private void UpdateHandPoseVisual(GameObject skeletonJoint, Astra.HandPose pose)
{
Vector3 targetScale = NormalPoseScale;
if (pose == Astra.HandPose.Grip)
{
targetScale = GripPoseScale;
}
skeletonJoint.transform.localScale = targetScale;
}
private void UpdateHandPoseVisual(GameObject skeletonJoint, Astra.HandPose pose, string name)
{
Vector3 targetScale = NormalPoseScale;
if (pose == Astra.HandPose.Grip)
{
targetScale = GripPoseScale;
}
if (_oscSender._dataSource == null)
{
_oscSender._dataSource = skeletonJoint.transform;
_oscSender._oscAddress = "/unity/Hands/" + name;
_oscSender._propertyName = "Hand" + name;
}
skeletonJoint.transform.localScale = targetScale;
}
//float lowestX =0;
//float highestX = 0;
void UpdateSkeletonsFromBodies(Astra.Body[] bodies)
{
//Astra.DepthStream soup = ;
foreach (var body in bodies)
{
if (body.Status == Astra.BodyStatus.NotTracking)
{
continue;
}
GameObject[] joints;
if (!_bodySkeletons.ContainsKey(body.Id))
{
joints = new GameObject[body.Joints.Length];
for (int i = 0; i < joints.Length; i++)
{
joints[i] = (GameObject)Instantiate(JointPrefab, Vector3.zero, Quaternion.identity);
joints[i].transform.SetParent(JointRoot);
}
_bodySkeletons.Add(body.Id, joints);
}
else
{
joints = _bodySkeletons[body.Id];
}
for (int i = 0; i < body.Joints.Length; i++)
{
var skeletonJoint = joints[i];
var bodyJoint = body.Joints[i];
if (bodyJoint.Status != Astra.JointStatus.NotTracked)
{
if (!skeletonJoint.activeSelf)
{
skeletonJoint.SetActive(true);
}
//if (bodyJoint.WorldPosition.X < lowestX)
//{
// lowestX = bodyJoint.WorldPosition.X;
// print("New LowestX:" + lowestX);
//}
//if (bodyJoint.WorldPosition.X > highestX)
//{
// highestX = bodyJoint.WorldPosition.X;
// print("New HighestX:" + highestX);
//}
skeletonJoint.transform.localPosition =
new Vector3(bodyJoint.WorldPosition.X / 1000f,
bodyJoint.WorldPosition.Y / 1000f,
bodyJoint.WorldPosition.Z / 1000f);
//skel.Joints[i].Orient.Matrix:
// 0, 1, 2,
// 3, 4, 5,
// 6, 7, 8
// -------
// right(X), up(Y), forward(Z)
//Vector3 jointRight = new Vector3(
// bodyJoint.Orientation.M00,
// bodyJoint.Orientation.M10,
// bodyJoint.Orientation.M20);
Vector3 jointUp = new Vector3(
bodyJoint.Orientation.M01,
bodyJoint.Orientation.M11,
bodyJoint.Orientation.M21);
Vector3 jointForward = new Vector3(
bodyJoint.Orientation.M02,
bodyJoint.Orientation.M12,
bodyJoint.Orientation.M22);
skeletonJoint.transform.rotation =
Quaternion.LookRotation(jointForward, jointUp);
if (bodyJoint.Type == Astra.JointType.LeftHand)
{
UpdateHandPoseVisual(skeletonJoint, body.HandPoseInfo.LeftHand);
if (leftHandPose == Astra.HandPose.Unknown && body.HandPoseInfo.LeftHand == Astra.HandPose.Grip)
{
foreach (GameObject go in GameObject.FindGameObjectsWithTag("Pickupable"))
{
if (Vector3.Distance(go.transform.position, skeletonJoint.transform.position) < 1)
{
go.GetComponent <Grabbable>().getGrabbed(skeletonJoint);
grabbedLeftHand = go;
//go.transform.position = skeletonJoint.transform.position;
//go.transform.parent = skeletonJoint.transform;
//print("grabbedBall");
}
}
}
else if (leftHandPose == Astra.HandPose.Unknown && body.HandPoseInfo.LeftHand == Astra.HandPose.Grip && grabbedLeftHand != null)
{
grabbedLeftHand.GetComponent <Grabbable>().release();
}
leftHandPose = body.HandPoseInfo.RightHand;
}
else if (bodyJoint.Type == Astra.JointType.RightHand)
{
UpdateHandPoseVisual(skeletonJoint, body.HandPoseInfo.RightHand);
