using System.Collections.Generic; using UnityEngine; using Kinect = Windows.Kinect; using Valve.VR; public class BodySourceView : MonoBehaviour { public Transform[] joints; public Material BoneMaterial; public GameObject BodySourceManager; public Transform cameraRig; public PlayerReplay playerReplay; public ModeController modeController; public bool wristLeftLate; public bool wristRightLate; private Dictionary _Bodies = new Dictionary(); private BodySourceManager _BodyManager; private Dictionary _BoneMap = new Dictionary() { { Kinect.JointType.FootLeft, Kinect.JointType.AnkleLeft }, { Kinect.JointType.AnkleLeft, Kinect.JointType.KneeLeft }, { Kinect.JointType.KneeLeft, Kinect.JointType.HipLeft }, { Kinect.JointType.HipLeft, Kinect.JointType.SpineBase }, { Kinect.JointType.FootRight, Kinect.JointType.AnkleRight }, { Kinect.JointType.AnkleRight, Kinect.JointType.KneeRight }, { Kinect.JointType.KneeRight, Kinect.JointType.HipRight }, { Kinect.JointType.HipRight, Kinect.JointType.SpineBase }, { Kinect.JointType.HandTipLeft, Kinect.JointType.HandLeft }, { Kinect.JointType.ThumbLeft, Kinect.JointType.HandLeft }, { Kinect.JointType.HandLeft, Kinect.JointType.WristLeft }, { Kinect.JointType.WristLeft, Kinect.JointType.ElbowLeft }, { Kinect.JointType.ElbowLeft, Kinect.JointType.ShoulderLeft }, { Kinect.JointType.ShoulderLeft, Kinect.JointType.SpineShoulder }, { Kinect.JointType.HandTipRight, Kinect.JointType.HandRight }, { Kinect.JointType.ThumbRight, Kinect.JointType.HandRight }, { Kinect.JointType.HandRight, Kinect.JointType.WristRight }, { Kinect.JointType.WristRight, Kinect.JointType.ElbowRight }, { Kinect.JointType.ElbowRight, Kinect.JointType.ShoulderRight }, { Kinect.JointType.ShoulderRight, Kinect.JointType.SpineShoulder }, { Kinect.JointType.SpineBase, Kinect.JointType.SpineMid }, { Kinect.JointType.SpineMid, Kinect.JointType.SpineShoulder }, { Kinect.JointType.SpineShoulder, Kinect.JointType.Neck }, { Kinect.JointType.Neck, Kinect.JointType.Head }, }; void Update() { if (BodySourceManager == null) { return; } _BodyManager = BodySourceManager.GetComponent(); if (_BodyManager == null) { return; } Kinect.Body[] data = _BodyManager.GetData(); if (data == null) { return; } List trackedIds = new List(); foreach (var body in data) { if (body == null) { continue; } if (body.IsTracked) { trackedIds.Add(body.TrackingId); } } List knownIds = new List(_Bodies.Keys); // First delete untracked bodies foreach (ulong trackingId in knownIds) { if (!trackedIds.Contains(trackingId)) { Destroy(_Bodies[trackingId]); _Bodies.Remove(trackingId); } } foreach (var body in data) { if (body == null) { continue; } if (body.IsTracked) { if (!_Bodies.ContainsKey(body.TrackingId)) { _Bodies[body.TrackingId] = CreateBodyObject(body.TrackingId); } RefreshBodyObject(body, _Bodies[body.TrackingId]); } } } private GameObject CreateBodyObject(ulong id) { GameObject body = new GameObject("Body:" + id); body.transform.parent = gameObject.transform; for (Kinect.JointType jt = Kinect.JointType.SpineBase; jt <= Kinect.JointType.ThumbRight; jt++) { GameObject jointObj = GameObject.CreatePrimitive(PrimitiveType.Cube); // Give WristLeft and WristRight rigidbody if (jt == Kinect.JointType.WristLeft) { jointObj.tag = "WristLeft"; Rigidbody rb = jointObj.AddComponent(); rb.useGravity = false; rb.isKinematic = true; } else if (jt == Kinect.JointType.WristRight) { jointObj.tag = "WristRight"; Rigidbody rb = jointObj.AddComponent(); rb.useGravity = false; rb.isKinematic = true; } LineRenderer lr = jointObj.AddComponent(); //lr.SetVertexCount(2); lr.positionCount = 2; lr.material = BoneMaterial; //lr.SetWidth(0.05f, 0.05f); lr.startWidth = 0.3f; lr.endWidth = 0.3f; jointObj.transform.localScale = new Vector3(0.3f, 0.3f, 0.3f); jointObj.name = jt.ToString(); jointObj.transform.parent = body.transform; } return body; } private void RefreshBodyObject(Kinect.Body body, GameObject bodyObject) { for (Kinect.JointType jt = Kinect.JointType.SpineBase; jt <= Kinect.JointType.ThumbRight; jt++) { Kinect.Joint sourceJoint = body.Joints[jt]; Kinect.Joint? targetJoint = null; if (_BoneMap.ContainsKey(jt)) { targetJoint = body.Joints[_BoneMap[jt]]; } Transform jointObj = bodyObject.transform.Find(jt.ToString()); jointObj.localPosition = GetVector3FromJoint(sourceJoint); if (jt == Kinect.JointType.Head) { // Make head joint invisible jointObj.GetComponent().enabled = false; // Make camera follow the head if (modeController.perspective == ModeController.Perspective.FirstPersonPerspective) { cameraRig.localPosition = new Vector3(jointObj.localPosition.x, jointObj.localPosition.y - 3, jointObj.localPosition.z - 