示例#1
0
 private void CreateLocalLists()
 {
     foreach (Robot robot in BaseFile.Robots)
     {
         Robots.Add(robot);
     }
     foreach (Weapon weapon in BaseFile.Weapons)
     {
         Weapons.Add(weapon);
     }
     foreach (Polymodel model in BaseFile.Models)
     {
         Models.Add(model);
     }
     foreach (JointPos joint in BaseFile.Joints)
     {
         Joints.Add(joint);
     }
     foreach (ushort bm in BaseFile.ObjBitmaps)
     {
         ObjBitmaps.Add(bm);
     }
     foreach (ushort bm in BaseFile.ObjBitmapPointers)
     {
         ObjBitmapPointers.Add(bm);
     }
 }
示例#2
0
    [Fact] public void Average()
    {
        Data_Generator dg      = new Data_Generator();
        Hand_Generator hg      = new Hand_Generator(dg);
        int            dat_len = dg.newInt(100);
        List <Joints>  dat_jL  = hg.newJointsList(dat_len);

        Joints exp_ave = hg.newJoints();

        Mock <IJointsHelper> mock_jh = new Mock <IJointsHelper>();

        for (int i = 0; i < dat_len; i++)
        {
            mock_jh.Setup(m => m
                          .add(It.IsAny <Joints>(), dat_jL[i]))
            .Returns(exp_ave);
        }
        mock_jh.Setup(m => m
                      .div(exp_ave, dat_len))
        .Returns(exp_ave);

        Stats  s       = new Stats(mock_jh.Object);
        Joints act_ave = s.average(dat_jL);

        mock_jh.Verify(m => m.add(It.IsAny <Joints>(), It.IsAny <Joints>()), Times.Exactly(dat_len));
        mock_jh.Verify(m => m.div(exp_ave, dat_len), Times.Once());
        test.jointsEqual(exp_ave, act_ave);
    }
        /// <summary>
        /// Adds the specified joint to the collection.
        /// </summary>
        /// <param name="joint">The joint type.</param>
        /// <param name="radius">The size of the ellipse</param>
        /// <param name="brush">The brush used to fill the ellipse.</param>
        public void AddJoint(JointType joint, double radius, Brush brush)
        {
            Brush HAND_BRUSH = new SolidColorBrush(Colors.Green);

            if (joint == JointType.HandTipLeft || joint == JointType.HandTipRight)
            {
                Joints.Add(joint, new Ellipse
                {
                    Width  = radius * 6,
                    Height = radius * 6,
                    Fill   = HAND_BRUSH
                });
            }
            else if (joint != JointType.ThumbLeft && joint != JointType.ThumbRight)
            {
                Joints.Add(joint, new Ellipse
                {
                    Width  = 0,
                    Height = 0,
                    Fill   = HAND_BRUSH
                });
            }
            else
            {
                Joints.Add(joint, new Ellipse
                {
                    Width  = radius * 3,
                    Height = radius * 3,
                    Fill   = brush
                });
            }
        }
示例#4
0
        public Joint GetJoint(String name)
        {
            Joint joint = null;

            Joints.TryGetValue(name, out joint);
            return(joint as Joint);
        }
示例#5
0
        public void Remove(IGameObject obj)
        {
            if (!(obj is PhysicsObject))
            {
                throw new NotImplementedException("Currently only PhysicsObjects can be added to a structure.");
            }

