MotionCapture/Assets/ModelBehaviour.cs

using System.Collections.Generic;
using Models;
using UnityEngine;
using Utils.PoseTransformHandlers;

public class ModelBehaviour : MonoBehaviour
{
    private Animator _animator;

    private readonly UdpListener _listener = new UdpListener();
    private static readonly PoseTransform[] PoseTransforms = new PoseTransform[PoseLandmarkType.MaxValue];

    private void Start()
    {
        _animator = GetComponent<Animator>(); // 获取动画控件
        InitPoseTransformList();

        //_listener.AddHandler(LogLandmarks);
        _listener.AddHandler(RigPoint);
        _listener.Connect(5000);
    }

    // Update is called once per frame
    private void Update()
    {


        foreach (var landmark in PoseTransforms)
        {
            if (landmark.UnityName != HumanBodyBones.LastBone)
            {
                var transfrom = _animator.GetBoneTransform(landmark.UnityName);

                var parentsum = new Vector3(0, 0, 0);

                foreach (var parent in landmark.Parent)
                {
                    parentsum += PoseTransforms[parent.Value].ResultPosition;
                }

                parentsum /= landmark.Parent.Count;
                
                transfrom.rotation = Quaternion.FromToRotation(transfrom.rotation.eulerAngles,landmark.ResultPosition-parentsum);

            }
        }


    }

    private void OnDisable()
    {
        _listener.DisConnect();
    }

    private static void LogLandmarks(List<PoseLandmark> landmarks)
    {
        
        foreach (var landmark in landmarks)
        {
            Debug.Log(landmark.ToString());
        }
    }


    //获取传上来的数据点坐标转换成四元数的回调函数
    private static void RigPoint(List<PoseLandmark> landmarks)
    {
        
        foreach (var landmark in landmarks)
        {
            
            PoseTransform.UpdatePosition(ref PoseTransforms[landmark.Type.Value], landmark);
            
            Debug.Log(PoseTransforms[landmark.Type.Value].UnityName+":"+PoseTransforms[landmark.Type.Value].ResultPosition);
        }

    }

    /// <summary>
    /// 初始化骨骼变化结构体列表
    /// </summary>
    private void InitPoseTransformList()
    {
        for (var type = 0; type <= PoseLandmarkType.RightFootIndex; type++)
        {
            var item = new PoseTransform(type, new NormalHandler());

            if (item.UnityName != HumanBodyBones.LastBone)
            {
                item.PreviousQuaternion = _animator.GetBoneTransform(item.UnityName).rotation;
                item.CurrentQuaternion = item.PreviousQuaternion;
            }
            
            PoseTransforms[type] = item;
        }
        
        // 在这里添加父节点
        AddParentTransform(PoseLandmarkType.LeftShoulder, PoseLandmarkType.LeftHip);
        AddParentTransform(PoseLandmarkType.LeftShoulder, PoseLandmarkType.RightHip);

        AddParentTransform(PoseLandmarkType.RightShoulder, PoseLandmarkType.LeftHip);
        AddParentTransform(PoseLandmarkType.RightShoulder, PoseLandmarkType.RightHip);
        
        AddParentTransform(PoseLandmarkType.Nose, PoseLandmarkType.LeftShoulder);
        AddParentTransform(PoseLandmarkType.Nose, PoseLandmarkType.RightShoulder);
        
        AddParentTransform(PoseLandmarkType.LeftElbow, PoseLandmarkType.LeftShoulder);
        AddParentTransform(PoseLandmarkType.RightElbow, PoseLandmarkType.RightShoulder);
        
        AddParentTransform(PoseLandmarkType.LeftWrist, PoseLandmarkType.LeftElbow);
        AddParentTransform(PoseLandmarkType.RightWrist, PoseLandmarkType.RightElbow);
        
        AddParentTransform(PoseLandmarkType.LeftKnee, PoseLandmarkType.LeftHip);
        AddParentTransform(PoseLandmarkType.RightKnee, PoseLandmarkType.RightHip);
        
        AddParentTransform(PoseLandmarkType.LeftAnkle, PoseLandmarkType.LeftKnee);
        AddParentTransform(PoseLandmarkType.RightAnkle, PoseLandmarkType.RightKnee);
        
        AddParentTransform(PoseLandmarkType.LeftFootIndex, PoseLandmarkType.LeftAnkle);
        AddParentTransform(PoseLandmarkType.RightFootIndex, PoseLandmarkType.RightAnkle);
    }

    /// <summary>
    /// 给指定的骨骼变化结构体添加父节点
    /// </summary>
    /// <param name="target">需要添加的节点</param>
    /// <param name="parent">添加的父节点</param>
    private void AddParentTransform(int target, int parent)
    {
        var parents = PoseTransforms[target].Parent;
        parents.Add(PoseTransforms[parent].MediaPipeName);
    }

}