public MainWindow()
{
InitializeComponent();
cubit = new CubeVisual3D { SideLength = a * b, Fill = Brushes.SandyBrown };
Loaded += this.MainWindowLoaded;
}
public Element()
{
Tube = new TubeVisual3D();
Tube.Path = new Point3DCollection();
Tube.Path.Add(new Point3D(-15, 0, 0));
Tube.Path.Add(new Point3D(15, 0, 0));
Tube.Diameter = tubeDiameter;
Tube.IsSectionClosed = true;
Tube.Fill = new SolidColorBrush(Colors.Silver);
Tube.IsPathClosed = false;
Sphere = new CubeVisual3D();
//Sphere.Center = new Point3D(15, 0, 0);
Sphere.Fill = new SolidColorBrush(Colors.Silver);
Sphere.SideLength = 0.75;
}
private void InitializeHelix()
{
_helixItems.Add(new SunLight());
_helixItems.Add(new GridLinesVisual3D
{
Width = 500,
Length = 500
});
foreach (CameraModel cameraModel in Cameras)
{
CubeVisual3D cube = new CubeVisual3D();
cube.SideLength = 10;
cube.Fill = new SolidColorBrush(Colors.Blue);
cube.Center = new Point3D(cameraModel.Calibration.TranslationToWorld[0, 0],
cameraModel.Calibration.TranslationToWorld[2, 0],
cameraModel.Calibration.TranslationToWorld[1, 0]);
_helixItems.Add(cube);
}
if (Cameras.Count == 4)
{
ArrowVisual3D arrow = new ArrowVisual3D
{
Point1 = new Point3D(
GetCamera(0).Calibration.TranslationToWorld[0, 0],
GetCamera(0).Calibration.TranslationToWorld[2, 0],
GetCamera(0).Calibration.TranslationToWorld[1, 0]),
Point2 = new Point3D(
GetCamera(2).Calibration.TranslationToWorld[0, 0],
GetCamera(2).Calibration.TranslationToWorld[2, 0],
GetCamera(2).Calibration.TranslationToWorld[1, 0]),
Fill = new SolidColorBrush(Colors.Yellow)
};
_helixItems.Add(arrow);
arrow = new ArrowVisual3D
{
Point1 = new Point3D(
GetCamera(1).Calibration.TranslationToWorld[0, 0],
GetCamera(1).Calibration.TranslationToWorld[2, 0],
GetCamera(1).Calibration.TranslationToWorld[1, 0]),
Point2 = new Point3D(
GetCamera(3).Calibration.TranslationToWorld[0, 0],
GetCamera(3).Calibration.TranslationToWorld[2, 0],
GetCamera(3).Calibration.TranslationToWorld[1, 0]),
Fill = new SolidColorBrush(Colors.Yellow)
};
_helixItems.Add(arrow);
}
ArrowVisual3D axis = new ArrowVisual3D
{
Origin = new Point3D(0, 0, 0),
Direction = new Vector3D(100, 0, 0),
Diameter = 2,
Fill = new SolidColorBrush(Colors.Red)
};
_helixItems.Add(axis);
axis = new ArrowVisual3D
{
Origin = new Point3D(0, 0, 0),
Direction = new Vector3D(0, 100, 0),
Diameter = 2,
Fill = new SolidColorBrush(Colors.Green)
};
_helixItems.Add(axis);
axis = new ArrowVisual3D
{
Origin = new Point3D(0, 0, 0),
Direction = new Vector3D(0, 0, 100),
Diameter = 2,
Fill = new SolidColorBrush(Colors.Blue)
};
_helixItems.Add(axis);
}
private void InitializeHelix()
{
_items.Clear();
_controllerObjects = new ObservableConcurrentDictionary<MotionControllerModel, SphereVisual3D>();
_items.Add(new SunLight());
_items.Add(new GridLinesVisual3D
{
Width = 500,
Length = 500
});
CubeVisual3D camera = new CubeVisual3D
{
SideLength = 10,
Fill = new SolidColorBrush(Colors.Blue),
Center = new Point3D(_camera.Calibration.TranslationToWorld[0, 0],
_camera.Calibration.TranslationToWorld[2, 0],
_camera.Calibration.TranslationToWorld[1, 0])
};
_items.Add(camera);
ArrowVisual3D axis = new ArrowVisual3D
{
Origin = new Point3D(0, 0, 0),
Direction = new Vector3D(100, 0, 0),
Diameter = 2,
Fill = new SolidColorBrush(Colors.Red)
};
_items.Add(axis);
axis = new ArrowVisual3D
{
Origin = new Point3D(0, 0, 0),
Direction = new Vector3D(0, 100, 0),
Diameter = 2,
Fill = new SolidColorBrush(Colors.Green)
};
_items.Add(axis);
axis = new ArrowVisual3D
{
Origin = new Point3D(0, 0, 0),
Direction = new Vector3D(0, 0, 100),
Diameter = 2,
Fill = new SolidColorBrush(Colors.Blue)
};
_items.Add(axis);
}
public World() {
// instantiate our world
WorldObjects = new ModelVisual3D();
Cubes = new ModelVisual3D();
JointObjects = new ModelVisual3D();
// create something to represent where the kinect is
Kinect = new CubeVisual3D() {
SideLength = 0.1,
Center = new Point3D(0, 0, 0),