if (rightHandPose == Astra.HandPose.Unknown && body.HandPoseInfo.RightHand == Astra.HandPose.Grip)
{
foreach (GameObject go in GameObject.FindGameObjectsWithTag("Pickupable"))
{
if (Vector3.Distance(go.transform.position, skeletonJoint.transform.position) < 1)
{
go.GetComponent <Grabbable>().getGrabbed(skeletonJoint);
grabbedRightHand = go;
//go.transform.position = skeletonJoint.transform.position;
//go.transform.parent = skeletonJoint.transform;
//print("grabbedBall");
}
}
}
else if (leftHandPose == Astra.HandPose.Unknown && body.HandPoseInfo.LeftHand == Astra.HandPose.Grip && grabbedLeftHand != null)
{
grabbedLeftHand.GetComponent <Grabbable>().release();
}
rightHandPose = body.HandPoseInfo.RightHand;
}
}
else
{
if (skeletonJoint.activeSelf)
{
skeletonJoint.SetActive(false);
}
}
// LEFT ARM
if (i == (int)Astra.JointType.LeftHand)
{
leftArmPos[0] = skeletonJoint.transform.position;
}
else if (i == (int)Astra.JointType.LeftWrist)
{
leftArmPos[1] = skeletonJoint.transform.position;
}
else if (i == (int)Astra.JointType.LeftElbow)
{
leftArmPos[2] = skeletonJoint.transform.position;
}
else if (i == (int)Astra.JointType.LeftShoulder)
{
leftArmPos[3] = skeletonJoint.transform.position;
}
// RIGHT ARM
else if (i == (int)Astra.JointType.RightHand)
{
rightArmPos[0] = skeletonJoint.transform.position;
}
else if (i == (int)Astra.JointType.RightWrist)
{
rightArmPos[1] = skeletonJoint.transform.position;
}
else if (i == (int)Astra.JointType.RightElbow)
{
rightArmPos[2] = skeletonJoint.transform.position;
}
else if (i == (int)Astra.JointType.RightShoulder)
{
rightArmPos[3] = skeletonJoint.transform.position;
}
// LEFT LEG
else if (i == (int)Astra.JointType.LeftFoot)
{
leftLegsPos[0] = skeletonJoint.transform.position;
}
else if (i == (int)Astra.JointType.LeftKnee)
{
leftLegsPos[1] = skeletonJoint.transform.position;
}
else if (i == (int)Astra.JointType.LeftHip)
{
leftLegsPos[2] = skeletonJoint.transform.position;
}
// RIGHT LEG
else if (i == (int)Astra.JointType.RightFoot)
{
rightLegsPos[0] = skeletonJoint.transform.position;
}
else if (i == (int)Astra.JointType.RightKnee)
{
rightLegsPos[1] = skeletonJoint.transform.position;
}
else if (i == (int)Astra.JointType.RightHip)
{
rightLegsPos[2] = skeletonJoint.transform.position;
}
// TORSO
else if (i == (int)Astra.JointType.Head)
{
torsoPos[0] = skeletonJoint.transform.position;
}
else if (i == (int)Astra.JointType.Neck)
{
torsoPos[1] = skeletonJoint.transform.position;
}
else if (i == (int)Astra.JointType.MidSpine)
{
torsoPos[3] = skeletonJoint.transform.position;
}
// COMMON JOINTS
else if (i == (int)Astra.JointType.ShoulderSpine)
{
leftArmPos[4] = skeletonJoint.transform.position;
rightArmPos[4] = skeletonJoint.transform.position;
torsoPos[2] = skeletonJoint.transform.position;
}
else if (i == (int)Astra.JointType.BaseSpine)
{
leftLegsPos[3] = skeletonJoint.transform.position;
rightLegsPos[3] = skeletonJoint.transform.position;
torsoPos[4] = skeletonJoint.transform.position;
}
}
}
if (leftArmRenderer != null)
{
leftArmRenderer.SetPositions(leftArmPos);
}
if (rightArmRenderer != null)
{
rightArmRenderer.SetPositions(rightArmPos);
}
if (leftLegRenderer != null)
{
leftLegRenderer.SetPositions(leftLegsPos);
}
if (rightLegRenderer != null)
{
rightLegRenderer.SetPositions(rightLegsPos);
}
if (torsoRenderer != null)
{
torsoRenderer.SetPositions(torsoPos);
}
}