            PhysicsObject physObj = (PhysicsObject)obj;

            if (!objects.Contains(physObj))
            {
                return;
            }

            physObj.ParentStructure      = null;
            physObj.CollisionIgnorer     = null;
            physObj.CollisionIgnoreGroup = 0;
            physObj.Collided            -= this.OnCollided;

            foreach (var joint in Joints.FindAll(j => j.Object1 == physObj || j.Object2 == physObj))
            {
                joint.Destroy();
                PhysicsGameBase.Instance.Remove(joint);
            }

            objects.Remove(physObj);
            CalculateMomentOfInertia();
        }
示例#6
0
        public TrackingStateGait getJointPosition(JointTypeGait joint, bool checkTracked, out float X, out float Y, out float Z)
        {
            if (Joints == null)
            {
                X = missingX;
                Y = missingY;
                Z = missingZ;
                return(TrackingStateGait.NotTracked);
            }
            if (checkTracked)
            {
                int s = Joints.Select(x => (x.TrackingState == TrackingStateGait.Tracked) ? 0 : 1).Sum();
                if (s > 5)
                {
                    X = missingX;
                    Y = missingY;
                    Z = missingZ;
                    return(TrackingStateGait.NotTracked);
                }
            }

            var jointPos = Joints[(int)joint];

            X = jointPos.X;
            Y = jointPos.Y;
            Z = jointPos.Z;
            return(jointPos.TrackingState);
        }
示例#7
0
        /// <summary>
        /// 單一關節Jog移動停止
        /// </summary>
        /// <param name="nRobotIndex">手臂代號</param>
        /// <param name="nJoint">關節代號</param>
        /// <returns>回傳是否成功,0:成功, 其他數字:失敗</returns>
        public int JogJointStop(int nRobotIndex, Joints nJoint)
        {
            IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
            int nRet = IRobot.JogJointStop(nJoint);

            return(nRet);
        }
        private void DataReceived(string res)
        {
            _responseChunks = res.Split(' ');
            int resType = Convert.ToInt32(_responseChunks[0].Substring(1));

            double[] data = new double[_responseChunks.Length - 1];
            for (int i = 0; i < data.Length; i++)
            {
                // @TODO: add sanity like Double.TryParse(...)
                data[i] = Double.Parse(_responseChunks[i + 1]);
            }

            switch (resType)
            {
            // ">21 400 300 500 0 0 1 0;"
            case ABBCommunicationProtocol.RES_POSE:
                this.initPos = new Vector(data[0], data[1], data[2]);
                this.initRot = new Rotation(new Quaternion(data[3], data[4], data[5], data[6]));
                break;


            // ">22 0 0 0 0 90 0;"
            case ABBCommunicationProtocol.RES_JOINTS:
                this.initAx = new Joints(data[0], data[1], data[2], data[3], data[4], data[5]);
                break;
            }
        }
示例#9
0
        /// <summary>
        /// 單一關節移動(相對位置)(徑度)(無輸入速度)(不等待繼續)
        /// </summary>
        /// <param name="nRobotIndex">手臂代號</param>
        /// <param name="nJoint">關節代號</param>
        /// <param name="dbDegree">相對移動徑度值(相對位置)</param>
        /// <returns>回傳是否成功,1:成功,-1:失敗</returns>
        public int MoveJointRelRadian(int nRobotIndex, Joints nJoint, double dbRadian)
        {
            IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
            int nRet = IRobot.MoveJoint(nJoint, MovementsTypes.Rel, SpeedTypes.NoUse, WaitTypes.NoWait, dbRadian, 0, 0, 0);

            return(1);
        }
示例#10
0
        /// <summary>
        /// 單一關節移動(相對位置)(徑度)(有輸入速度)(等待繼續)
        /// </summary>
        /// <param name="nRobotIndex">手臂代號</param>
        /// <param name="nJoint">關節代號</param>
        /// <param name="dbDegree">相對移動徑度值(相對位置)</param>
        /// <param name="dbAcc">移動時加速度</param>
        /// <param name="dbSpeed">移動時均速度</param>
        /// <returns>回傳是否成功,1:成功,-1:失敗</returns>
        public int MoveJointRelRadianSpeedWait(int nRobotIndex, Joints nJoint, double dbRadian, double dbAcc, double dbDec, double dbSpeed)
        {
            IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
            int nRet = IRobot.MoveJoint(nJoint, MovementsTypes.Rel, SpeedTypes.Use, WaitTypes.Wait, dbRadian, dbAcc, dbDec, dbSpeed);

