MotionCapture/Assets/MainBehaviour.cs

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

public class MainBehaviour : MonoBehaviour
{
    private readonly List<GameObject> _nodes = new List<GameObject>();
    private readonly List<PoseTransform> _poseTransforms = new List<PoseTransform>();
    private readonly UdpListener _listener = new UdpListener();
    private const float _scale = 0.2f;
    

    // Start is called before the first frame update
    private void Start()
    {
        CreateNodes();
        
        _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;
        }
    }

    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 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;
        }
    }

    //绕X轴旋转
    private Matrix4x4 RotateAxisX(float rot)
    {
        var matrix = new Matrix4x4();
        float cosrot = MathF.Cos(rot);
        float sinrot = MathF.Sin(rot);
            
        matrix.SetRow(0, new Vector4(1,0,0,0));
        matrix.SetRow(1, new Vector4(0,cosrot,-sinrot,0));
        matrix.SetRow(2, new Vector4(0,sinrot,cosrot,0));
        matrix.SetRow(3, new Vector4(0,0,0,1));

        return matrix;
    }
    
    //绕Y轴旋转
    private Matrix4x4 RotateAxisY(float rot)
    {
        var matrix = new Matrix4x4();
        float cosrot = MathF.Cos(rot);
        float sinrot = MathF.Sin(rot);
            
        matrix.SetRow(0, new Vector4(cosrot,0,sinrot,0));
        matrix.SetRow(1, new Vector4(0,1,0,0));
        matrix.SetRow(2, new Vector4(-sinrot,0,cosrot,0));
        matrix.SetRow(3, new Vector4(0,0,0,1));

        return matrix;
    }
    
    //绕Z轴旋转
    private Matrix4x4 RotateAxisZ(float rot)
    {
        var matrix = new Matrix4x4();
        float cosrot = MathF.Cos(rot);
        float sinrot = MathF.Sin(rot);
            
        matrix.SetRow(0, new Vector4(cosrot,-sinrot,0,0));
        matrix.SetRow(1, new Vector4(sinrot,cosrot,0,0));
        matrix.SetRow(2, new Vector4(0,0,1,0));
        matrix.SetRow(3, new Vector4(0,0,0,1));

        return matrix;
    }
}