refactor: 使用struct重构PoseTransform

Assets/ModelBehaviour.cs

@@ -1,39 +1,31 @@
-using System;
-using System.Collections;
 using System.Collections.Generic;
-using System.Linq;
-using System.Text;
 using Models;
 using UnityEngine;
 
 public class ModelBehaviour : MonoBehaviour
 {
-    Animator animator;
+    private Animator _animator;
 
     private readonly UdpListener _listener = new UdpListener();
 
-    private static List<PosTransformator> _posLandmarks = new List<PosTransformator>();
+    private static readonly List<PosTransformator> _posLandmarks = new List<PosTransformator>();
 
-    void Start()
+    private static readonly List<PoseTransform> PoseTransforms = new List<PoseTransform>();
+
+    private void Start()
     {
-        animator = this.GetComponent<Animator>(); // 获取动画控件
+        _animator = GetComponent<Animator>(); // 获取动画控件
 
         TransformatorInit(); //匹配初始化
-        
+        InitPoseTransformList();
+
         _listener.AddHandler(LogLandmarks);
         _listener.AddHandler(RigPoint);
         _listener.Connect(5000);
-
-
-        
-
-
-
-
     }
 
     // Update is called once per frame
-    void Update()
+    private void Update()
     {
 
         
@@ -66,13 +58,16 @@ private static void RigPoint(List<PoseLandmark> landmarks)
         
         foreach (var landmark in landmarks)
         {
-            var temp = _posLandmarks.Find(t=>t.mediaPipeName == landmark.Type.ToString());
-            var sum = new Vector3(0,0,0);
+            PoseTransforms[(int)landmark.Type].CalculateCurrentQuaternion(landmark);
+            
+            
+            // var temp = _posLandmarks.Find(t=>t.mediaPipeName == landmark.Type.ToString());
+            // var sum = new Vector3(0,0,0);
             //var mediatemp = new Vector3(landmark.X, landmark.Y, landmark.Z);
             //temp.mediaPipePos = new Vector3(landmark.X, landmark.Y, landmark.Z);
-            temp.mediaPipePos.x = landmark.X;
-            temp.mediaPipePos.y = landmark.Y;
-            temp.mediaPipePos.z = landmark.Z;
+            //temp.mediaPipePos.x = landmark.X;
+            //temp.mediaPipePos.y = landmark.Y;
+            //temp.mediaPipePos.z = landmark.Z;
             //foreach (var parents in temp.parent)
             //{
             //    if (parents != null)
@@ -92,6 +87,61 @@ private static void RigPoint(List<PoseLandmark> landmarks)
 
     }
 
+    /// <summary>
+    /// 初始化骨骼变化结构体列表
+    /// </summary>
+    private void InitPoseTransformList()
+    {
+        for (var type = 0; type <= (int)PoseLandmarkType.RightFootIndex; type++)
+        {
+            var item = new PoseTransform((PoseLandmarkType)type);
+
+            if (item.UnityName != HumanBodyBones.LastBone)
+            {
+                item.PreviousQuaternion = _animator.GetBoneTransform(item.UnityName).rotation;
+                item.CurrentQuaternion = item.PreviousQuaternion;
+            }
+            
+            PoseTransforms.Add(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(PoseLandmarkType target, PoseLandmarkType parent)
+    {
+        var parents = PoseTransforms[(int)target].Parent;
+        parents.Add(PoseTransforms[(int)parent]);
+    }
+
     private void TransformatorInit()
     {
 
@@ -254,7 +304,7 @@ private void TransformatorInit()
 
         foreach (var temp in transformator)
         {
-            temp.prevQ = animator.GetBoneTransform(temp.unityName).rotation; //获得初始角度
+            temp.prevQ = _animator.GetBoneTransform(temp.unityName).rotation; //获得初始角度
 
             temp.currentQ = temp.prevQ;
 

Assets/Models/PoseTransform.cs

@@ -0,0 +1,108 @@
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Models
+{
+    /// <summary>
+    /// 捕捉骨骼的动作转换
+    /// </summary>
+    public struct PoseTransform
+    {
+        /// <summary>
+        /// MediaPipe中动捕节点标识
+        /// </summary>
+        public readonly PoseLandmarkType MediaPipeName;
+
+        /// <summary>
+        /// Unity中绑定骨骼名称
+        /// </summary>
+        public readonly HumanBodyBones UnityName;
+
+        /// <summary>
+        /// MediaPipe捕捉空间坐标
+        /// </summary>
+        public Vector3 MediaPipePos;
+
+        /// <summary>
+        /// 节点的父节点列表
+        /// </summary>
+        public readonly List<PoseTransform> Parent;
+
+        /// <summary>
+        /// 骨骼节点的初始角度
+        /// </summary>
+        public Quaternion PreviousQuaternion;
+
+        /// <summary>
+        /// 骨骼节点的当前角度
+        /// </summary>
+        public Quaternion CurrentQuaternion;
+
+        public PoseTransform(
+            PoseLandmarkType type
+        )
+        {
+            MediaPipeName = type;
+            UnityName = GetRelatedBone(type);
+            MediaPipePos = new Vector3();
+            Parent = new List<PoseTransform>();
+            PreviousQuaternion = new Quaternion();
+            CurrentQuaternion = new Quaternion();
+        }
+
+        /// <summary>
+        /// 计算当前的旋转四元数
+        /// </summary>
+        /// <param name="landmark"></param>
+        public void CalculateCurrentQuaternion(PoseLandmark landmark)
+        {
+            
+        }
+
+        /// <summary>
+        /// 获得同相关捕捉点关联的骨骼
+        /// </summary>
+        /// <param name="type">捕捉点的种类</param>
+        /// <returns>关联骨骼的种类</returns>
+        private static HumanBodyBones GetRelatedBone(PoseLandmarkType type)
+        {
+            switch (type)
+            {
+                case PoseLandmarkType.LeftHip:
+                    return HumanBodyBones.LeftUpperLeg;
+                case PoseLandmarkType.RightHip:
+                    return HumanBodyBones.RightUpperLeg;
+                case PoseLandmarkType.LeftShoulder:
+                    return HumanBodyBones.LeftUpperArm;
+                case PoseLandmarkType.RightShoulder:
+                    return HumanBodyBones.RightUpperArm;
+                case PoseLandmarkType.Nose:
+                    return HumanBodyBones.Head;
+                case PoseLandmarkType.LeftElbow:
+                    return HumanBodyBones.LeftLowerArm;
+                case PoseLandmarkType.RightElbow:
+                    return HumanBodyBones.RightLowerArm;
+                case PoseLandmarkType.LeftWrist:
+                    return HumanBodyBones.LeftHand;
+                case PoseLandmarkType.RightWrist:
+                    return HumanBodyBones.RightHand;
+                case PoseLandmarkType.LeftKnee:
+                    return HumanBodyBones.LeftLowerLeg;
+                case PoseLandmarkType.RightKnee:
+                    return HumanBodyBones.RightLowerLeg;
+                case PoseLandmarkType.LeftAnkle:
+                    return HumanBodyBones.LeftFoot;
+                case PoseLandmarkType.RightAnkle:
+                    return HumanBodyBones.RightFoot;
+                case PoseLandmarkType.LeftFootIndex:
+                    return HumanBodyBones.LeftToes;
+                case PoseLandmarkType.RightFootIndex:
+                    return HumanBodyBones.RightToes;
+                default:
+                    return HumanBodyBones.LastBone;
+            }
+        }
+        
+        
+    }
+}

Assets/Models/PoseTransform.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 9e38fe43bac14375a4f16690d139411f
+timeCreated: 1676859644