106 lines
4.6 KiB
C#
106 lines
4.6 KiB
C#
|
using System.Collections;
|
|||
|
|
using System.Collections.Generic;
|
|||
|
|
using UnityEngine;
|
|||
|
|
using Microsoft.Azure.Kinect.BodyTracking;
|
|||
|
|
using System.Text;
|
|||
|
|
|
|||
|
|
public class PuppetAvatar : MonoBehaviour
|
|||
|
|
{
|
|||
|
|
public TrackerHandler KinectDevice;
|
|||
|
|
Dictionary<JointId, Quaternion> absoluteOffsetMap;
|
|||
|
|
Animator PuppetAnimator;
|
|||
|
|
public GameObject RootPosition;
|
|||
|
|
public Transform CharacterRootTransform;
|
|||
|
|
public float OffsetY;
|
|||
|
|
public float OffsetZ;
|
|||
|
|
private static HumanBodyBones MapKinectJoint(JointId joint)
|
|||
|
|
{
|
|||
|
|
// https://docs.microsoft.com/en-us/azure/Kinect-dk/body-joints
|
|||
|
|
switch (joint)
|
|||
|
|
{
|
|||
|
|
case JointId.Pelvis: return HumanBodyBones.Hips;
|
|||
|
|
case JointId.SpineNavel: return HumanBodyBones.Spine;
|
|||
|
|
case JointId.SpineChest: return HumanBodyBones.Chest;
|
|||
|
|
case JointId.Neck: return HumanBodyBones.Neck;
|
|||
|
|
case JointId.Head: return HumanBodyBones.Head;
|
|||
|
|
case JointId.HipLeft: return HumanBodyBones.LeftUpperLeg;
|
|||
|
|
case JointId.KneeLeft: return HumanBodyBones.LeftLowerLeg;
|
|||
|
|
case JointId.AnkleLeft: return HumanBodyBones.LeftFoot;
|
|||
|
|
case JointId.FootLeft: return HumanBodyBones.LeftToes;
|
|||
|
|
case JointId.HipRight: return HumanBodyBones.RightUpperLeg;
|
|||
|
|
case JointId.KneeRight: return HumanBodyBones.RightLowerLeg;
|
|||
|
|
case JointId.AnkleRight: return HumanBodyBones.RightFoot;
|
|||
|
|
case JointId.FootRight: return HumanBodyBones.RightToes;
|
|||
|
|
case JointId.ClavicleLeft: return HumanBodyBones.LeftShoulder;
|
|||
|
|
case JointId.ShoulderLeft: return HumanBodyBones.LeftUpperArm;
|
|||
|
|
case JointId.ElbowLeft: return HumanBodyBones.LeftLowerArm;
|
|||
|
|
case JointId.WristLeft: return HumanBodyBones.LeftHand;
|
|||
|
|
case JointId.ClavicleRight: return HumanBodyBones.RightShoulder;
|
|||
|
|
case JointId.ShoulderRight: return HumanBodyBones.RightUpperArm;
|
|||
|
|
case JointId.ElbowRight: return HumanBodyBones.RightLowerArm;
|
|||
|
|
case JointId.WristRight: return HumanBodyBones.RightHand;
|
|||
|
|
default: return HumanBodyBones.LastBone;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
private void Start()
|
|||
|
|
{
|
|||
|
|
PuppetAnimator = GetComponent<Animator>();
|
|||
|
|
Transform _rootJointTransform = CharacterRootTransform;
|
|||
|
|
|
|||
|
|
absoluteOffsetMap = new Dictionary<JointId, Quaternion>();
|
|||
|
|
for (int i = 0; i < (int)JointId.Count; i++)
|
|||
|
|
{
|
|||
|
|
HumanBodyBones hbb = MapKinectJoint((JointId)i);
|
|||
|
|
if (hbb != HumanBodyBones.LastBone)
|
|||
|
|
{
|
|||
|
|
Transform transform = PuppetAnimator.GetBoneTransform(hbb);
|
|||
|
|
Quaternion absOffset = GetSkeletonBone(PuppetAnimator, transform.name).rotation;
|
|||
|
|
// find the absolute offset for the tpose
|
|||
|
|
while (!ReferenceEquals(transform, _rootJointTransform))
|
|||
|
|
{
|
|||
|
|
transform = transform.parent;
|
|||
|
|
absOffset = GetSkeletonBone(PuppetAnimator, transform.name).rotation * absOffset;
|
|||
|
|
}
|
|||
|
|
absoluteOffsetMap[(JointId)i] = absOffset;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private static SkeletonBone GetSkeletonBone(Animator animator, string boneName)
|
|||
|
|
{
|
|||
|
|
int count = 0;
|
|||
|
|
StringBuilder cloneName = new StringBuilder(boneName);
|
|||
|
|
cloneName.Append("(Clone)");
|
|||
|
|
foreach (SkeletonBone sb in animator.avatar.humanDescription.skeleton)
|
|||
|
|
{
|
|||
|
|
if (sb.name == boneName || sb.name == cloneName.ToString())
|
|||
|
|
{
|
|||
|
|
return animator.avatar.humanDescription.skeleton[count];
|
|||
|
|
}
|
|||
|
|
count++;
|
|||
|
|
}
|
|||
|
|
return new SkeletonBone();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// Update is called once per frame
|
|||
|
|
private void LateUpdate()
|
|||
|
|
{
|
|||
|
|
for (int j = 0; j < (int)JointId.Count; j++)
|
|||
|
|
{
|
|||
|
|
if (MapKinectJoint((JointId)j) != HumanBodyBones.LastBone && absoluteOffsetMap.ContainsKey((JointId)j))
|
|||
|
|
{
|
|||
|
|
// get the absolute offset
|
|||
|
|
Quaternion absOffset = absoluteOffsetMap[(JointId)j];
|
|||
|
|
Transform finalJoint = PuppetAnimator.GetBoneTransform(MapKinectJoint((JointId)j));
|
|||
|
|
finalJoint.rotation = absOffset * Quaternion.Inverse(absOffset) * KinectDevice.absoluteJointRotations[j] * absOffset;
|
|||
|
|
if (j == 0)
|
|||
|
|
{
|
|||
|
|
// character root plus translation reading from the kinect, plus the offset from the script public variables
|
|||
|
|
finalJoint.position = CharacterRootTransform.position + new Vector3(RootPosition.transform.localPosition.x, RootPosition.transform.localPosition.y + OffsetY, RootPosition.transform.localPosition.z - OffsetZ);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|