Material = MaterialHelper.CreateMaterial(_Constants.KinectBrush, _Constants.KinectBrush)
};
// something to represent the floor
RectangleVisual3D Floor = new RectangleVisual3D() {
LengthDirection = new Vector3D(0, 0, 1),
Normal = new Vector3D(0, 1, 0),
Origin = new Point3D(0, -0.01, 0),
Length = 20,
Width = 20,
Fill = Brushes.White,
Material = MaterialHelper.CreateMaterial(Brushes.White, Brushes.White)
};
WorldObjects.Children.Add(Floor);
// grid lines to layer on top of the floor
GridLines = new GridLinesVisual3D() {
LengthDirection = new Vector3D(0, 0, 1),
Normal = new Vector3D(0, 1, 0),
Transform = new ScaleTransform3D(0.025, 0.025, 0.025),
Center = new Point3D(0, 0, 100),
};
WorldObjects.Children.Add(GridLines);
// and a reference co-ordinate system
CoordinateSystem = new CoordinateSystemVisual3D() {
ArrowLengths = 0.3
};
WorldObjects.Children.Add(CoordinateSystem);
// setup our world transformations
FloorTransform = new TranslateTransform3D();
AngleRotationTransform = new RotateTransform3D(Rotation3D.Identity, Kinect.Center);
WorldTransforms = new Transform3DGroup();
WorldTransforms.Children.Add(FloorTransform);
WorldTransforms.Children.Add(AngleRotationTransform);
Kinect.Transform = WorldTransforms;
JointObjects.Transform = FloorTransform;
}
/// <summary>
/// Tick the engine. Usually gets called by the kinect when AllFramesReady fires
/// </summary>
public void Tick(object sender, SkeletonFrameReadyEventArgs e) {
// first thing we want to do is check if the kinect and all our objects
// are valid
// if there's no kinect, we need to forcibly denotify everything
// and throw an exception
if (Kinect == null || !Kinect.IsRunning) {
DenotifyEverything();
throw new NoKinectException();
}
SkeletonFrame skeletonFrame = e.OpenSkeletonFrame();
// now is where we put any pre-conditions of the objects
if (
skeletonFrame == null // no skeleton data
|| JointsToTrack == null // nothing has been specified to track
|| JointsToTrack.Count == 0
)
return; // get the f**k outta here
// bring in our skeletons
Skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(Skeletons);
// re-arrange our world according to parameters from the kinect
// such as where it thinks the floor is
//if (skeletonFrame.FloorClipPlane.Item4 != 0)
// World.SetFloorHeight(skeletonFrame.FloorClipPlane.Item4);
// and the angle the kinect is lookint at
// stabilise our angles by picking the median from a set of angle samples
floorStabilisationAngles[currentFloorStabilisationAngleIndex++] = Kinect.ElevationAngle;
if (currentFloorStabilisationAngleIndex == _Constants.FloorStabilisationSamples) {
World.SetKinectAngle((float)_Math.GetMedian(floorStabilisationAngles));
currentFloorStabilisationAngleIndex = 0;
// adjust the camera view so it shows out from the kinect
Viewport3D.Camera.Position = World.Kinect.Center;
Viewport3D.Camera.LookDirection = new Vector3D(0, 0, 1);
Viewport3D.Camera.Transform = World.FloorTransform;
}
// denotify any cubes that are associated with skeletons that no longer exist
List<int> skeletonsToNuke = new List<int>();
foreach (int skeletonTrackingId in DenotifyQueue.Keys) {
// if it exists in this new list of skeletons, fine
bool exists = false;
foreach (Skeleton skeleton in Skeletons)
if (skeleton.TrackingId == skeletonTrackingId)
exists = true;
// if it doesnt, denotify its arse off
// and remove the joint geometry too
if (!exists) {
foreach (JointType jointType in DenotifyQueue[skeletonTrackingId].Keys) {
foreach (Cube cube in DenotifyQueue[skeletonTrackingId][jointType])
cube.DeNotify();
World.JointObjects.Children.Remove(Joint3DGeometry[skeletonTrackingId][jointType]);
}
skeletonsToNuke.Add(skeletonTrackingId);
}
}
foreach (int skeletonToNuke in skeletonsToNuke)
DenotifyQueue.Remove(skeletonToNuke);
// ok at this point we should be all stable and ready to do operations
if (Mode != EngineMode.NoInteractive) {
// first thing we need to do is register our skeletons & joints
