feature: 船新的基于过程的动作绑定

Assets/Behaviours/BallStickBehaviour.cs

@@ -3,7 +3,9 @@
 using UnityEngine;
 using Utils.PoseTransformHandlers;
 
-public class MainBehaviour : MonoBehaviour
+namespace Behaviours
+{
+    public class BallStickBehaviour : MonoBehaviour
     {
         private readonly GameObject[] _nodes = new GameObject[PoseLandmarkType.MaxValue];
         private readonly List<Bond> _bonds = new List<Bond>();
@@ -178,3 +180,4 @@ private List<Bond> GenerateBondsList(int[] nodes)
             return bonds;
         }
     }
+}

Assets/Behaviours/BoneBehaviour.cs

@@ -1,26 +1,20 @@
-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);
@@ -28,10 +22,13 @@ private void Start()
 
         private void Update()
         {
-            HipUpdate();
+            foreach (var node in _rotationNodes)
-            
+            {
-            RShoulderUpdate();
+                _animator.GetBoneTransform(node.Key).rotation = node.Value.Rotation;
             }
+        }
+
+        
 
         private void OnDisable()
         {
@@ -40,51 +37,47 @@ private void OnDisable()
 
         private void OnReceive(List<PoseLandmark> landmarks)
         {
-            foreach (var landmark in landmarks)
+            // 计算腰部
-            {
-                PoseTransform.UpdatePosition(ref _transforms[landmark.Type.Value], landmark);
-            }
-        }
-
-
-        private void HipUpdate()
-        {
             var frontLeft = Vector3.Cross(
-                _transforms[PoseLandmarkType.RightHip] - _transforms[PoseLandmarkType.LeftHip],
+                landmarks[PoseLandmarkType.RightHip].Vector3 - landmarks[PoseLandmarkType.LeftHip].Vector3,
-                _transforms[PoseLandmarkType.RightShoulder] - _transforms[PoseLandmarkType.LeftHip]);
+                landmarks[PoseLandmarkType.RightShoulder].Vector3 - landmarks[PoseLandmarkType.LeftHip].Vector3);
 
             var frontRight = Vector3.Cross(
-                _transforms[PoseLandmarkType.LeftShoulder] - _transforms[PoseLandmarkType.RightHip],
+                landmarks[PoseLandmarkType.LeftShoulder].Vector3 - landmarks[PoseLandmarkType.RightHip].Vector3,
-                _transforms[PoseLandmarkType.LeftHip] - _transforms[PoseLandmarkType.RightHip]);
+                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()
+        private void CreateRotationNodes()
         {
-            var direction = _transforms[PoseLandmarkType.RightElbow] 
+            _rotationNodes = new Dictionary<HumanBodyBones, RotationNode>();
-                            - _transforms[PoseLandmarkType.RightShoulder];
-            var absolutelyRotation = Quaternion.LookRotation(direction);
 
-            _animator.GetBoneTransform(HumanBodyBones.RightUpperArm).rotation
+            var bonesArray = new[]
-                = 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)
             {
-            var angle = Vector3.Angle(a,b);
+                HumanBodyBones.Hips,
-            var sign = Mathf.Sign(Vector3.Dot(n,Vector3.Cross(a,b)));
+                HumanBodyBones.LeftUpperArm,
-            var signedAngle = angle * sign;
+                HumanBodyBones.LeftLowerArm,
-            return (signedAngle <= 0) ? 360 + signedAngle : signedAngle;
+                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));
+            }
         }
     }
-    
-    
-   
 }

Assets/Models/PoseLandmark.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Collections.Generic;
 using System.Text;
+using UnityEngine;
 
 namespace Models
 {
@@ -39,6 +40,8 @@ public class PoseLandmark
         /// </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]

Assets/Models/RotationNode.cs

@@ -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);
+        }
+    }
+}

Assets/Models/RotationNode.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 87e238cb51f34339a39945af13f43248
+timeCreated: 1680090845

Assets/Utils/PoseTransformHandlers/ZAxisHandler.cs

@@ -9,7 +9,8 @@ public class ZAxisHandler : IPoseTransformHandler
         
         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()