            return(1);
        }
示例#11
0
        /// <summary>
        /// 單一關節Jog移動
        /// </summary>
        /// <param name="nRobotIndex">手臂代號</param>
        /// <param name="nJoint">關節代號</param>
        /// <param name="nDir">移動方向</param>
        /// <param name="dbSpeedPercentage">速度百分比</param>
        /// <returns>回傳是否成功,0:成功, 其他數字:失敗</returns>
        public int JogJoint(int nRobotIndex, Joints nJoint, Jog_Directions nDir, Jog_Speed nSpeed)
        {
            IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
            int nRet = IRobot.JogJoint(nJoint, nDir, nSpeed);

            return(nRet);

            /*
             * IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
             * double dbAcc = 0;
             * double dbDec = 0;
             * double dbSpeed = 0;
             * if (nSpeed == Jog_Speed.High)
             * {
             *  dbAcc = 10000;dbDec = 10000; dbSpeed = 30;
             * }
             *
             * else if (nSpeed == Jog_Speed.Mid)
             * { dbAcc = 10000; dbDec = 10000; dbSpeed = 20; }
             *
             * else if (nSpeed == Jog_Speed.Mid)
             * { dbAcc = 10000; dbDec = 10000; dbSpeed = 10; }
             *
             *
             * double dbValue = 0;
             * if (nDir == Jog_Directions.Plus)
             *  dbValue = 50;
             * else if (nDir == Jog_Directions.Minus)
             *  dbValue = -50;
             *
             * int nRet = IRobot.MoveSingleJoint(nJoint, MovementsTypes.Abs, UnitTypes.Degree, SpeedTypes.Use, WaitTypes.NoWait, dbValue, dbAcc, dbDec, dbSpeed);
             */

            return(nRet);
        }
示例#12
0
        /// <summary>
        /// 單一關節移動(絕對位置)(角度)(無輸入速度)(不等待繼續)
        /// </summary>
        /// <param name="nRobotIndex">手臂代號</param>
        /// <param name="nJoint">關節代號</param>
        /// <param name="dbDegree">絕對移動到角度值(絕對位置)</param>
        /// <returns>回傳是否成功,1:成功,-1:失敗</returns>
        public int JointAbsWait(int nRobotIndex, Joints nJoint, double dbDegree)
        {
            IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
            int nRet = IRobot.MoveJoint(nJoint, MovementsTypes.Abs, SpeedTypes.NoUse, WaitTypes.Wait, dbDegree, 0, 0, 0);

            return(1);
        }
示例#13
0
        /// <summary>
        /// 單一關節移動(絕對位置)(角度)(輸入速度)(不等待繼續)
        /// </summary>
        /// <param name="nRobotIndex">手臂代號</param>
        /// <param name="nJoint">關節代號</param>
        /// <param name="dbDegree">絕對移動到角度值(絕對位置)</param>
        /// <param name="dbAcc">加速度比例(0-100)</param>
        /// <param name="dbDec">減速度比例(0-100)</param>
        /// <param name="dbSpeed">最大速比例(0-100)</param>
        /// <returns>回傳是否成功,1:成功,-1:失敗</returns>
        public int MoveAbs(int nRobotIndex, Joints nJoint, double dbDegree, double dbAcc, double dbDec, double dbSpeed)
        {
            IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
            int nRet = IRobot.MoveJoint(nJoint, MovementsTypes.Abs, SpeedTypes.Use, WaitTypes.Wait, dbDegree, dbAcc, dbDec, dbSpeed);

            return(1);
        }
示例#14
0
    //for openni, we use an alternative version because the openni one suckso
    public bool is_skeleton_tracked_alternative()
    {
        if (LastTrackedUser != null)
        {
            if (LastTrackedUser.SkeletonTracked == false || LastTrackedUser.PositionTracked == false)
            {
                return(false);
            }
        }
        else
        {
            return(false);
        }


