public void MergeSkeleton(KinectSkeleton srcData, Matrix4x4 transform)
{
if (!srcData.valid)
{
return;
}
//TODO utilize jointStates
if (mergeCount == 0)
{
//first skeleton, set data
for (int i = 0; i < JOINT_COUNT; i++)
{
jointPositions3D[i] = transform.MultiplyPoint(srcData.jointPositions3D[i]);
jointStates[i] = srcData.jointStates[i];
}
}
else
{
for (int i = 0; i < JOINT_COUNT; i++)
{
jointPositions3D[i] += transform.MultiplyPoint(srcData.jointPositions3D[i]);
if (jointStates[i] > srcData.jointStates[i])
{
jointStates[i] = srcData.jointStates[i];
}
}
}
valid = true;
mergeCount++;
}
public Vector3 GetRelativePos(Body b, JointType j)
{
var parent = KinectSkeleton.GetParent(j).Value();
var dir = ToVector3(b.Joints[j]) - ToVector3(b.Joints[parent]);
return(dir.normalized);
}
public void RefreshBodyObject(User user)//Kinect.Body body, GameObject bodyObject)
{
if (Application.isPlaying && showSkeletons)
{
KinectSkeleton skeleton = GetKinectSkeleton(user.skeletonID);
if (skeleton != null && (skeleton.valid))
{
for (int i = 0; i < skeleton.jointPositions3D.Length; i++)
{
KinectSkeleton.TrackingState state = skeleton.jointStates[i];
bool tracked = state != KinectSkeleton.TrackingState.NotTracked;
//JointMaterial = joints[i].GetComponent<Renderer>().material;
//JointMaterial.color = GetColorForState(state);
if (tracked)
{
joints[i].localPosition = skeleton.jointPositions3D[i];
}
}
for (int k = 0; k < HumanTopology.BONE_CONNECTIONS.Length; k++)
{
BoneConnection bone = HumanTopology.BONE_CONNECTIONS[k];
JointType joint1 = bone.fromJoint;
JointType joint2 = bone.toJoint;
LineRenderer lr = joints[(int)joint2].GetComponent <LineRenderer>();
lr.SetPosition(0, joints[(int)joint1].position);
lr.SetPosition(1, joints[(int)joint2].position);
}
/*for (int i = 0; i < HumanTopology.BONE_CONNECTIONS.Length; i++)
* {
* BoneConnection bone = HumanTopology.BONE_CONNECTIONS[i];
* JointType joint1 = bone.fromJoint;
* JointType joint2 = bone.toJoint;
* KinectSkeleton.TrackingState state1 = skeleton.jointStates[(int)joint1];
* KinectSkeleton.TrackingState state2 = skeleton.jointStates[(int)joint2];
* LineRenderer lr = joints[i].GetComponent<LineRenderer>();
* bool tracked = state1 != KinectSkeleton.TrackingState.NotTracked && state2 != KinectSkeleton.TrackingState.NotTracked;
* if (tracked)
* {
* lr.SetPosition(0, skeleton.jointPositions3D[(int)joint1]);
* lr.SetPosition(1, skeleton.jointPositions3D[(int)joint2]);
*
* lr.startColor = GetColorForState(state1);
* lr.endColor = GetColorForState(state2);
* }
*
* }*/
}
}
}
public JointConstraint( KinectSkeleton ks,
KinectSkeleton.Joints joint_a,
KinectSkeleton.Joints joint_b,
Relations relation,
Operators operation,
Vector3 val )
{
this.ks = ks;
this.joint_a = joint_a;
this.joint_b = joint_b;
this.relation = relation;
this.operation = operation;
this.val = val;
}
/*private void drawEye(Vector3 pos, DetectionResult closed, Quaternion rotation)
* {
* Color color = faceColor;
* if (closed == DetectionResult.Unknown)
* color.a *= 0.4f;
* if (closed == DetectionResult.Maybe)
* color.a *= 0.8f;
* Gizmos.color = color;
* if (closed != DetectionResult.Yes)
* Gizmos.DrawSphere(pos, eyeRadius);
* else
* {
* Gizmos.matrix = transform.localToWorldMatrix * Matrix4x4.TRS(pos, rotation, new Vector3(0.9f, 0.2f, 0.9f));
* Gizmos.DrawSphere(Vector3.zero, eyeRadius);
* Gizmos.matrix = transform.localToWorldMatrix;
* }
*
* }*/
public void CreateSkeleton(User user)
{
