// Update is called once per frame
void Update()
{
if (!isInitialized)
{
return;
}
//kin.AddToGrammar("destroy");
//Debug.Log(kin.GetLastRecoResult());
// Check for lightning
Vector3 rightHand = kin.GetJointPos(KinectWrapper.Joints.HAND_RIGHT);
Vector3 rightShoulder = kin.GetJointPos(KinectWrapper.Joints.SHOULDER_RIGHT);
Vector3 rightVec = rightHand - rightShoulder;
rightVec.z = -1 * rightVec.z;
if (rightVec.z / rightVec.magnitude > STATE_THRESHOLD)
{
rightArm = ARM_STATE.AS_POS_Z;
}
else if (rightVec.z / rightVec.magnitude < -STATE_THRESHOLD)
{
rightArm = ARM_STATE.AS_NEG_Z;
}
else if (rightVec.x / rightVec.magnitude < -STATE_THRESHOLD)
{
rightArm = ARM_STATE.AS_NEG_X;
}
else if (rightVec.x / rightVec.magnitude > STATE_THRESHOLD)
{
rightArm = ARM_STATE.AS_POS_X;
}
else if (rightVec.y / rightVec.magnitude < -STATE_THRESHOLD)
{
rightArm = ARM_STATE.AS_NEG_Y;
}
else if (rightVec.y / rightVec.magnitude > STATE_THRESHOLD)
{
rightArm = ARM_STATE.AS_POS_Y;
}
else
{
rightArm = ARM_STATE.AS_NONE;
}
Vector3 leftHand = kin.GetJointPos(KinectWrapper.Joints.HAND_LEFT);
Vector3 leftShoulder = kin.GetJointPos(KinectWrapper.Joints.SHOULDER_LEFT);
Vector3 leftVec = leftHand - leftShoulder;
leftVec.z = -1 * leftVec.z;
if (leftVec.z / leftVec.magnitude > STATE_THRESHOLD)
{
leftArm = ARM_STATE.AS_POS_Z;
}
else if (leftVec.z / leftVec.magnitude < -STATE_THRESHOLD)
{
leftArm = ARM_STATE.AS_NEG_Z;
}
else if (leftVec.x / leftVec.magnitude < -STATE_THRESHOLD)
{
leftArm = ARM_STATE.AS_NEG_X;
}
else if (leftVec.x / leftVec.magnitude > STATE_THRESHOLD)
{
leftArm = ARM_STATE.AS_POS_X;
}
else if (leftVec.y / leftVec.magnitude < -STATE_THRESHOLD)
{
leftArm = ARM_STATE.AS_NEG_Y;
}
else if (leftVec.y / leftVec.magnitude > STATE_THRESHOLD)
{
leftArm = ARM_STATE.AS_POS_Y;
}
else
{
leftArm = ARM_STATE.AS_NONE;
}
Vector3 rightfoot = kin.GetJointPos(KinectWrapper.Joints.FOOT_RIGHT);
Vector3 leftfoot = kin.GetJointPos(KinectWrapper.Joints.FOOT_LEFT);
float DisBetweenFoots = rightfoot.z - leftfoot.z;
float DisToJump = Mathf.Abs(leftfoot.y) - Mathf.Abs(rightfoot.y);
if (DisBetweenFoots > LEG_THRESHOLD)
{
rightLeg = LEG_STATE.AS_BACKWORD;
}
else if (DisBetweenFoots < -LEG_THRESHOLD)
{
rightLeg = LEG_STATE.AS_FORWORD;;
}
else
{
rightLeg = LEG_STATE.AS_NONE;
}
if (DisToJump > 90)
{
rightLegJump = JUMP_STATE.AS_JUMP;
}
else
{
rightLegJump = JUMP_STATE.AS_NONE;
}
Vector3 headVec = kin.GetJointPos(KinectWrapper.Joints.HEAD);
Vector3 kneeVec = kin.GetJointPos(KinectWrapper.Joints.KNEE_LEFT);
float DisBetweenHeadAndKnee = headVec.y - kneeVec.y;
if (DisBetweenHeadAndKnee < DUCK_THRESHOLD)
{
headKneeLeft = DUCK_STATE.AS_DUCK;
}
else
{
headKneeLeft = DUCK_STATE.AS_NONE;
}
//Debug.Log(headKneeLeft + ": " + DisBetweenHeadAndKnee);
}
public void lower()
{
legState = LEG_STATE.LOWERING;
thigh.motor = lowerMotor;
thigh.useMotor = true;
}
public void jump()
{
legState = LEG_STATE.JUMPING;
