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add:增加了子关节与父关节的计算方法

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This commit is contained in:
Ichirinko 2023-03-25 11:43:42 +08:00
parent b45aee859b
commit 4cd3bad951
1 changed files with 50 additions and 12 deletions
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60
Assets/Behaviours/BoneBehaviour.cs
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@ -1,3 +1,4 @@
using System;
using System.Collections.Generic;
using Models;
using UnityEngine;
@ -27,18 +28,9 @@ private void Start()
private void Update()
{
var frontLeft = Vector3.Cross(
_transforms[PoseLandmarkType.RightHip] - _transforms[PoseLandmarkType.LeftHip],
_transforms[PoseLandmarkType.RightShoulder] - _transforms[PoseLandmarkType.LeftHip]);
HipUpdate();
var frontRight = Vector3.Cross(
_transforms[PoseLandmarkType.LeftShoulder] - _transforms[PoseLandmarkType.RightHip],
_transforms[PoseLandmarkType.LeftHip] - _transforms[PoseLandmarkType.RightHip]);
var front = frontLeft + frontRight;
front.Normalize();
_animator.GetBoneTransform(HumanBodyBones.Hips).rotation = Quaternion.LookRotation(front);
RShoulderUpdate();
}
private void OnDisable()
@ -53,5 +45,51 @@ private void OnReceive(List<PoseLandmark> landmarks)
PoseTransform.UpdatePosition(ref _transforms[landmark.Type.Value], landmark);
}
}
private void HipUpdate()
{
var frontLeft = Vector3.Cross(
_transforms[PoseLandmarkType.RightHip] - _transforms[PoseLandmarkType.LeftHip],
_transforms[PoseLandmarkType.RightShoulder] - _transforms[PoseLandmarkType.LeftHip]);
var frontRight = Vector3.Cross(
_transforms[PoseLandmarkType.LeftShoulder] - _transforms[PoseLandmarkType.RightHip],
_transforms[PoseLandmarkType.LeftHip] - _transforms[PoseLandmarkType.RightHip]);
var front = frontLeft + frontRight;
front.Normalize();
_animator.GetBoneTransform(HumanBodyBones.Hips).rotation = Quaternion.LookRotation(front);
}
private void RShoulderUpdate()
{
var relativeRot = _transforms[PoseLandmarkType.RightElbow] - _transforms[PoseLandmarkType.RightShoulder];
relativeRot.Normalize();
var hipRot = _animator.GetBoneTransform(HumanBodyBones.Hips).rotation;
hipRot.Normalize();
var interal = Quaternion.FromToRotation(relativeRot, hipRot.eulerAngles);
interal.Normalize();
_animator.GetBoneTransform(HumanBodyBones.RightUpperArm).rotation = interal; //Quaternion.LookRotation(relativeRot + hipRot);
}
//计算向量a到向量b的旋转角
//参数 a：起始向量; b：目标向量; n：旋转方向 (0, 1, 0)顺时针 (0, -1, 0)逆时针
private static float SignedAngleBetween(Vector3 a, Vector3 b, Vector3 n)
{
var angle = Vector3.Angle(a,b);
var sign = Mathf.Sign(Vector3.Dot(n,Vector3.Cross(a,b)));
var signedAngle = angle * sign;
return (signedAngle <= 0) ? 360 + signedAngle : signedAngle;
}
}
}