if (Application.isPlaying && showSkeletons)
{
KinectSkeleton skeleton = GetKinectSkeleton(user.skeletonID);
if (skeleton != null && (skeleton.valid))
{
for (int i = 0; i < skeleton.jointPositions3D.Length; i++)
{
GameObject jointObj = GameObject.CreatePrimitive((PrimitiveType.Sphere));
LineRenderer lr = jointObj.AddComponent <LineRenderer>();
lr.positionCount = 2;
lr.material = BoneMaterial;
lr.startWidth = 0.005f;
lr.endWidth = 0.005f;
JointMaterial = jointObj.GetComponent <Renderer>().material;
if (user.userID == 0)
{
JointMaterial.color = Color.red;
}
else if (user.userID == 1)
{
JointMaterial.color = Color.green;
}
else if (user.userID == 2)
{
JointMaterial.color = Color.yellow;
}
else if (user.userID == 3)
{
JointMaterial.color = Color.cyan;
}
else if (user.userID == 4)
{
JointMaterial.color = Color.magenta;
}
jointObj.transform.localScale = new Vector3(0.01f, 0.01f, 0.01f);
jointObj.name = HumanTopology.JOINT_NAMES[i];
jointObj.transform.parent = user.gameObject.transform;
joints[i] = jointObj.transform;
}
}
}
}
public KinectSkeleton TransformSkeleton(KinectSkeleton skeleton)
{
KinectSkeleton transformedSkeleton = new KinectSkeleton();
transformedSkeleton.leftHandClosed = skeleton.leftHandClosed;
transformedSkeleton.rightHandClosed = skeleton.rightHandClosed;
transformedSkeleton.TrackingId = skeleton.TrackingId;
transformedSkeleton.SkeletonTrackingState = skeleton.SkeletonTrackingState;
//transformedSkeleton.utcSampleTime = skeleton.utcSampleTime;
transformedSkeleton.sourceKinectID = skeleton.sourceKinectID;
transformedSkeleton.Position = skeletonTransformation.Transform(skeleton.Position);
//Transform the joints
for (int i = 0; i < skeleton.skeleton.Count; i++)
{
transformedSkeleton.skeleton[i] = TransformJoint(skeleton.skeleton[i]);
}
return(transformedSkeleton);
}
private void Update()
{
//Update the kinect data
for (int i = 0; i < users.Length; i++)
{
if (users[i].skeletonProvider != null)
{
KinectSkeleton skeleton = users[i].GetSkeleton();
if (skeleton != null && skeleton.valid)
{
if (!users[i].created)
{
users[i].skeletonProvider.CreateSkeleton(users[i]);
users[i].created = true;
}
if (users[i].updateFromKinect)
{
/*transform.position = getHeadPosition();
* if (lookAt != null)
* {
* transform.LookAt(lookAt.transform.position);
* }
* //else transform.localRotation = Quaternion.identity;*/
users[i].skeletonProvider.RefreshBodyObject(users[i]);
}
}
}
}
#region Kabsch implementation
if (kabsch)
{
//Get the latest Tranform positions
for (int i = 0; i < users.Length; i++)
{
if (users[i].GetSkeleton() != null && users[i].GetSkeleton().valid)
{
for (int j = 0; j < users[i].skeletonProvider.joints.Length; j++)
{
pointSets[i][j] = users[i].skeletonProvider.joints[j].position;
}
}
}
for (int j = 0; j < targetPointSet.Length; j++)
{
if (users[0].GetSkeleton() != null && users[0].GetSkeleton().valid)
{
targetPointSet[j] = new Vector4(users[0].skeletonProvider.joints[j].position.x, users[0].skeletonProvider.joints[j].position.y, users[0].skeletonProvider.joints[j].position.z, users[0].skeletonProvider.joints[j].localScale.x);
}
}
//Calculate new positions for the skeletons
for (int k = 1; k < users.Length; k++)
{
if (users[k].GetSkeleton() != null && users[k].GetSkeleton().valid)
{
Matrix4x4 kabschTransform = solver.SolveKabsch(pointSets[k], targetPointSet);
for (int i = 0; i < users[k].skeletonProvider.joints.Length; i++)
{
users[k].skeletonProvider.joints[i].position = kabschTransform.MultiplyPoint3x4(pointSets[k][i]);