0.5f); } else { cameraRig.localPosition = new Vector3(jointObj.localPosition.x, jointObj.localPosition.y - 3, jointObj.localPosition.z + 3); } } // Make these joints invisible if (jt == Kinect.JointType.ThumbLeft || jt == Kinect.JointType.ThumbRight || jt == Kinect.JointType.HandLeft || jt == Kinect.JointType.HandRight || jt == Kinect.JointType.HandTipLeft || jt == Kinect.JointType.HandTipRight) { jointObj.GetComponent().enabled = false; } // WristLeft and WristRight do something if not following the motions if ((jt == Kinect.JointType.WristLeft && wristLeftLate) || (jt == Kinect.JointType.WristRight && wristRightLate)) { if (modeController.feedback == ModeController.Feedback.ColorFeedback) { // Change to red color jointObj.GetComponent().material.color = new Color(1, 0, 0); } else if (modeController.feedback == ModeController.Feedback.HapticFeedback) { // TODO: Add haptic feedback need to test SteamVR_Actions.default_Haptic[SteamVR_Input_Sources.LeftHand].Execute(0, 1, 10, 1); SteamVR_Actions.default_Haptic[SteamVR_Input_Sources.RightHand].Execute(0, 1, 10, 1); } } LineRenderer lr = jointObj.GetComponent(); if (targetJoint.HasValue && jt != Kinect.JointType.Neck && jt != Kinect.JointType.ThumbLeft && jt != Kinect.JointType.ThumbRight && jt != Kinect.JointType.HandLeft && jt != Kinect.JointType.HandRight && jt != Kinect.JointType.HandTipLeft && jt != Kinect.JointType.HandTipRight) // Do not make LineRenderer for these joints { lr.SetPosition(0, jointObj.localPosition); lr.SetPosition(1, GetVector3FromJoint(targetJoint.Value)); // Coloring the line renderer //lr.SetColors(GetColorForState(sourceJoint.TrackingState), GetColorForState(targetJoint.Value.TrackingState)); //lr.startColor = GetColorForState(sourceJoint.TrackingState); //lr.endColor = GetColorForState(targetJoint.Value.TrackingState); } else { lr.enabled = false; } // Record joints to PlayerReplay.cs playerReplay.joints[(int)jt] = jointObj; } // Joint orientations //Kinect.Vector4[] orientation = new Kinect.Vector4[22]; //orientation[0] = body.JointOrientations[Kinect.JointType.Head].Orientation; //orientation[1] = body.JointOrientations[Kinect.JointType.Neck].Orientation; //orientation[2] = body.JointOrientations[Kinect.JointType.SpineMid].Orientation; //orientation[3] = body.JointOrientations[Kinect.JointType.ShoulderLeft].Orientation; //orientation[4] = body.JointOrientations[Kinect.JointType.ShoulderRight].Orientation; //orientation[5] = body.JointOrientations[Kinect.JointType.ElbowLeft].Orientation; //orientation[6] = body.JointOrientations[Kinect.JointType.ElbowRight].Orientation; //orientation[7] = body.JointOrientations[Kinect.JointType.WristLeft].Orientation; //orientation[8] = body.JointOrientations[Kinect.JointType.WristRight].Orientation; //orientation[9] = body.JointOrientations[Kinect.JointType.HipLeft].Orientation; //orientation[10] = body.JointOrientations[Kinect.JointType.HipRight].Orientation; //orientation[11] = body.JointOrientations[Kinect.JointType.KneeLeft].Orientation; //orientation[12] = body.JointOrientations[Kinect.JointType.KneeRight].Orientation; //orientation[13] = body.JointOrientations[Kinect.JointType.SpineBase].Orientation; //orientation[14] = body.JointOrientations[Kinect.JointType.AnkleLeft].Orientation; //orientation[15] = body.JointOrientations[Kinect.JointType.AnkleRight].Orientation; //orientation[16] = body.JointOrientations[Kinect.JointType.FootLeft].Orientation; //orientation[17] = body.JointOrientations[Kinect.JointType.FootRight].Orientation; //orientation[18] = body.JointOrientations[Kinect.JointType.HandLeft].Orientation; //orientation[19] = body.JointOrientations[Kinect.JointType.HandRight].Orientation; //orientation[20] = body.JointOrientations[Kinect.JointType.ThumbLeft].Orientation; //orientation[21] = body.JointOrientations[Kinect.JointType.ThumbRight].Orientation; //for (int j = 0; j < 22; j++) //{ // //joints[j].rotation = ConvertKinectOrientationToUnity(orientation[j]); //} } private static Color GetColorForState(Kinect.TrackingState state) { switch (state) { case Kinect.TrackingState.Tracked: return Color.green; case Kinect.TrackingState.Inferred: return Color.red; default: return Color.black; } } private static Vector3 GetVector3FromJoint(Kinect.Joint joint) { return new Vector3(joint.Position.X * -10, joint.Position.Y * 10 + 13.3f, joint.Position.Z * 10); } private Quaternion ConvertKinectOrientationToUnity(Kinect.Vector4 orientation) { Quaternion orientationUnity; orientationUnity.x = -orientation.X; orientationUnity.y = orientation.Y; orientationUnity.z = orientation.Z; orientationUnity.w = orientation.W; return orientationUnity; } }