        //TODO test if its in current "crumpled" pose, needed for OpenNI
        //instead we check neck and one arm)
        if (Joints.ContainsKey(ZgJointId.LeftShoulder) &&
            Joints.ContainsKey(ZgJointId.LeftElbow) &&
            Joints.ContainsKey(ZgJointId.Neck) &&
            Joints.ContainsKey(ZgJointId.Head))
        {
            if (get_relative_rotation(Joints[ZgJointId.LeftShoulder], Joints[ZgJointId.LeftElbow]).flat_rotation() == 0 &&
                get_relative_rotation(Joints[ZgJointId.Neck], Joints[ZgJointId.Head]).flat_rotation() == 0)
            {
                return(false);
            }
        }

        return(true);
    }
示例#15
0
        /** Remove all joints from physics world.*/
        public virtual void RemoveAllJoints(bool destroy = true)
        {
            foreach (var joint in Joints)
            {
                RemoveJointOrDelay(joint);
                joint._world = null;

                // clean the connection to this joint
                if (destroy)
                {
                    if (joint.BodyA != null)
                    {
                        joint.BodyA.RemoveJoint(joint);
                    }

                    if (joint.BodyB != null)
                    {
                        joint.BodyB.RemoveJoint(joint);
                    }

                    // test the distraction is delaied or not
                    if (DelayRemoveJoints.Exists(j => j == joint))
                    {
                        joint._destoryMark = true;
                    }
                }
            }

            Joints.Clear();
        }
示例#16
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        private void LoadAnimations(Robot robot, Polymodel model)
        {
            robot.NumGuns = (sbyte)model.NumGuns;
            for (int i = 0; i < 8; i++)
            {
                robot.GunPoints[i]    = model.GunPoints[i];
                robot.GunSubmodels[i] = (byte)model.GunSubmodels[i];
            }
            for (int m = 0; m < 9; m++)
            {
                for (int f = 0; f < 5; f++)
                {
                    robot.AnimStates[m, f].NumJoints = 0;
                    robot.AnimStates[m, f].Offset    = 0;
                }
            }
            if (!model.IsAnimated)
            {
                return;
            }
            int[] gunNums = new int[10];

            for (int i = 1; i < model.NumSubmodels; i++)
            {
                gunNums[i] = robot.NumGuns;
            }
            gunNums[0] = -1;

            for (int g = 0; g < robot.NumGuns; g++)
            {
                int m = robot.GunSubmodels[g];

                while (m != 0)
                {
                    gunNums[m] = g;
                    m          = model.Submodels[m].Parent;
                }
            }

            for (int g = 0; g < robot.NumGuns + 1; g++)
            {
                for (int state = 0; state < 5; state++)
                {
                    robot.AnimStates[g, state].NumJoints = 0;
                    robot.AnimStates[g, state].Offset    = (short)(Joints.Count + VHAMFile.NumDescent2Joints);

                    for (int m = 0; m < model.NumSubmodels; m++)
                    {
                        if (gunNums[m] == g)
                        {
                            JointPos joint = new JointPos();
                            joint.JointNum = (short)m;
                            joint.Angles   = model.AnimationMatrix[m, state];
                            Joints.Add(joint);
                            robot.AnimStates[g, state].NumJoints++;
                        }
                    }
                }
            }
        }
示例#17
0
    [Fact] public void Range()
    {
        Data_Generator dg      = new Data_Generator();
        Hand_Generator hg      = new Hand_Generator(dg);
        int            dat_len = dg.newInt(100);
        List <Joints>  dat_jL  = hg.newJointsList(dat_len);

        Joints exp_range = hg.newJoints();
        Joints exp_min   = hg.newJoints();
        Joints exp_max   = hg.newJoints();