for (int j = 0; j < HumanTopology.BONE_CONNECTIONS.Length; j++)
{
BoneConnection bone = HumanTopology.BONE_CONNECTIONS[j];
JointType joint1 = bone.fromJoint;
JointType joint2 = bone.toJoint;
LineRenderer lr = users[k].skeletonProvider.joints[(int)joint2].GetComponent <LineRenderer>();
lr.SetPosition(0, users[k].skeletonProvider.joints[(int)joint1].position);
lr.SetPosition(1, users[k].skeletonProvider.joints[(int)joint2].position);
}
/*for (int j = 0; j < HumanTopology.BONE_CONNECTIONS.Length; j++)
* {
* BoneConnection bone = HumanTopology.BONE_CONNECTIONS[j];
* JointType joint1 = bone.fromJoint;
* JointType joint2 = bone.toJoint;
* KinectSkeleton.TrackingState state1 = users[k].GetSkeleton().jointStates[(int)joint1];
* KinectSkeleton.TrackingState state2 = users[k].GetSkeleton().jointStates[(int)joint2];
* LineRenderer lr = users[k].skeletonProvider.joints[i].GetComponent<LineRenderer>();
* bool tracked = state1 != KinectSkeleton.TrackingState.NotTracked && state2 != KinectSkeleton.TrackingState.NotTracked;
* if (tracked)
* {
* lr.SetPosition(0, users[k].skeletonProvider.joints[(int)joint1].position);
* lr.SetPosition(1, users[k].skeletonProvider.joints[(int)joint2].position);
* }
* }*/
}
}
}
}
#endregion
#region Kalman implementation
if (kalman)
{
for (int i = 0; i < HumanTopology.JOINT_NAMES.Length; i++)
{
for (int j = 0; j < users.Length; j++)
{
if (users[j].GetSkeleton() != null && users[j].GetSkeleton().valid)
{
filters[i].PredictState(Time.deltaTime);
filters[i].UpdateState(new double[, ]
{
{ users[j].skeletonProvider.joints[i].position.x },
{ users[j].skeletonProvider.joints[i].position.y },
{ users[j].skeletonProvider.joints[i].position.z },
{ 0.0 },
{ 0.0 },
{ 0.0 },
{ 0.0 },
{ 0.0 },
{ 0.0 }
});
double oldPos = filters[i].StateMatrix[0, 0];
/*for (int k = 1; k < 10; k++)
* {
* double[,] PredictedState = filters[i].SafePredictState(0.1 * k);
* Debug.DrawLine(new Vector3((float)oldPos, k * 0.02f, 0f), new Vector3((float)PredictedState[0, 0], (k + 1) * 0.02f, 0f), Color.green);
* oldPos = PredictedState[0, 0];
*
* Debug.DrawLine(new Vector3(Mathf.Sin((Time.time + (k * 0.1f))), k * 0.02f, 0f),
* new Vector3(Mathf.Sin((Time.time + ((k + 1f) * 0.1f))), (k + 1) * 0.02f, 0f), Color.red);
* }*/
fusedJoints[i].position = new Vector3((float)filters[i].StateMatrix[0, 0], (float)filters[i].StateMatrix[1, 0], (float)filters[i].StateMatrix[2, 0]);
}
}
}
for (int k = 0; k < HumanTopology.BONE_CONNECTIONS.Length; k++)
{
BoneConnection bone = HumanTopology.BONE_CONNECTIONS[k];
JointType joint1 = bone.fromJoint;
JointType joint2 = bone.toJoint;
LineRenderer lr = fusedJoints[(int)joint2].GetComponent <LineRenderer>();
lr.SetPosition(0, fusedJoints[(int)joint1].position);
lr.SetPosition(1, fusedJoints[(int)joint2].position);
}
readyToScale = true;
}
#endregion
}
public KinectSkeleton TransformSkeleton(KinectSkeleton skeleton)
{
KinectSkeleton transformedSkeleton = new KinectSkeleton();
transformedSkeleton.leftHandClosed = skeleton.leftHandClosed;
transformedSkeleton.rightHandClosed = skeleton.rightHandClosed;
transformedSkeleton.TrackingId = skeleton.TrackingId;
transformedSkeleton.SkeletonTrackingState = skeleton.SkeletonTrackingState;
//transformedSkeleton.utcSampleTime = skeleton.utcSampleTime;
transformedSkeleton.sourceKinectID = skeleton.sourceKinectID;
transformedSkeleton.Position = skeletonTransformation.Transform(skeleton.Position);