thigh.motor = jumpMotor;
thigh.useMotor = true;
}
public void lift()
{
legState = LEG_STATE.LIFTING;
thigh.motor = liftMotor;
thigh.useMotor = true;
}
// Update is called once per frame
void Update()
{
if (!isInitialized) return;
//kin.AddToGrammar("destroy");
//Debug.Log(kin.GetLastRecoResult());
// Check for lightning
Vector3 rightHand = kin.GetJointPos(KinectWrapper.Joints.HAND_RIGHT);
Vector3 rightShoulder = kin.GetJointPos(KinectWrapper.Joints.SHOULDER_RIGHT);
Vector3 rightVec = rightHand - rightShoulder;
rightVec.z = -1 * rightVec.z;
if (rightVec.z / rightVec.magnitude > STATE_THRESHOLD)
{
rightArm = ARM_STATE.AS_POS_Z;
}
else if (rightVec.z / rightVec.magnitude < -STATE_THRESHOLD)
{
rightArm = ARM_STATE.AS_NEG_Z;
}
else if (rightVec.x / rightVec.magnitude < -STATE_THRESHOLD)
{
rightArm = ARM_STATE.AS_NEG_X;
}
else if (rightVec.x / rightVec.magnitude > STATE_THRESHOLD)
{
rightArm = ARM_STATE.AS_POS_X;
}
else if (rightVec.y / rightVec.magnitude < -STATE_THRESHOLD)
{
rightArm = ARM_STATE.AS_NEG_Y;
}
else if (rightVec.y / rightVec.magnitude > STATE_THRESHOLD)
{
rightArm = ARM_STATE.AS_POS_Y;
}
else
{
rightArm = ARM_STATE.AS_NONE;
}
Vector3 leftHand = kin.GetJointPos(KinectWrapper.Joints.HAND_LEFT);
Vector3 leftShoulder = kin.GetJointPos(KinectWrapper.Joints.SHOULDER_LEFT);
Vector3 leftVec = leftHand - leftShoulder;
leftVec.z = -1 * leftVec.z;
if (leftVec.z / leftVec.magnitude > STATE_THRESHOLD)
{
leftArm = ARM_STATE.AS_POS_Z;
}
else if (leftVec.z / leftVec.magnitude < -STATE_THRESHOLD)
{
leftArm = ARM_STATE.AS_NEG_Z;
}
else if (leftVec.x / leftVec.magnitude < -STATE_THRESHOLD)
{
leftArm = ARM_STATE.AS_NEG_X;
}
else if (leftVec.x / leftVec.magnitude > STATE_THRESHOLD)
{
leftArm = ARM_STATE.AS_POS_X;
}
else if (leftVec.y / leftVec.magnitude < -STATE_THRESHOLD)
{
leftArm = ARM_STATE.AS_NEG_Y;
}
else if (leftVec.y / leftVec.magnitude > STATE_THRESHOLD)
{
leftArm = ARM_STATE.AS_POS_Y;
}
else
{
leftArm = ARM_STATE.AS_NONE;
}
Vector3 rightfoot = kin.GetJointPos(KinectWrapper.Joints.FOOT_RIGHT);
Vector3 leftfoot = kin.GetJointPos(KinectWrapper.Joints.FOOT_LEFT);
float DisBetweenFoots = rightfoot.z - leftfoot.z;
float DisToJump = Mathf.Abs(leftfoot.y) - Mathf.Abs(rightfoot.y);
if (DisBetweenFoots > LEG_THRESHOLD)
{
rightLeg = LEG_STATE.AS_BACKWORD;
}
else if (DisBetweenFoots < -LEG_THRESHOLD)
{
rightLeg = LEG_STATE.AS_FORWORD;;
}
else
{
rightLeg = LEG_STATE.AS_NONE;
}
if ( DisToJump > 90 )
{
rightLegJump = JUMP_STATE.AS_JUMP;
} else {
rightLegJump = JUMP_STATE.AS_NONE;
}
Vector3 headVec = kin.GetJointPos(KinectWrapper.Joints.HEAD);
Vector3 kneeVec = kin.GetJointPos(KinectWrapper.Joints.KNEE_LEFT);
float DisBetweenHeadAndKnee = headVec.y - kneeVec.y;
if (DisBetweenHeadAndKnee < DUCK_THRESHOLD){
headKneeLeft = DUCK_STATE.AS_DUCK;
} else {
headKneeLeft = DUCK_STATE.AS_NONE;
}
//Debug.Log(headKneeLeft + ": " + DisBetweenHeadAndKnee);
}