        Mock <IJointsHelper> mock_jh = new Mock <IJointsHelper>();

        foreach (var j in dat_jL)
        {
            mock_jh.Setup(m => m.minMax(It.IsAny <Joints>(), It.IsAny <Joints>(), j)).Returns((exp_min, exp_max));
        }
        mock_jh.Setup(m => m.sub(exp_max, exp_min)).Returns(exp_range);

        Stats  s         = new Stats(mock_jh.Object);
        Joints act_range = s.range(dat_jL);

        foreach (var j in dat_jL)
        {
            mock_jh.Verify(m => m.minMax(It.IsAny <Joints>(), It.IsAny <Joints>(), j), Times.Once());
        }
        mock_jh.Verify(m => m.sub(exp_max, exp_min), Times.Once());
        test.jointsEqual(exp_range, act_range);
    }
 /// <summary>
 ///
 /// </summary>
 /// <param name="RobotPortNumber"></param>
 /// <param name="Boudrate"></param>
 /// <param name="JointID"></param>
 public NineMansMorrisPlayer(DynamixelController controler, Joints jointIDs)
     : base(controler, jointIDs)
 {
     //this.MyFigureShop = new FigureShop();
     //this.CaptureShop = new FigureShop();
     //this.BoardFigurePositions = new RobotBoardPosition();
 }
示例#19
0
        public void ExportBMD(string fileName, bool isBDL)
        {
            string outDir        = Path.GetDirectoryName(fileName);
            string fileNameNoExt = Path.GetFileNameWithoutExtension(fileName);

            fileNameNoExt = fileNameNoExt.Split('.')[0];
            if (isBDL)
            {
                fileName = Path.Combine(outDir, fileNameNoExt + ".bdl");
            }
            else
            {
                fileName = Path.Combine(outDir, fileNameNoExt + ".bmd");
            }

            using (FileStream stream = new FileStream(fileName, FileMode.Create, FileAccess.Write))
            {
                EndianBinaryWriter writer = new EndianBinaryWriter(stream, Endian.Big);

                if (isBDL)
                {
                    writer.Write("J3D2bdl4".ToCharArray());
                }
                else
                {
                    writer.Write("J3D2bmd3".ToCharArray());
                }

                writer.Write(0); // Placeholder for file size

                if (isBDL)
                {
                    writer.Write(9); // Number of sections; bmd has 8, bdl has 9
                }
                else
                {
                    writer.Write(8);
                }

                writer.Write("SuperBMD - Gamma".ToCharArray());

                Scenegraph.Write(writer, packetCount, vertexCount);
                VertexData.Write(writer);
                SkinningEnvelopes.Write(writer);
                PartialWeightData.Write(writer);
                Joints.Write(writer);
                Shapes.Write(writer);
                Materials.Write(writer);

                if (isBDL)
                {
                    MatDisplayList.Write(writer);
                }

                Textures.Write(writer);

                writer.Seek(8, SeekOrigin.Begin);
                writer.Write((int)writer.BaseStream.Length);
            }
        }
示例#20
0
        private void SetupJoints()
        {
            Joints.Clear();

            Joints.Add(JointType.HipCenter, CreateJoint(JointType.HipCenter));

            Joints.Add(JointType.HipLeft, CreateJoint(JointType.HipLeft));
            Joints.Add(JointType.KneeLeft, CreateJoint(JointType.KneeLeft));
            Joints.Add(JointType.AnkleLeft, CreateJoint(JointType.AnkleLeft));
            Joints.Add(JointType.FootLeft, CreateJoint(JointType.FootLeft));

            Joints.Add(JointType.HipRight, CreateJoint(JointType.HipRight));
            Joints.Add(JointType.KneeRight, CreateJoint(JointType.KneeRight));
            Joints.Add(JointType.AnkleRight, CreateJoint(JointType.AnkleRight));
            Joints.Add(JointType.FootRight, CreateJoint(JointType.FootRight));