//Transform the joints
for (int i = 0; i < skeleton.skeleton.Count; i++)
{
transformedSkeleton.skeleton[i] = TransformJoint(skeleton.skeleton[i]);
}
return transformedSkeleton;
}
internal void AddSkeletonToMerge(KinectSkeleton skeleton)
{
for (int i = skeletonsToMerge.Count - 1; i >= 0; i--)
{
if (skeletonsToMerge[i].sourceKinectID == skeleton.sourceKinectID)
{
skeletonsToMerge.RemoveAt(i);
}
}
skeletonsToMerge.Add(skeleton);
needsUpdate = true;
}
public void CopyFrom(KinectSkeleton templateSkel, Matrix4x4 transform)
{
mergeCount = 0;
MergeSkeleton(templateSkel, transform);
FinishMerging();
}
public JointConstraint( KinectSkeleton ks, KinectSkeleton.Joints joint_a, KinectSkeleton.Joints joint_b )
{
this.ks = ks;
this.joint_a = joint_a;
this.joint_b = joint_b;
}
// constructors
public JointConstraint( KinectSkeleton ks )
{
this.ks = ks;
}
public Vector3 GetRelativePos(KinectSkeleton b, JointType j) => b[j].transform.position - b[JointType.SpineMid].transform.position;
public Mapping(KinectSkeleton ks, KinectSkeleton.Joints joint, Vector3 weights) {
this.ks = ks;
joints.Add(joint);
jc_weights.Add(weights);
}
public bool IsReady()
{
KinectSkeleton skel = GetSkeleton();
return(skel != null && skel.valid);
}
private void RemoteComputer_NewSkeletonFrame(object state, ReceivedMessageEventArgs args)
{
//DateTime now = DateTime.Now;
MemoryStream memStream = new MemoryStream(args.data);
BinaryReader reader = new BinaryReader(memStream);
long timeStampSkeleton = reader.ReadInt64();
validBodiesCount = reader.ReadByte();
for (int cnt = 0; cnt < 6; cnt++)
{
KinectSkeleton skeleton = pendingSkeletonFrame.skeletons[cnt];
if (cnt < validBodiesCount)
{
skeleton.valid = true;
skeleton.ID = (ulong)reader.ReadInt64();
skeleton.jointPositions3D = new Vector3[25];
for (int i = 0; i < KinectSkeleton.JOINT_COUNT; i++)
{
var position = new Vector3();
position.x = -reader.ReadSingle();
position.y = reader.ReadSingle();
position.z = reader.ReadSingle();
skeleton.jointPositions3D[i] = position;
skeleton.jointStates[i] = (KinectSkeleton.TrackingState)reader.ReadByte();
}
skeleton.handLeftConfidence = reader.ReadByte(); //0=not confident, 1= confident
skeleton.handLeftState = reader.ReadByte();
skeleton.handRightConfidence = reader.ReadByte();
skeleton.handRightState = reader.ReadByte();
}
else
{
skeleton.valid = false;
}
}
//accelerometer reading
float x, y, z, w;
x = reader.ReadSingle();
y = reader.ReadSingle();
z = reader.ReadSingle();
w = reader.ReadSingle();
pendingSkeletonFrame.deviceAcceleration = KinectToWorldNoT(new Vector3(x / w, y / w, z / w)); //mProCamUnit.KinectToWorldNoT(new Vector3(x / w, y / w, z / w));
pendingSkeletonFrame.timeStampSkeleton = timeStampSkeleton;
reader.Close();
lock (nextSkeletonFrame)
{
Swap <KinectSkeletonFrame>(ref nextSkeletonFrame, ref pendingSkeletonFrame);
/*/ Skeletal data serialization
* if (StreamToFile)
* {
* // Serialize skeleton frame to file
* formatter.Serialize(skeletonStream, nextSkeletonFrame);
* }*/
}
nextSkeletonFrameReady.Set();
}
// updates joints
void update_joint(KinectSkeleton.Joints joint_type, GameObject joint_obj)
{
Quaternion spine_rotation;
Vector3 direction = game_joint_pos[(int)joint_type];
switch (joint_type) {
case Joints.HEAD:
skShoulderCenter.transform.localRotation = Quaternion.FromToRotation(Vector3.up, direction)
* Quaternion.FromToRotation(Vector3.up, new Vector3(0.0f, 1.0f, -0.2f));
break;
case Joints.SHOULDER_CENTER:
skSpine.transform.localRotation = Quaternion.FromToRotation(model_joint_pos[(int)Joints.SHOULDER_CENTER], direction);
break;
case Joints.ELBOW_LEFT:
spine_rotation = Quaternion.FromToRotation(model_joint_pos[(int)Joints.SPINE], game_joint_pos[(int)Joints.SPINE]);
spine_rotation.w /= 0.5f;
spine_rotation *= Quaternion.FromToRotation(Vector3.up, new Vector3(0.0f, 1.0f, 0.2f));
skLeftShoulder.transform.localRotation = Quaternion.Inverse(spine_rotation)
* Quaternion.Inverse(Quaternion.FromToRotation(model_joint_pos[(int)Joints.SHOULDER_CENTER], game_joint_pos[(int)Joints.SHOULDER_CENTER]))
* Quaternion.FromToRotation(model_joint_pos[(int)Joints.ELBOW_LEFT], direction);
break;
case Joints.WRIST_LEFT:
skLeftElbow.transform.localRotation = Quaternion.FromToRotation(game_joint_pos[(int)Joints.ELBOW_LEFT], direction);
break;
case Joints.HAND_LEFT:
skLeftWrist.transform.localRotation = Quaternion.FromToRotation(game_joint_pos[(int)Joints.WRIST_LEFT], direction);
break;
case Joints.ELBOW_RIGHT:
spine_rotation = Quaternion.FromToRotation(model_joint_pos[(int)Joints.SPINE], game_joint_pos[(int)Joints.SPINE]);
spine_rotation.w /= 0.5f;
spine_rotation *= Quaternion.FromToRotation(Vector3.up, new Vector3(0.0f, 1.0f, 0.2f));
skRightShoulder.transform.localRotation = Quaternion.Inverse(spine_rotation)
* Quaternion.Inverse(Quaternion.FromToRotation(model_joint_pos[(int)Joints.SHOULDER_CENTER], game_joint_pos[(int)Joints.SHOULDER_CENTER]))
* Quaternion.FromToRotation(model_joint_pos[(int)Joints.ELBOW_RIGHT], direction);
break;
case Joints.WRIST_RIGHT:
skRightElbow.transform.localRotation = Quaternion.FromToRotation(game_joint_pos[(int)Joints.ELBOW_RIGHT], direction);
break;
case Joints.HAND_RIGHT:
skRightWrist.transform.localRotation = Quaternion.FromToRotation(game_joint_pos[(int)Joints.WRIST_RIGHT], direction);
break;
case Joints.SPINE:
Quaternion base_rotation = Quaternion.FromToRotation(model_joint_pos[(int)Joints.SPINE], direction);
base_rotation.w /= 0.5f;
skHipCenter.transform.localRotation = base_rotation
* Quaternion.FromToRotation(Vector3.up, new Vector3(0.0f, 1.0f, 0.9f));
break;
default:
break;
}
}
// Use this for initialization
void Start()
{
if (ks_master == null)
ks_master = this;
raw_joint_pos[(int)Joints.HIP_CENTER] = new Vector3(0.0f, 0.0f, 0.0f);
game_joint_pos[(int)Joints.HIP_CENTER] = new Vector3(0.0f, 0.0f, 0.0f);
// adds all the game objects to the associated hashmap for the enum type
if (skHead != null)
add_skeleton_joint (Joints.HEAD, skHead);
if (skSpine != null)
add_skeleton_joint (Joints.SPINE, skSpine);
if (skHipCenter != null)
add_skeleton_joint (Joints.HIP_CENTER, skHipCenter);
if (skShoulderCenter != null)
add_skeleton_joint (Joints.SHOULDER_CENTER, skShoulderCenter);
if (skLeftShoulder != null)
add_skeleton_joint (Joints.SHOULDER_LEFT, skLeftShoulder);
if (skLeftElbow != null)
add_skeleton_joint (Joints.ELBOW_LEFT, skLeftElbow);
if (skLeftWrist != null)
add_skeleton_joint (Joints.WRIST_LEFT, skLeftWrist);
if (skLeftHand != null)
add_skeleton_joint (Joints.HAND_LEFT, skLeftHand);
if (skRightShoulder != null)
add_skeleton_joint (Joints.SHOULDER_RIGHT, skRightShoulder);
if (skRightElbow != null)
add_skeleton_joint (Joints.ELBOW_RIGHT, skRightElbow);
if (skRightWrist != null)
add_skeleton_joint (Joints.WRIST_RIGHT, skRightWrist);
if (skRightHand != null)
add_skeleton_joint (Joints.HAND_RIGHT, skRightHand);
// get the bone lengths and positions of the default pose for the rigged character.
