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feature: 船新的基于过程的动作绑定

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This commit is contained in:
jackfiled
2023-03-29 22:58:07 +08:00
parent 479e64907f
commit 77bf523001
6 changed files with 226 additions and 194 deletions
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295
Assets/Behaviours/BallStickBehaviour.cs
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@@ -3,178 +3,181 @@ using Models;
using UnityEngine;
using Utils.PoseTransformHandlers;
public class MainBehaviour : MonoBehaviour
namespace Behaviours
{
private readonly GameObject[] _nodes = new GameObject[PoseLandmarkType.MaxValue];
private readonly List<Bond> _bonds = new List<Bond>();
private readonly PoseTransform[] _poseTransforms = new PoseTransform[PoseLandmarkType.MaxValue];
private readonly UdpListener _listener = new UdpListener();
private const float Scale = 0.2f;
// Start is called before the first frame update
private void Start()
public class BallStickBehaviour : MonoBehaviour
{
PoseTransform.AverageLength = 3;
private readonly GameObject[] _nodes = new GameObject[PoseLandmarkType.MaxValue];
private readonly List<Bond> _bonds = new List<Bond>();
private readonly PoseTransform[] _poseTransforms = new PoseTransform[PoseLandmarkType.MaxValue];
private readonly UdpListener _listener = new UdpListener();
private const float Scale = 0.2f;
CreateNodes();
CreateBonds();
_listener.AddHandler(OnReceive);
_listener.Connect(5000);
}
// Update is called once per frame
private void Update()
{
for (var i = 0; i < PoseLandmarkType.MaxValue; i++)
// Start is called before the first frame update
private void Start()
{
_nodes[i].transform.position = _poseTransforms[i].ResultPosition * -5;
PoseTransform.AverageLength = 3;
CreateNodes();
CreateBonds();
_listener.AddHandler(OnReceive);
_listener.Connect(5000);
}
foreach (var bond in _bonds)
// Update is called once per frame
private void Update()
{
bond.UpdateBond();
}
}
for (var i = 0; i < PoseLandmarkType.MaxValue; i++)
{
_nodes[i].transform.position = _poseTransforms[i].ResultPosition * -5;
}
private void OnDisable()
{
_listener.DisConnect();
}
foreach (var bond in _bonds)
{
bond.UpdateBond();
}
}
private void OnDisable()
{
_listener.DisConnect();
}
private void OnReceive(List<PoseLandmark> landmarks)
{
foreach (var landmark in landmarks)
private void OnReceive(List<PoseLandmark> landmarks)
{
PoseTransform.UpdatePosition(ref _poseTransforms[landmark.Type.Value], landmark);
foreach (var landmark in landmarks)
{
PoseTransform.UpdatePosition(ref _poseTransforms[landmark.Type.Value], landmark);
}
}
}
private void CreateNodes()
{
for (var i = 0; i < PoseLandmarkType.MaxValue; i++)
private void CreateNodes()
{
var ball = GameObject.CreatePrimitive(PrimitiveType.Sphere);
ball.transform.localScale = new Vector3(Scale, Scale, Scale);
if (i <= 10)
for (var i = 0; i < PoseLandmarkType.MaxValue; i++)
{
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
}
var ball = GameObject.CreatePrimitive(PrimitiveType.Sphere);
_nodes[i] = ball;
_poseTransforms[i] = new PoseTransform(i, new AverageHandler());
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[i] = ball;
_poseTransforms[i] = new PoseTransform(i, new AverageHandler());
}
}
}
private void CreateBonds()
{
var headBonds = new[]
private void CreateBonds()
{
PoseLandmarkType.RightEar,
PoseLandmarkType.RightEyeOuter,
PoseLandmarkType.RightEye,
PoseLandmarkType.RightEyeInner,
PoseLandmarkType.Nose,
PoseLandmarkType.LeftEyeInner,
PoseLandmarkType.LeftEye,
PoseLandmarkType.LeftEyeOuter,
PoseLandmarkType.LeftEar
};
_bonds.AddRange(GenerateBondsList(headBonds));
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 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 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 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 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));
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[PoseLandmarkType.LeftShoulder],
_nodes[PoseLandmarkType.RightShoulder],
Scale));
_bonds.Add(new Bond(
_nodes[PoseLandmarkType.LeftHip],
_nodes[PoseLandmarkType.RightHip],
Scale));
}
/// <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(int[] nodes)
{
var bonds = new List<Bond>();
for (var i = 0; i < nodes.Length - 1; i++)
{
bonds.Add(new Bond(
_nodes[nodes[i]],
_nodes[nodes[i + 1]],
// 最后手动添加身体上的两条横线
_bonds.Add(new Bond(
_nodes[PoseLandmarkType.LeftShoulder],
_nodes[PoseLandmarkType.RightShoulder],
Scale));
_bonds.Add(new Bond(
_nodes[PoseLandmarkType.LeftHip],
_nodes[PoseLandmarkType.RightHip],
Scale));
}
return bonds;
/// <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(int[] nodes)
{
var bonds = new List<Bond>();
for (var i = 0; i < nodes.Length - 1; i++)
{
bonds.Add(new Bond(
_nodes[nodes[i]],
_nodes[nodes[i + 1]],
Scale));
}
return bonds;
}
}
}