            Joints.Add(JointType.Spine, CreateJoint(JointType.Spine));
            Joints.Add(JointType.ShoulderCenter, CreateJoint(JointType.ShoulderCenter));


            Joints.Add(JointType.ShoulderLeft, CreateJoint(JointType.ShoulderLeft));
            Joints.Add(JointType.ElbowLeft, CreateJoint(JointType.ElbowLeft));
            Joints.Add(JointType.WristLeft, CreateJoint(JointType.WristLeft));
            Joints.Add(JointType.HandLeft, CreateJoint(JointType.HandLeft));

            Joints.Add(JointType.ShoulderRight, CreateJoint(JointType.ShoulderRight));
            Joints.Add(JointType.ElbowRight, CreateJoint(JointType.ElbowRight));
            Joints.Add(JointType.WristRight, CreateJoint(JointType.WristRight));
            Joints.Add(JointType.HandRight, CreateJoint(JointType.HandRight));

            Joints.Add(JointType.Head, CreateJoint(JointType.Head));
        }
示例#21
0
        public override string ToString()
        {
            StringBuilder builder = new StringBuilder();

            builder.Append("<P,");
            builder.Append(this.PoseId);
            int numberOfJoints = Joints.Max(j => j.ServoId) + 1;

            for (int i = 0; i < numberOfJoints; i++)
            {
                var joint = this.Joints.Where(j => j.ServoId == i).FirstOrDefault();

                if (joint == null)
                {
                    builder.Append(",-1,0");
                }
                else
                {
                    builder.AppendFormat(",{0:F4},{1}", joint.Angle, joint.Duration);
                }
            }
            builder.Append(">");

            return(builder.ToString());
        }
示例#22
0
        private TransformationMatrix ComputeWristFrame(TransformationMatrix currentTarget)
        {
            DenseMatrix addInverse = (DenseMatrix)Joints.Last().Value.JointTransformation.DenseMatrix *Joint6ToFlangeTrafo.DenseMatrix;
            DenseMatrix wrist      = currentTarget.DenseMatrix * (DenseMatrix)addInverse.Inverse();

            return(new TransformationMatrix(wrist));
        }
示例#23
0
    [Fact] public void HandToJoints()
    {
        Data_Generator  dg     = new Data_Generator();
        Hand_Generator  hg     = new Hand_Generator(dg);
        List <Vector[]> dat_vL = new List <Vector[]>()
        {
            dg.newVectors(5),
            dg.newVectors(5),
            dg.newVectors(5),
            dg.newVectors(5),
            dg.newVectors(5),
        };
        List <Finger> dat_fL   = hg.newFingerList(dat_vL);
        Hand          dat_hand = hg.newHand(dat_fL);

        Joints exp_joints = new Joints {
            pinky  = dat_vL[0],
            ring   = dat_vL[1],
            middle = dat_vL[2],
            index  = dat_vL[3],
            thumb  = dat_vL[4],
            palm   = dat_hand.PalmPosition
        };

        VectorHelper vh         = new VectorHelper();
        JointsHelper jh         = new JointsHelper(vh);
        Joints       act_joints = jh.handToJoints(dat_hand);

        test.jointsEqual(exp_joints, act_joints);
    }
示例#24
0
        public Pose(string pose) : this()
        {
            var poseParse = pose.Substring(0, pose.Length - 1).Split(",");