foreach (KeyValuePair<Joints, GameObject> joint in skeleton) {
if (joint.Key != Joints.HIP_CENTER) {
bone_lengths[(int)joint.Key] = joint.Value.transform.localPosition.magnitude;
model_joint_pos[(int)joint.Key] = joint.Value.transform.localPosition;
}
}
// start the kinect skeleton server and the kinect skeleton client for this game
client = new KinectSkeletonClient();
// starts the joint data update thread
thr_joint_data_update = new Thread(this.run_joint_data_update);
thr_joint_data_update.Start();
// some testing gestures
// this should be moved out and in to a json file ideally.
// ok
// Gesture left_hand_up = new Gesture("left-hand-up", (int)ActionManager.actions.handUp);
// left_hand_up.constraints.Add( new JointConstraint( this,
// Joints.HAND_LEFT,
// Joints.SHOULDER_LEFT,
// JointConstraint.Relations.COMPONENT_DISTANCE,
// JointConstraint.Operators.GREATER_THAN,
// new Vector3(-10.0f, 1.2f, -10.0f) ) );
// Gesture left_hand_down = new Gesture("left-hand-down", (int)ActionManager.actions.handDown);
// left_hand_down.constraints.Add ( new JointConstraint(this,
// Joints.HAND_LEFT,
// Joints.SPINE,
// JointConstraint.Relations.COMPONENT_DISTANCE,
// JointConstraint.Operators.LESS_THAN,
// new Vector3(-10.0f, 0.0f, -10.0f) ) );
// ok
// Gesture left_hand_left = new Gesture("left-hand-left", (int)ActionManager.actions.handLeft);
// left_hand_left.constraints.Add ( new JointConstraint(this,
// Joints.HAND_LEFT,
// Joints.SHOULDER_LEFT,
// JointConstraint.Relations.COMPONENT_DISTANCE,
// JointConstraint.Operators.LESS_THAN,
// new Vector3(-2.0f, 10.0f, 10.0f) ) );
// ok
// Gesture left_hand_right = new Gesture("left-hand-right", (int)ActionManager.actions.handRight);
// left_hand_right.constraints.Add ( new JointConstraint(this,
// Joints.HAND_LEFT,
// Joints.SHOULDER_LEFT,
// JointConstraint.Relations.COMPONENT_DISTANCE,
// JointConstraint.Operators.GREATER_THAN,
// new Vector3(1.0f, -10.0f, -10.0f) ) );
// ok
Gesture right_hand_up = new Gesture("right-hand-up", (int)ActionManager.actions.handUp);
right_hand_up.constraints.Add( new JointConstraint(this,
Joints.HAND_RIGHT,
Joints.SHOULDER_RIGHT,
JointConstraint.Relations.COMPONENT_DISTANCE,
JointConstraint.Operators.GREATER_THAN,
new Vector3(-10.0f, 1.2f, -10.0f) ) );
// ok
// Gesture right_hand_left = new Gesture("right-hand-left", (int)ActionManager.actions.handLeft);
// right_hand_left.constraints.Add ( new JointConstraint(this,
// Joints.HAND_RIGHT,
// Joints.SHOULDER_RIGHT,
// JointConstraint.Relations.COMPONENT_DISTANCE,
// JointConstraint.Operators.LESS_THAN,
// new Vector3(-1.0f, 10.0f, 10.0f) ) );
// // ok
// Gesture right_hand_right = new Gesture("right-hand-right", (int)ActionManager.actions.handRight);
// right_hand_right.constraints.Add ( new JointConstraint(this,
// Joints.HAND_RIGHT,
// Joints.SHOULDER_RIGHT,
// JointConstraint.Relations.COMPONENT_DISTANCE,
// JointConstraint.Operators.GREATER_THAN,
// new Vector3(2.0f, -10.0f, -10.0f) ) );
// Gesture super_charge_charging = new Gesture("super-charge-charging", (int)ActionManager.actions.superShoot);
// super_charge_charging.constraints.Add ( new JointConstraint(this,
// Joints.HAND_LEFT,
// Joints.SHOULDER_LEFT,
// JointConstraint.Relations.DISTANCE,
// JointConstraint.Operators.LESS_THAN,
// new Vector3(4.0f, 0.0f, 0.0f) ) );
// super_charge_charging.constraints.Add( new JointConstraint(this,
// Joints.HAND_RIGHT,