87
Assets/Behaviours/BoneBehaviour.cs
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@@ -1,38 +1,35 @@
using System;
using System.Collections.Generic;
using Models;
using UnityEngine;
using Utils.PoseTransformHandlers;
namespace Behaviours
{
public class BoneBehaviour : MonoBehaviour
{
private readonly UdpListener _listener = new UdpListener();
private readonly PoseTransform[] _transforms = new PoseTransform[PoseLandmarkType.MaxValue];
private Dictionary<HumanBodyBones, RotationNode> _rotationNodes;
private Animator _animator;
private void Start()
{
_animator = GetComponent<Animator>();
CreateRotationNodes();
for (var i = 0; i < PoseLandmarkType.MaxValue; i++)
{
_transforms[i] = new PoseTransform(i, new ZAxisHandler());
}
_listener.AddHandler(OnReceive);
_listener.Connect(5000);
}
private void Update()
{
HipUpdate();
RShoulderUpdate();
foreach (var node in _rotationNodes)
{
_animator.GetBoneTransform(node.Key).rotation = node.Value.Rotation;
}
}
private void OnDisable()
{
_listener.DisConnect();
@@ -40,51 +37,47 @@ namespace Behaviours
private void OnReceive(List<PoseLandmark> landmarks)
{
foreach (var landmark in landmarks)
{
PoseTransform.UpdatePosition(ref _transforms[landmark.Type.Value], landmark);
}
}
private void HipUpdate()
{
// 计算腰部
var frontLeft = Vector3.Cross(
_transforms[PoseLandmarkType.RightHip] - _transforms[PoseLandmarkType.LeftHip],
_transforms[PoseLandmarkType.RightShoulder] - _transforms[PoseLandmarkType.LeftHip]);
landmarks[PoseLandmarkType.RightHip].Vector3 - landmarks[PoseLandmarkType.LeftHip].Vector3,
landmarks[PoseLandmarkType.RightShoulder].Vector3 - landmarks[PoseLandmarkType.LeftHip].Vector3);
var frontRight = Vector3.Cross(
_transforms[PoseLandmarkType.LeftShoulder] - _transforms[PoseLandmarkType.RightHip],
_transforms[PoseLandmarkType.LeftHip] - _transforms[PoseLandmarkType.RightHip]);
landmarks[PoseLandmarkType.LeftShoulder].Vector3 - landmarks[PoseLandmarkType.RightHip].Vector3,
landmarks[PoseLandmarkType.LeftHip].Vector3 - landmarks[PoseLandmarkType.LeftHip].Vector3);
var front = frontLeft + frontRight;
front.Normalize();
_animator.GetBoneTransform(HumanBodyBones.Hips).rotation = Quaternion.LookRotation(front);
var oldRotation = _rotationNodes[HumanBodyBones.Hips];
_rotationNodes[HumanBodyBones.Hips] = new RotationNode(
oldRotation.UnityName,
oldRotation.Rotation,
Quaternion.LookRotation(front));
}
private void RShoulderUpdate()
{
var direction = _transforms[PoseLandmarkType.RightElbow]
- _transforms[PoseLandmarkType.RightShoulder];
var absolutelyRotation = Quaternion.LookRotation(direction);
_animator.GetBoneTransform(HumanBodyBones.RightUpperArm).rotation
= absolutelyRotation * Quaternion.Inverse(_animator.GetBoneTransform(HumanBodyBones.Hips).rotation);
}
//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)
private void CreateRotationNodes()
{
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;
_rotationNodes = new Dictionary<HumanBodyBones, RotationNode>();
var bonesArray = new[]
{
HumanBodyBones.Hips,
HumanBodyBones.LeftUpperArm,
HumanBodyBones.LeftLowerArm,
HumanBodyBones.RightUpperArm,
HumanBodyBones.RightLowerArm,
HumanBodyBones.LeftUpperLeg,
HumanBodyBones.LeftLowerLeg,
HumanBodyBones.RightUpperLeg,
HumanBodyBones.RightLowerLeg
};
foreach (var bone in bonesArray)
{
var rotation = _animator.GetBoneTransform(bone).rotation;
_rotationNodes.Add(bone, new RotationNode(bone, rotation, rotation));
}
}
}
}

3
Assets/Models/PoseLandmark.cs
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@@ -1,6 +1,7 @@
using System;
using System.Collections.Generic;
using System.Text;
using UnityEngine;
namespace Models
{
@@ -39,6 +40,8 @@ namespace Models
/// </summary>
public float Z { get; }
public Vector3 Vector3 => new Vector3(X, Y, Z);
/// <summary>
/// 该坐标点估计的可见性
/// [0,1]

29
Assets/Models/RotationNode.cs Normal file
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@@ -0,0 +1,29 @@
using UnityEngine;
namespace Models
{
public struct RotationNode
{
public HumanBodyBones UnityName;
public Quaternion PreviousRotation;
public Quaternion Rotation;
public Quaternion CalculateRotate => PreviousRotation * Quaternion.Inverse(PreviousRotation);
public RotationNode(HumanBodyBones humanBodyBone, Quaternion previousRotation, Quaternion rotation)
{
UnityName = humanBodyBone;
PreviousRotation = previousRotation;
Rotation = rotation;
}
public RotationNode(RotationNode node, PoseLandmark begin, PoseLandmark end)
{
UnityName = node.UnityName;
PreviousRotation = node.Rotation;
var forward = new Vector3(end.X - begin.X, end.Y - begin.Y, end.Z - begin.Z);
Rotation = Quaternion.LookRotation(forward);
}
}
}

3
Assets/Models/RotationNode.cs.meta Normal file
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@@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: 87e238cb51f34339a39945af13f43248
timeCreated: 1680090845

3
Assets/Utils/PoseTransformHandlers/ZAxisHandler.cs
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@@ -9,7 +9,8 @@ namespace Utils.PoseTransformHandlers
public void ReceivePoseLandmark(PoseLandmark landmark)
{
_result = new Vector3(landmark.X, landmark.Y, landmark.Z * 0.5f);
_result = new Vector3(landmark.X, landmark.Y, landmark.Z * 0.2f);
_result = _result * -1;
}
public Vector3 GetResultPosition()