            PoseId = Convert.ToInt32(poseParse[1]);
            int i = 0;

            for (int j = 2; j < poseParse.Length; j += 2)
            {
                var angle = Convert.ToDouble(poseParse[j]);

                if (angle >= 0)
                {
                    var joint = new Joint()
                    {
                        ServoId  = i,
                        Angle    = angle,
                        Duration = Convert.ToInt32((poseParse[j + 1]))
                    };
                    Joints.Add(joint);
                }

                i++;
            }
        }
示例#25
0
        //---------------------------------------------------------------------
        //SAVING
        //---------------------------------------------------------------------

        public void Write(Stream stream)
        {
            //Brute force solution
            //RenumberElements(HAMType.EClip);
            //RenumberElements(HAMType.Weapon);
            //RenumberElements(HAMType.Robot);
            //RenumberElements(HAMType.Model);
            //Science experiment
            GenerateObjectBitmapTables(CompatObjBitmaps);
            NumRobotJoints = 0;
            Console.WriteLine("Loaded {0} joints", Joints.Count);
            Joints.Clear();
            foreach (Robot robot in Robots)
            {
                LoadAnimations(robot, Models[robot.ModelNum]);
            }
            Console.WriteLine("Constructed {0} joints", Joints.Count);
            foreach (Reactor reactor in Reactors)
            {
                LoadReactorGuns(reactor);
            }
            LoadShipGuns(PlayerShip);

            CreateDataLists();
            BaseFile.Write(stream);
        }
示例#26
0
        public void Export(string fileName)
        {
            using (FileStream stream = new FileStream(fileName, FileMode.Create, FileAccess.Write))
            {
                EndianBinaryWriter writer = new EndianBinaryWriter(stream, Endian.Big);

                writer.Write("J3D2bmd3".ToCharArray());
                writer.Write(0); // Placeholder for file size
                writer.Write(8); // Number of sections; bmd has 8, bdl has 9

                writer.Write("SVR3".ToCharArray());
                writer.Write(-1);
                writer.Write((long)-1);

                Scenegraph.Write(writer, packetCount, vertexCount);
                VertexData.Write(writer);
                SkinningEnvelopes.Write(writer);
                PartialWeightData.Write(writer);
                Joints.Write(writer);
                Shapes.Write(writer);
                Materials.Write(writer);
                Textures.Write(writer);

                writer.Seek(8, SeekOrigin.Begin);
                writer.Write((int)writer.BaseStream.Length);
            }
        }
示例#27
0
 public AmplitudeModulationControlPoint AquireTarget(Joints j) => new AmplitudeModulationControlPoint(
     j.palm.x,
     j.palm.z * -1,
     j.palm.y,
     GBL.UH_INTENSITY,
     GBL.UH_FREQUENCY
     );
示例#28
0
 public Vector3 this[Joints joint] {
     get { return(_positions[(int)joint]); }
     set {
         _isSet[(int)joint]     = true;
         _positions[(int)joint] = value;
     }
 }
 public void Dispose()
 {
     Springs.Dispose();
     Joints.Dispose();
     BlittableTransforms.Dispose();
     Colliders.Dispose();
     Logics.Dispose();
 }
示例#30
0
 public void AddJoint(JointType joint, double radius, Brush brush)
 {
     Joints.Add(joint, new Ellipse
     {
         Width  = radius,
         Height = radius,
         Fill   = brush
     });
 }
示例#31
0
        public KinectBodyTracker(SmartKinectSensor smartSensor, ArduinoSerialPort arduinoSerialPort)
        {
            this.skeletonController = smartSensor.SkeletonController;
            this.arduinoSerialPort = arduinoSerialPort;
            this.joints = new Joints();
            this.previousTimeStamp = DateTime.MinValue;
            this.frameCount = 0;

            CreateEmergencyStop();
            LoadJointProfiles();
            ConnectSkeletonController();
        }
示例#32
0
 private void add_skeleton_joint( Joints joint, GameObject obj )
 {
     skeleton.Add (joint, obj);
     inverse_skeleton.Add (obj, joint);
 }
示例#33
0
文件: Finger.cs 项目: rjabaker/Skynet
 public Finger()
 {
     this.joints = new Joints();
 }
示例#34
0
 public Vector3 get_raw_joint(Joints joint)
 {
     return raw_joint_pos[(int)joint];
 }