MotionCapture/Assets/MainBehaviour.cs

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

public class MainBehaviour : MonoBehaviour
{
    private readonly List<GameObject> _nodes = new List<GameObject>();
    private readonly List<Bond> _bonds = new List<Bond>();
    private readonly List<VirtualSkeleton> _virtualSkeletons = new List<VirtualSkeleton>();
    private readonly List<PoseTransform> _poseTransforms = new List<PoseTransform>();
    private readonly UdpListener _listener = new UdpListener();
    private const float Scale = 0.2f;
    private GameObject sample ;

    // Start is called before the first frame update
    private void Start()
    {
        CreateNodes();
        CreateBonds();
        
        
        _listener.AddHandler(OnReceive);
        _listener.Connect(5000);
    }

    // Update is called once per frame
    private void Update()
    {
        foreach (var poseTransform in _poseTransforms)
        {
            var index = (int)poseTransform.MediaPipeName;
            
            var temp = new Vector4(_poseTransforms[index].MediaPipePos.x,
                                   _poseTransforms[index].MediaPipePos.y,
                                    _poseTransforms[index].MediaPipePos.z,1);
            //temp = RotateAxisX(-45) * temp;
            //warning:乘法的顺序不能改!
            
            _nodes[index].transform.position = new Vector3(-temp.x, -temp.y, -temp.z) * 5;
            //_nodes[index].transform.position = _poseTransforms[index].MediaPipePos * 5;
        }

        foreach (var bond in _bonds)
        {
            bond.UpdateBond();
        }

        /*foreach (var vs in _virtualSkeletons)
        {
            vs.UpdateVS();
        }*/
    }

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

    private void CreateNodes()
    {
        for (var i = 0; i < 33; i++)
        {
            var ball = GameObject.CreatePrimitive(PrimitiveType.Sphere);

            ball.transform.localScale = new Vector3(Scale, Scale, Scale);

            if (i <= 10)
            {
                ball.GetComponent<Renderer>().material.color = Color.red;//给头部添加颜色
            }
            else if (i <= 22)
            {
                ball.GetComponent<Renderer>().material.color = Color.blue;//给手部添加颜色
            }
            else if (i <= 32)
            {
                ball.GetComponent<Renderer>().material.color = Color.green;//给脚部添加颜色
            }
            
            _nodes.Add(ball);

            var poseTransform = new PoseTransform((PoseLandmarkType)i);
            
            _poseTransforms.Add(poseTransform);
        }
    }

    private void CreateBonds()
    {
        /*var temp = new Bonds(_nodes[0], _nodes[4], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[0], _nodes[1], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[1], _nodes[2], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[2], _nodes[3], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[3], _nodes[7], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[4], _nodes[5], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[5], _nodes[6], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[6], _nodes[8], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[9], _nodes[10], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[2], _nodes[3], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[11], _nodes[12], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[12], _nodes[14], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[14], _nodes[16], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[16], _nodes[22], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[16], _nodes[18], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[18], _nodes[20], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[16], _nodes[20], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[11], _nodes[13], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[13], _nodes[15], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[15], _nodes[17], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[15], _nodes[21], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[15], _nodes[19], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[17], _nodes[19], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[12], _nodes[24], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[23], _nodes[24], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[11], _nodes[23], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[24], _nodes[26], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[26], _nodes[28], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[28], _nodes[32], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[28], _nodes[30], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[23], _nodes[25], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[25], _nodes[27], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[27], _nodes[29], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[27], _nodes[31], Scale);
        _bonds.Add(temp);
        
        temp = new Bonds(_nodes[29], _nodes[31], Scale);
        _bonds.Add(temp);*/

        var headBonds = new[]
        {
            PoseLandmarkType.RightEar,
            PoseLandmarkType.RightEyeOuter,
            PoseLandmarkType.RightEye,
            PoseLandmarkType.RightEyeInner,
            PoseLandmarkType.Nose,
            PoseLandmarkType.LeftEyeInner,
            PoseLandmarkType.LeftEye,
            PoseLandmarkType.LeftEyeOuter,
            PoseLandmarkType.LeftEar
        };
        _bonds.AddRange(GenerateBondsList(headBonds));

        var monthBonds = new[]
        {
            PoseLandmarkType.MouthLeft,
            PoseLandmarkType.MouthRight,
        };
        _bonds.AddRange(GenerateBondsList(monthBonds));

        var leftArmBonds = new[]
        {
            PoseLandmarkType.LeftShoulder,
            PoseLandmarkType.LeftElbow,
            PoseLandmarkType.LeftWrist,
            PoseLandmarkType.LeftPinky,
            PoseLandmarkType.LeftIndex,
            PoseLandmarkType.LeftWrist,
            PoseLandmarkType.LeftThumb
        };
        _bonds.AddRange(GenerateBondsList(leftArmBonds));

        var rightArmBonds = new[]
        {
            PoseLandmarkType.RightShoulder,
            PoseLandmarkType.RightElbow,
            PoseLandmarkType.RightWrist,
            PoseLandmarkType.RightPinky,
            PoseLandmarkType.RightIndex,
            PoseLandmarkType.RightWrist,
            PoseLandmarkType.RightThumb
        };
        _bonds.AddRange(GenerateBondsList(rightArmBonds));

        var leftLegBonds = new[]
        {
            PoseLandmarkType.LeftShoulder,
            PoseLandmarkType.LeftHip,
            PoseLandmarkType.LeftKnee,
            PoseLandmarkType.LeftAnkle,
            PoseLandmarkType.LeftHeel,
            PoseLandmarkType.LeftFootIndex,
            PoseLandmarkType.LeftAnkle
        };
        _bonds.AddRange(GenerateBondsList(leftLegBonds));

        var rightLegBonds = new[]
        {
            PoseLandmarkType.RightShoulder,
            PoseLandmarkType.RightHip,
            PoseLandmarkType.RightKnee,
            PoseLandmarkType.RightAnkle,
            PoseLandmarkType.RightHeel,
            PoseLandmarkType.RightFootIndex,
            PoseLandmarkType.RightAnkle
        };
        _bonds.AddRange(GenerateBondsList(rightLegBonds));
        
        // 最后手动添加身体上的两条横线
        _bonds.Add(new Bond(
            _nodes[(int)PoseLandmarkType.LeftShoulder],
            _nodes[(int)PoseLandmarkType.RightShoulder],
            Scale));
        _bonds.Add(new Bond(
            _nodes[(int)PoseLandmarkType.LeftHip],
            _nodes[(int)PoseLandmarkType.RightHip],
            Scale));
    }
    
    private void OnReceive(List<PoseLandmark> landmarks)
    {
        foreach (var landmark in landmarks)
        {
            var poseTransform = new PoseTransform(landmark.Type)
            {
                MediaPipePos = new Vector3(landmark.X, landmark.Y, landmark.Z)
            };

            _poseTransforms[(int)landmark.Type] = poseTransform;
        }
    }

    /// <summary>
    /// 创建棍子列表
    /// </summary>
    /// <param name="nodes">需要连接起来的关键点 需要按顺序设置</param>
    /// <returns></returns>
    private List<Bond> GenerateBondsList(PoseLandmarkType[] nodes)
    {
        var bonds = new List<Bond>();

        for (var i = 0; i < nodes.Length - 1; i++)
        {
            bonds.Add(new Bond(
                _nodes[(int)nodes[i]], 
                _nodes[(int)nodes[i + 1]], 
                Scale));
        }

        return bonds;
    }
}