public static Matrix4 GetBoneMatrixByBvhName(Skeleton skeleton, HierarchyNode node)
{
//Итого 20 костей + 1 для поворота рутового креста: 20*3 + 3 = 63 угла + 3 декартовы координаты для положения рутового креса
/* Правила для левой ноги
* 0. bvh:Hips(рутовый крест) == kineck: (0,0,0)
* 1. bhv: LeftCross-LeftHips(половина нижней части таза) == kinect: HipCenter-HipRight
* 2. bvh:LeftHip-LeftKnee(Тазовая кость) == kinect:HipRight-KneeRight
* 3. bvh:LeftKnee-LeftAnkle(Голень) == kinect:KneeRight-AnkleRight
* 4. bvh:LeftAnkle-EndSite(ступня) == kinect:AnkleRight-FootRight
*
* Правила для правой ноги
* 5. bvh:RightCross-RightHips(половина нижней части таза) == kinect: HipCenter-HipLeft
* 6. bvh:RightHip-RightKnee(Тазовая кость) == kinect:HipLeft-KneeLeft
* 7. bvh:RightKnee-RighAnkle(Голень) == kinect:KneeLeft-AnkleLeft
* 8. bvh:RightAnkle-EndSite(ступня) == kinect:AnkleLeft-FootLeft
*
* Корпус
* 9. bvh:UpCross-Chest(верхняя часть таза) == kinect:HipCenter-Spine
* 10. bvh:Chest(спина) == kinect:Spine-ShoulderCenter
*
* Правила для левой руки
* 11. bvh:LeftCollar-LeftShoulder(лева ключица) == kineck:ShoulderCenter-ShoulderRight
* 12. bvh:LeftShoulder-LeftElbow(Трицепс) == kinect:ShoulderRight-ElbowRight
* 13. bvh:LeftElbow-LeftWrist(Предплечье) == kinect:ElbowRight-WristRight
* 14. bvh:LeftWrist-EndSite(Кисть) == kinect: WristRight-HandRight
*
* Правила для правой руки
* 15. bvh:RightCollar-RightShoulder(лева ключица) == kineck:ShoulderCenter-ShoulderLeft
* 16. bvh:RightShoulder-RightElbow(Трицепс) == kinect:ShoulderLeft-ElbowLeft
* 17. bvh:RightElbow-RighttWrist(Предплечье) == kinect:ElbowLeft-WristLeft
* 18.bvh:RightWrist-EndSite(Кисть) == kinect: WristLeft-HandLeft
*
*
* Правила для Шея и голова
* 19. bvh:Neck-Head(шея) == kinect:ShoulderCenter-Head
* 20. bhv:Head-EndSite(верхняя часть головы) == kinect: (x,y,z)=(0,0,0)
*/
//0
//if (node.GetTypeNode() == ConstBodyPoints.Hips)
// return GetZeroBoneOrientation(JointType.HipCenter);
if (node.GetTypeNode() == ConstBodyPoints.Hips)
//return GetHipBoneOrientation(skeleton.Joints).HierarchicalRotation.Matrix;
return FindBone(JointType.HipCenter, JointType.HipCenter, skeleton.BoneOrientations).AbsoluteRotation.Matrix;
//1
if (node.GetTypeNode() == ConstBodyPoints.LeftCross)
return FindBone(JointType.HipCenter, JointType.HipLeft, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//2
if (node.GetTypeNode() == ConstBodyPoints.LeftHip)
{
return FindBone(JointType.HipLeft, JointType.KneeLeft, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//var mat = FindBone(JointType.HipRight, JointType.KneeRight, skeleton.BoneOrientations).AbsoluteRotation.Matrix;
//mat.M32 += (float)0.463;
//return mat;
}
//3
if (node.GetTypeNode() == ConstBodyPoints.LeftKnee)
return FindBone(JointType.KneeLeft, JointType.AnkleLeft, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//4
if (node.GetTypeNode() == ConstBodyPoints.LeftAnkle)
return FindBone(JointType.AnkleLeft, JointType.FootLeft, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//5
if (node.GetTypeNode() == ConstBodyPoints.RightCross)
return FindBone(JointType.HipCenter, JointType.HipRight, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//6
if (node.GetTypeNode() == ConstBodyPoints.RightHip)
{
return FindBone(JointType.HipRight, JointType.KneeRight, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//var mat = FindBone(JointType.HipLeft, JointType.KneeLeft, skeleton.BoneOrientations).AbsoluteRotation.Matrix;
//mat.M32 += (float)0.416;
//return mat;
}
//7
if (node.GetTypeNode() == ConstBodyPoints.RightKnee)
return FindBone(JointType.KneeRight, JointType.AnkleRight, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//8
if (node.GetTypeNode() == ConstBodyPoints.RightAnkle)
return FindBone(JointType.AnkleRight, JointType.FootRight, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//9
if (node.GetTypeNode() == ConstBodyPoints.UpCross)
return FindBone(JointType.HipCenter, JointType.Spine, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//10
if (node.GetTypeNode() == ConstBodyPoints.Chest)
return FindBone(JointType.Spine, JointType.ShoulderCenter, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//11
if (node.GetTypeNode() == ConstBodyPoints.LeftCollar)
return FindBone(JointType.ShoulderCenter, JointType.ShoulderLeft, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//12
if (node.GetTypeNode() == ConstBodyPoints.LeftShoulder)
return FindBone(JointType.ShoulderLeft, JointType.ElbowLeft, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//13
if (node.GetTypeNode() == ConstBodyPoints.LeftElbow)
return FindBone(JointType.ElbowLeft, JointType.WristLeft, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//14
if (node.GetTypeNode() == ConstBodyPoints.LeftWrist)
return FindBone(JointType.WristLeft, JointType.HandLeft, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//15
if (node.GetTypeNode() == ConstBodyPoints.RightCollar)
return FindBone(JointType.ShoulderCenter, JointType.ShoulderRight, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//16
if (node.GetTypeNode() == ConstBodyPoints.RightShoulder)
return FindBone(JointType.ShoulderRight, JointType.ElbowRight, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//17
if (node.GetTypeNode() == ConstBodyPoints.RightElbow)
return FindBone(JointType.ElbowRight, JointType.WristRight, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//18
if (node.GetTypeNode() == ConstBodyPoints.RightWrist)
return FindBone(JointType.WristRight, JointType.HandRight, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//19
if (node.GetTypeNode() == ConstBodyPoints.Neck)
return FindBone(JointType.ShoulderCenter, JointType.Head, skeleton.BoneOrientations).HierarchicalRotation.Matrix;
//20
if (node.GetTypeNode() == ConstBodyPoints.Head)
return GetZeroBoneOrientation(JointType.ShoulderCenter).HierarchicalRotation.Matrix;
throw new Exception("Кость " + node.GetTypeNode() + " не определена");
}
