Merge branch 'feature-ball' into dev

# Conflicts:
#	Assets/ModelBehaviour.cs
#	Assets/Models/PoseTransform.cs

Assets/MainBehaviour.cs

@@ -0,0 +1,179 @@
+using System.Collections.Generic;
+using Models;
+using UnityEngine;
+
+public class MainBehaviour : MonoBehaviour
+{
+    private readonly GameObject[] _nodes = new GameObject[(int)PoseLandmarkType.MaxValue];
+    private readonly List<Bond> _bonds = new List<Bond>();
+    private readonly PoseTransform[] _poseTransforms = new PoseTransform[(int)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()
+    {
+        PoseTransform.AverageLength = 3;
+
+        CreateNodes();
+        CreateBonds();
+
+        _listener.AddHandler(OnReceive);
+        _listener.Connect(5000);
+    }
+
+    // Update is called once per frame
+    private void Update()
+    {
+        for (var i = 0; i < (int)PoseLandmarkType.MaxValue; i++)
+        {
+            _nodes[i].transform.position = _poseTransforms[i].AveragePos * -5;
+        }
+
+        foreach (var bond in _bonds)
+        {
+            bond.UpdateBond();
+        }
+    }
+
+    private void OnDisable()
+    {
+        _listener.DisConnect();
+    }
+    
+    private void OnReceive(List<PoseLandmark> landmarks)
+    {
+        foreach (var landmark in landmarks)
+        {
+            PoseTransform.UpdatePosition(ref _poseTransforms[(int)landmark.Type], landmark);
+        }
+    }
+
+    private void CreateNodes()
+    {
+        for (var i = 0; i < (int)PoseLandmarkType.MaxValue; 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[i] = ball;
+            _poseTransforms[i] = new PoseTransform((PoseLandmarkType)i);
+        }
+    }
+
+    private void CreateBonds()
+    {
+        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 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 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));
+        
+        // 最后手动添加身体上的两条横线
+        _bonds.Add(new Bond(
+            _nodes[(int)PoseLandmarkType.LeftShoulder],
+            _nodes[(int)PoseLandmarkType.RightShoulder],
+            Scale));
+        _bonds.Add(new Bond(
+            _nodes[(int)PoseLandmarkType.LeftHip],
+            _nodes[(int)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(PoseLandmarkType[] nodes)
+    {
+        var bonds = new List<Bond>();
+
+        for (var i = 0; i < nodes.Length - 1; i++)
+        {
+            bonds.Add(new Bond(
+                _nodes[(int)nodes[i]], 
+                _nodes[(int)nodes[i + 1]], 
+                Scale));
+        }
+
+        return bonds;
+    }
+}

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Assets/ModelBehaviour.cs

@@ -8,7 +8,7 @@ public class ModelBehaviour : MonoBehaviour
 
     private readonly UdpListener _listener = new UdpListener();
 
-    //private static readonly List<PosTransformator> _posLandmarks = new List<PosTransformator>();
+    private static readonly List<PosTransformator> _posLandmarks = new List<PosTransformator>();
 
     private static readonly List<PoseTransform> PoseTransforms = new List<PoseTransform>();
 
@@ -16,10 +16,10 @@ private void Start()
     {
         _animator = GetComponent<Animator>(); // 获取动画控件
 
-        
+        TransformatorInit(); //匹配初始化
         InitPoseTransformList();
 
-        //_listener.AddHandler(LogLandmarks);
+        _listener.AddHandler(LogLandmarks);
         _listener.AddHandler(RigPoint);
         _listener.Connect(5000);
     }
@@ -61,7 +61,7 @@ private static void LogLandmarks(List<PoseLandmark> landmarks)
     //获取传上来的数据点坐标转换成四元数的回调函数
     private static void RigPoint(List<PoseLandmark> landmarks)
     {
-
+        
         foreach (var landmark in landmarks)
         {
             var temp = PoseTransforms[(int)landmark.Type];
@@ -110,32 +110,32 @@ private void InitPoseTransformList()
                 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);
     }

Assets/Models/Bond.cs

@@ -0,0 +1,44 @@
+using UnityEngine;
+
+namespace Models
+{
+    /// <summary>
+    /// 捕捉点之间的连接线
+    /// </summary>
+    public class Bond
+    {
+        protected readonly GameObject Start;
+        protected readonly GameObject End;
+        private readonly GameObject _bond;
+        
+        public Bond(GameObject start,GameObject end,float scale)
+        {
+            Start = start;
+            End = end;
+            
+            _bond = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
+            
+            _bond.transform.localScale = new Vector3(scale/2, scale/2, scale/2);
+
+            //这里可以设置材质，具体自己设置
+            _bond.GetComponent<Renderer>().material.color = Color.cyan;
+        }
+        
+        
+        public void UpdateBond()
+        {
+            var startPos = Start.transform.position;
+            var endPos = End.transform.position;
+            var rightPosition = (startPos + endPos) / 2;
+            var rightRotation = endPos - startPos;
+            var halfLength = Vector3.Distance(startPos, endPos) / 2;
+            var thickness = 0.1f;//线的粗细
+ 
+            //创建圆柱体
+            //bond.gameObject.transform.parent = transform;
+            _bond.transform.position = rightPosition;   
+            _bond.transform.rotation = Quaternion.FromToRotation(Vector3.up, rightRotation);
+            _bond.transform.localScale = new Vector3(thickness, halfLength, thickness);
+        }
+    }
+}

