public bool GetJointPosition(NiteWrapper.SkeletonJoint joint, out Vector3 position)
{
if (kinectConnect && calibratedUser)
{
NiteWrapper.SkeletonJointTransformation trans = new NiteWrapper.SkeletonJointTransformation();
NiteWrapper.GetJointTransformation(calibratedUserId, joint, ref trans);
// Nite gives position in mm convert to Unity unit = meters
position = new Vector3(trans.pos.x / 1000.0F, trans.pos.y / 1000.0F, trans.pos.z / 1000.0F);
return(trans.pos.confidence > confidenceThreshold);
}
else
{
position = new Vector3(0.0F, 0.0F, 0.0F);
return(false);
}
}
public bool GetJointOrientation(NiteWrapper.SkeletonJoint joint, out Quaternion rotation)
{
if (kinectConnect && calibratedUser)
{
NiteWrapper.SkeletonJointTransformation trans = new NiteWrapper.SkeletonJointTransformation();
NiteWrapper.GetJointTransformation(calibratedUserId, joint, ref trans);
Vector3 worldZVec = new Vector3(trans.ori.m02, trans.ori.m12, trans.ori.m22);
Vector3 worldYVec = new Vector3(trans.ori.m01, trans.ori.m11, trans.ori.m21);
rotation = Quaternion.LookRotation(worldZVec, worldYVec);
return(trans.ori.confidence > confidenceThreshold);
}
else
{
rotation = Quaternion.identity;
return(false);
}
}
void TransformBone(uint userId, NiteWrapper.SkeletonJoint joint, Transform dest)
{
NiteWrapper.SkeletonJointTransformation trans = new NiteWrapper.SkeletonJointTransformation();
NiteWrapper.GetJointTransformation(userId, joint, ref trans);
// only modify joint if confidence is high enough in this frame
if (trans.ori.confidence > 0.5)
{
// Z coordinate in OpenNI is opposite from Unity. We will create a quat
// to rotate from OpenNI to Unity (relative to initial rotation)
Vector3 worldZVec = new Vector3(trans.ori.m02, -trans.ori.m12, trans.ori.m22);
Vector3 worldYVec = new Vector3(-trans.ori.m01, trans.ori.m11, -trans.ori.m21);
Quaternion jointRotation = Quaternion.LookRotation(worldZVec, worldYVec);
Quaternion newRotation = jointRotation * initialRotations[(int)joint];
// Some smoothing
dest.rotation = Quaternion.Slerp(dest.rotation, newRotation, Time.deltaTime * 20);
}
}
