].Transform.position - jointPoints[PositionIndex.head.Int()].Transform.position;
head.Inverse = Quaternion.Inverse(Quaternion.LookRotation(gaze));
head.InverseRotation = head.Inverse * head.InitRotation;
var lHand = jointPoints[PositionIndex.lHand.Int()];
var lf = TriangleNormal(lHand.Pos3D, jointPoints[PositionIndex.lMid1.Int()].Pos3D, jointPoints[PositionIndex.lThumb2.Int()].Pos3D);
lHand.InitRotation = lHand.Transform.rotation;
lHand.Inverse = Quaternion.Inverse(Quaternion.LookRotation(jointPoints[PositionIndex.lThumb2.Int()].Transform.position - jointPoints[PositionIndex.lMid1.Int()].Transform.position, lf));
lHand.InverseRotation = lHand.Inverse * lHand.InitRotation;
var rHand = jointPoints[PositionIndex.rHand.Int()];
var rf = TriangleNormal(rHand.Pos3D, jointPoints[PositionIndex.rThumb2.Int()].Pos3D, jointPoints[PositionIndex.rMid1.Int()].Pos3D);
rHand.InitRotation = jointPoints[PositionIndex.rHand.Int()].Transform.rotation;
rHand.Inverse = Quaternion.Inverse(Quaternion.LookRotation(jointPoints[PositionIndex.rThumb2.Int()].Transform.position - jointPoints[PositionIndex.rMid1.Int()].Transform.position, rf));
rHand.InverseRotation = rHand.Inverse * rHand.InitRotation;
jointPoints[PositionIndex.hip.Int()].score3D = 1f;
jointPoints[PositionIndex.neck.Int()].score3D = 1f;
jointPoints[PositionIndex.Nose.Int()].score3D = 1f;
jointPoints[PositionIndex.head.Int()].score3D = 1f;
jointPoints[PositionIndex.spine.Int()].score3D = 1f;
return(JointPoints);
}
private Quaternion GetInverse(JointPoint p1, JointPoint p2)
{
return(Quaternion.Inverse(Quaternion.LookRotation(p1.Transform.position - p2.Transform.position)));
}