// and sort out their reference 3d geometry
// for each skeleton
bool firstSkeleton = true;
foreach (Skeleton skeleton in Skeletons) {
// only track full skeletons that we can find (will be 2 - all the API supports)
if (skeleton != null && skeleton.TrackingState == SkeletonTrackingState.Tracked) {
// initialise this skeleton if we need to
if (!DenotifyQueue.ContainsKey(skeleton.TrackingId))
DenotifyQueue.Add(skeleton.TrackingId, new Dictionary<JointType, List<Cube>>()); // initialise it
// and the joint geometry if we need to
if (!Joint3DGeometry.ContainsKey(skeleton.TrackingId))
Joint3DGeometry.Add(skeleton.TrackingId, new Dictionary<JointType, CubeVisual3D>());
// for each jointType
foreach (JointType jointType in JointsToTrack) {
// check its being tracked by the skeleton tracker
if (skeleton.Joints[jointType].TrackingState != JointTrackingState.NotTracked) {
// transform the location of this joint to something more useful
Point3D jointLocation = _3DUtil.Joint3DGeometryToPoint3D(skeleton.Joints[jointType].Position);
jointLocation.X = -jointLocation.X;
// initialise in our denotify queue
if (!DenotifyQueue[skeleton.TrackingId].ContainsKey(jointType))
DenotifyQueue[skeleton.TrackingId].Add(jointType, new List<Cube>()); // initialise it
// create some geometry for the joint if necessary (to visualise)
if (!Joint3DGeometry[skeleton.TrackingId].ContainsKey(jointType)) {
CubeVisual3D cube = new CubeVisual3D() {
SideLength = _Constants.JointRadius,
Center = jointLocation,
Material = MaterialHelper.CreateMaterial(_Constants.JointBrush, _Constants.JointBrush)
};
Joint3DGeometry[skeleton.TrackingId].Add(jointType, cube);
World.JointObjects.Children.Add(cube);
}
// Move the joint representation geometry
Joint3DGeometry[skeleton.TrackingId][jointType].Center = jointLocation;
// adjust the joint geometry because of the world transform
jointLocation.Y += World.FloorHeight;
// now go through our notification queue
// only do this if we are in normal interaction mode
if (Mode == EngineMode.NormalInteractive) {
// if the point of this joint is in a cube
foreach (Cube cube in Cubes) {
if (cube.ModelVisual3D.Content.Bounds.Contains(jointLocation)) {
// and the cube is not already notified (if someone hasnt already stuck their limb in there)
if (!cube.Notified) {
// notify it, and add it to the list of things to denotify for this skeleton and joint type
DenotifyQueue[skeleton.TrackingId][jointType].Add(cube);
cube.Notify();
}
else { // delays detection by a frame, but makes the program more efficient
AnalogueCube analogueCube = cube as AnalogueCube;
if (analogueCube != null) {
// if its an analogue cube we have to always notify with the
// relative x position
Rect3D cubeRect = cube.ModelVisual3D.Content.Bounds;
Point3D cubeCenter = new Point3D(
cubeRect.X + cubeRect.SizeX / 2d,
cubeRect.Y + cubeRect.SizeY / 2d,
cubeRect.Z + cubeRect.SizeZ / 2d
);
((AnalogueCube)cube).NotifyAnalogue(_3DUtil.UnitDirectionVectorFromPointAToB(cubeCenter, jointLocation));
}
}
}
// otherwise if it exists in the denotify queue for this skeleton and joint, denotify and remove it
else {
if (DenotifyQueue[skeleton.TrackingId][jointType].Contains(cube)) {
cube.DeNotify();
DenotifyQueue[skeleton.TrackingId][jointType].Remove(cube);
}
}
}
}
}
else { // this joint has been marked as not tracked. So we need to denotify all its cubes
foreach (Cube cube in DenotifyQueue[skeleton.TrackingId][jointType])
cube.DeNotify();
// kill from our view
World.JointObjects.Children.Remove(Joint3DGeometry[skeleton.TrackingId][jointType]);
}
}
// at this point all our joints are guaranteed to have been registered / moved
// so now we need to do our CRMD operations
// notification of cubes was already disabled if we are in one of these modes (not the interactivenormal mode)
// first of all, make sure our pre-requisites are in place
// we also only want to do it for the first skeleton