// Joints.SHOULDER_RIGHT,
// JointConstraint.Relations.COMPONENT_DISTANCE,
// JointConstraint.Operators.GREATER_THAN,
// new Vector3(-10.0f, 1.2f, -10.0f) ) );
// gestures.Add("super-charge-charging", super_charge_charging);
// gestures to handle either left knee raised or right knee raised
Gesture switch_places_ll = new Gesture("switch-places-left-leg", (int)ActionManager.actions.switchPlaces);
switch_places_ll.constraints.Add( new JointConstraint(this,
Joints.KNEE_LEFT,
Joints.HIP_CENTER,
JointConstraint.Relations.COMPONENT_DISTANCE,
JointConstraint.Operators.GREATER_THAN,
new Vector3(-10.0f, -3.0f, -10.0f) ) );
Gesture switch_places_rl = new Gesture("switch-places-right-leg", (int)ActionManager.actions.switchPlaces);
switch_places_rl.constraints.Add( new JointConstraint(this,
Joints.KNEE_RIGHT,
Joints.HIP_CENTER,
JointConstraint.Relations.COMPONENT_DISTANCE,
JointConstraint.Operators.GREATER_THAN,
new Vector3(-10.0f, -3.0f, -10.0f) ) );
// AnimatedGesture stupid_wave = new AnimatedGesture("stupid-wave", 2);
// stupid_wave.add_keyframe(right_hand, 1.0f, 0.0f);
// stupid_wave.add_keyframe(left_hand, 1.0f, 0.0f);
// animated_gestures.Add("stupid-wave", stupid_wave);
// 2
gestures.Add("switch-places-ll", switch_places_ll);
gestures.Add("switch-places-rl", switch_places_rl);
// gestures.Add( "left-hand-up", left_hand_up );
gestures.Add("right-hand-up", right_hand_up);
// 4
// gestures.Add ("left-hand-left", left_hand_left);
// gestures.Add ("right-hand-left", right_hand_left);
// gestures.Add ("left-hand-right", left_hand_right);
// gestures.Add ("right-hand-right", right_hand_right);
Mapping aim_x = new Mapping(this, Joints.HAND_LEFT, new Vector3(1, 0, 0));
aim_x.push_joint(Joints.HIP_CENTER, new Vector3(1, 0, 0), Mapping.Operators.SUBTRACT);
aim_x.set_bound(4.5f);
aim_x.normalize();
mappings.Add("aim_x", aim_x );
Mapping aim_y = new Mapping(this, Joints.HAND_LEFT, new Vector3(0, 1, 0));
aim_y.push_joint(Joints.SHOULDER_RIGHT, new Vector3(0, 1, 0), Mapping.Operators.SUBTRACT);
aim_y.set_bound(4.5f);
aim_y.normalize();
mappings.Add("aim_y", aim_y );
}
// adds a joint
public void push_joint(KinectSkeleton.Joints joint, Vector3 weights, Operators operation) {
joints.Add(joint);
jc_weights.Add(weights);
operators.Add(operation);
}
public KinectSkeleton TransformSkeleton(KinectSkeleton skeleton)
{
return(realCore.TransformSkeleton(skeleton));
}
public KinectSkeleton TransformSkeleton(KinectSkeleton skeleton)
{
return realCore.TransformSkeleton(skeleton);
}
private void RenderSkeletonOnDepth(KinectSkeleton skeleton, Color renderColor, int kinectID)
{
if (depthSource != null)
{
//Calculate the offset
Point offset = new Point(0.0, 0.0);
if (DepthImageCanvas.ActualWidth != DepthImage.ActualWidth)
{
offset.X = (DepthImageCanvas.ActualWidth - DepthImage.ActualWidth) / 2;
}
if (DepthImageCanvas.ActualHeight != DepthImage.ActualHeight)
{
offset.Y = (DepthImageCanvas.ActualHeight - DepthImage.ActualHeight) / 2;
}
//Render all the bones (this can't be looped because the enum isn't ordered in order of bone connections)
//If there is a neck, we need to draw it different
if (skeleton.skeleton[JointType.Neck].TrackingState != TrackingState.NotTracked)
{
DrawBoneOnDepth(skeleton.skeleton[JointType.Head], skeleton.skeleton[JointType.Neck], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.Neck], skeleton.skeleton[JointType.SpineShoulder], renderColor, 2.0, offset, kinectID);
