/// <summary>
/// スケルトンを描画する
/// </summary>
/// <param name="kinect"></param>
/// <param name="skeletonFrame"></param>
/// <param name="source"></param>
/// <returns></returns>
private void Power( KinectSensor kinect, SkeletonFrame skeletonFrame )
{
// スケルトンのデータを取得する
Skeleton skeleton = skeletonFrame.GetFirstTrackedSkeleton();
if ( skeleton == null ) {
return;
}
// 操作に必要なジョイントを取得する
Joint rightHand = skeleton.Joints[JointType.HandRight];
Joint rightElbow = skeleton.Joints[JointType.ElbowRight];
Joint leftHand = skeleton.Joints[JointType.HandLeft];
Joint leftElbow = skeleton.Joints[JointType.ElbowLeft];
// ジョイントの描画
DrawSkeleton( kinect, new Joint[] { rightHand, rightElbow, leftHand, leftElbow });
// ジョイントすべてがトラッキング状態のときのみ操作する
if ( (rightHand.TrackingState != JointTrackingState.Tracked) ||
(rightElbow.TrackingState != JointTrackingState.Tracked) ||
(leftHand.TrackingState != JointTrackingState.Tracked) ||
(leftElbow.TrackingState != JointTrackingState.Tracked) ) {
return;
}
// 腕の角度を、モーターのパワーに変換して、NXTに送信する
sbyte rightPower = 0, leftPower = 0;
if ( rightHand.Position.Y > rightElbow.Position.Y ) {
rightPower = GetPower( rightHand, rightElbow );
}
if ( leftHand.Position.Y > leftElbow.Position.Y ) {
leftPower = GetPower( leftHand, leftElbow );
}
SetMotorPower( rightPower, leftPower );
}