if (firstSkeleton) {
if (JointsToTrack.Contains(JointType.HandLeft) && JointsToTrack.Contains(JointType.HandRight)
&& Skeletons.Length > 0) {
Point3D leftHandPoint = Joint3DGeometry[skeleton.TrackingId][JointType.HandLeft].Center;
Point3D rightHandPoint = Joint3DGeometry[skeleton.TrackingId][JointType.HandRight].Center;
Point3D skeletonSpineMidpoint = _3DUtil.Midpoint(
_3DUtil.Joint3DGeometryToPoint3D(skeleton.Joints[JointType.ShoulderCenter].Position),
_3DUtil.Joint3DGeometryToPoint3D(skeleton.Joints[JointType.HipCenter].Position)
);
// check to see whether we should be put into create mode
// wait until the hands are crossed for the set period of time
if (Mode == EngineMode.NormalInteractive &&
leftHandPoint.X > rightHandPoint.X)
stableTime = DateTime.Now.Ticks;
else if ((DateTime.Now.Ticks - stableTime) / TimeSpan.TicksPerMillisecond >= _Constants.CreateStableTimout) {
if (createCube != null) {
Mode = EngineMode.CreateCube;
Debug.WriteLine("Hands are crossed");
((CubeVisual3D)Joint3DGeometry[skeleton.TrackingId][JointType.HandLeft]).Material = MaterialHelper.CreateMaterial(_Constants.JointBrush, _Constants.JointCreateBrush);
((CubeVisual3D)Joint3DGeometry[skeleton.TrackingId][JointType.HandRight]).Material = MaterialHelper.CreateMaterial(_Constants.JointBrush, _Constants.JointCreateBrush);
}
}
// --old mode
// check to see whether we should be put into create mode
// wait until the hands are together for the set period of time
/*if (Mode == EngineMode.NormalInteractive && _3DUtil.DistanceBetween(leftHandPoint, rightHandPoint) > _Constants.CreateHandDistance * 2.0)
stableTime = DateTime.Now.Ticks;
else if ((DateTime.Now.Ticks - stableTime) / TimeSpan.TicksPerMillisecond >= _Constants.CreateStableTimout) {
if (createCube != null) {
Mode = EngineMode.CreateCube;
Debug.WriteLine("Hands are together");
}
}*/
// now, what we want to do depends on what mode we are in!
switch (Mode) {
case EngineMode.CreateCube:
// only do this stuff if our arms are not crossed (stops bullshit)
DenotifyEverything();
if (leftHandPoint.X > rightHandPoint.X) {
// move and resize the cube we are creating relative to the hands
Point3D cubeCenter = _3DUtil.Midpoint(leftHandPoint, rightHandPoint);
cubeCenter.Y += World.FloorHeight;
createCube.Resize(_3DUtil.DistanceBetween(leftHandPoint, rightHandPoint));
createCube.MoveTo(cubeCenter);
// step 3
// we need to materialise the cube and get out of this process
// we do this through a timeout
// or TODO: A signal
// reset the counter if we fall outside the deadzone
if (previousPoint == null || _3DUtil.DistanceBetween(previousPoint, cubeCenter) > _Constants.CreateStableDeadzone) {
previousPoint = cubeCenter;
stableTime = DateTime.Now.Ticks;
}
// otherwise if our time has elapsed, materialise the arsehole and leave create mode!
else {
long currentTime = DateTime.Now.Ticks;
// fade colour to joint mode colour
// work out percentage of time through the wait period
long currentTimeMS = (currentTime - stableTime) / TimeSpan.TicksPerMillisecond;
//double currentTimePercent = (double)currentTimeMS / (double)_Constants.CreateStableTimout;
if (currentTimeMS >= _Constants.CreateStableTimout) {
Debug.WriteLine("timeout, cube is materialised");
OnEngineCubeCreated(new EngineCubeCreatedEventArgs(createCube));
Mode = EngineMode.NormalInteractive;
ReorderTransparentObjects();
((CubeVisual3D)Joint3DGeometry[skeleton.TrackingId][JointType.HandLeft]).Material = MaterialHelper.CreateMaterial(_Constants.JointBrush, _Constants.JointBrush);
((CubeVisual3D)Joint3DGeometry[skeleton.TrackingId][JointType.HandRight]).Material = MaterialHelper.CreateMaterial(_Constants.JointBrush, _Constants.JointBrush);
}
}
}
break;
case EngineMode.DeleteCube:
break;
case EngineMode.MoveCube:
break;
}
}
firstSkeleton = false;
}
}
}
}
// drawing of the cubes is handled already
// we're a done done!
skeletonFrame.Dispose();
}