}
else if (skeleton.skeleton[JointType.Head].TrackingState != TrackingState.NotTracked && skeleton.skeleton[JointType.ShoulderCenter].TrackingState != TrackingState.NotTracked)
{
DrawBoneOnDepth(skeleton.skeleton[JointType.Head], skeleton.skeleton[JointType.ShoulderCenter], renderColor, 2.0, offset, kinectID);
}
DrawBoneOnDepth(skeleton.skeleton[JointType.Head], skeleton.skeleton[JointType.ShoulderCenter], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.ShoulderCenter], skeleton.skeleton[JointType.ShoulderLeft], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.ShoulderLeft], skeleton.skeleton[JointType.ElbowLeft], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.ElbowLeft], skeleton.skeleton[JointType.WristLeft], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.WristLeft], skeleton.skeleton[JointType.HandLeft], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.ShoulderCenter], skeleton.skeleton[JointType.ShoulderRight], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.ShoulderRight], skeleton.skeleton[JointType.ElbowRight], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.ElbowRight], skeleton.skeleton[JointType.WristRight], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.WristRight], skeleton.skeleton[JointType.HandRight], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.ShoulderCenter], skeleton.skeleton[JointType.Spine], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.Spine], skeleton.skeleton[JointType.HipCenter], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.HipCenter], skeleton.skeleton[JointType.HipLeft], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.HipLeft], skeleton.skeleton[JointType.KneeLeft], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.KneeLeft], skeleton.skeleton[JointType.AnkleLeft], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.AnkleLeft], skeleton.skeleton[JointType.FootLeft], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.HipCenter], skeleton.skeleton[JointType.HipRight], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.HipRight], skeleton.skeleton[JointType.KneeRight], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.KneeRight], skeleton.skeleton[JointType.AnkleRight], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.AnkleRight], skeleton.skeleton[JointType.FootRight], renderColor, 2.0, offset, kinectID);
//The thumb and hand tip only get draw if the skeleton is a Kinect v2, but that's okay, the logic in the method will figure it out
DrawBoneOnDepth(skeleton.skeleton[JointType.HandLeft], skeleton.skeleton[JointType.ThumbLeft], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.HandLeft], skeleton.skeleton[JointType.HandTipLeft], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.HandRight], skeleton.skeleton[JointType.ThumbRight], renderColor, 2.0, offset, kinectID);
DrawBoneOnDepth(skeleton.skeleton[JointType.HandRight], skeleton.skeleton[JointType.HandTipRight], renderColor, 2.0, offset, kinectID);
for (int i = 0; i < skeleton.skeleton.Count; i++)
{
DrawJointPointOnDepth(skeleton.skeleton[i], renderColor, 2.0, offset, kinectID);
}
DrawHandStateOnDepth(skeleton.skeleton[JointType.HandLeft], skeleton.leftHandClosed, 5.0, offset, kinectID);
DrawHandStateOnDepth(skeleton.skeleton[JointType.HandRight], skeleton.rightHandClosed, 5.0, offset, kinectID);
}
drawingDepthSkeleton = false;
}