Assets/Models/Bond.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 94a8f8c83e58421d9447173d38482d74
+timeCreated: 1677230676

Assets/Models/PoseLandmarkType.cs

@@ -35,6 +35,7 @@ public enum PoseLandmarkType
         LeftHeel,
         RightHeel,
         LeftFootIndex,
-        RightFootIndex
+        RightFootIndex,
+        MaxValue
     }
 }

Assets/Models/PoseTransform.cs

@@ -20,9 +20,14 @@ public struct PoseTransform
         public readonly HumanBodyBones UnityName;
 
         /// <summary>
-        /// MediaPipe捕捉空间坐标
+        /// 取平均的长度
         /// </summary>
-        public  Vector3  MediaPipePos;
+        public static int AverageLength;
+
+        /// <summary>
+        /// 取平均之后的结果
+        /// </summary>
+        public Vector3 AveragePos;
 
         /// <summary>
         /// 节点的父节点列表
@@ -39,23 +44,50 @@ public struct PoseTransform
         /// </summary>
         public Quaternion CurrentQuaternion;
 
+        private int _count;
+        private readonly Queue<PoseLandmark> _landmarkQueue;
+
         public PoseTransform(
-            PoseLandmarkType type
+            PoseLandmarkType type,
+            int averageLength = 5
         )
         {
             MediaPipeName = type;
             UnityName = GetRelatedBone(type);
-            MediaPipePos = new Vector3();
+            AveragePos = new Vector3();
             Parent = new List<PoseTransform>();
             PreviousQuaternion = new Quaternion();
             CurrentQuaternion = new Quaternion();
+            AverageLength = averageLength;
+            
+            _count = 0;
+            _landmarkQueue = new Queue<PoseLandmark>();
         }
 
-        /// <summary>
-        /// 计算当前的旋转四元数
-        /// </summary>
-        /// <param name="landmark"></param>
-        public void CalculateCurrentQuaternion(PoseLandmark landmark)
+        public static void UpdatePosition(ref PoseTransform pose, PoseLandmark landmark)
+        {
+            if (pose._count < AverageLength)
+            {
+                pose._landmarkQueue.Enqueue(landmark);
+                pose._count++;
+            }
+            else
+            {
+                pose._landmarkQueue.Dequeue();
+                pose._landmarkQueue.Enqueue(landmark);
+
+                var sum = new Vector3();
+
+                foreach (var poseLandmark in pose._landmarkQueue)
+                {
+                    sum += new Vector3(poseLandmark.X, poseLandmark.Y, poseLandmark.Z);
+                }
+
+                pose.AveragePos = sum / AverageLength;
+            }
+        }
+
+        public static void CalculateRotation(PoseTransform poseTransform)
         {
             
             //var temp = _posLandmarks.Find(t=>t.mediaPipeName == landmark.Type.ToString());
@@ -134,51 +166,5 @@ private static HumanBodyBones GetRelatedBone(PoseLandmarkType type)
         }
         
         
-        //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;
-        }
-        
-        
     }
 }

Assets/Models/VirtualSkeleton.cs

@@ -0,0 +1,35 @@
+using UnityEngine;
+
+namespace Models
+{
+    public class VirtualSkeleton : Bond
+    {
+        private readonly GameObject _virtualSkeleton;
+
+        public VirtualSkeleton(GameObject start,GameObject end,float scale) : base(start,end,scale)
+        {
+            _virtualSkeleton = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
+            
+            _virtualSkeleton.transform.localScale = new Vector3(scale/2, scale/2, scale/2);
+            
+            _virtualSkeleton.GetComponent<Renderer>().material.color = Color.white;
+        }
+
+        /// <summary>
+        /// 覆盖基类的更新方法
+        /// </summary>
+        public new void UpdateBond()
+        {
+            var startPos = Start.transform.position;
+            var endPos = End.transform.position;
+
+            var rightPosition = (startPos + endPos) / 2;
+            var rightRotation = endPos - startPos;
+            var lThickness = 0.2f;
+
+            _virtualSkeleton.transform.position = rightPosition;
+            _virtualSkeleton.transform.rotation = Quaternion.FromToRotation(Vector3.up, rightRotation);
+            _virtualSkeleton.transform.localScale = new Vector3(lThickness, lThickness, lThickness);
+        }
+    }
+}

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Assets/Scenes/BallScene.unity.meta

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Assets/Utils/RotateUtils.cs

@@ -0,0 +1,67 @@
+using System;
+using UnityEngine;
+
+namespace Utils
+{
+    /// <summary>
+    /// 旋转工具类
+    /// </summary>
+    public static class RotateUtils
+    {
+        private static Matrix4x4 _matrix;
+
+        /// <summary>
+        /// 获得绕X轴旋转矩阵
+        /// </summary>
+        /// <param name="degree">旋转的角度</param>
+        /// <returns></returns>
+        public static Matrix4x4 RotateAxisX(float degree)
+        {
+            var sin = MathF.Sin(degree);
+            var cos = MathF.Cos(degree);
+            
+            _matrix.SetRow(0 ,new Vector4(1,0,0,0));
+            _matrix.SetRow(1, new Vector4(0, cos, -sin, 0));
+            _matrix.SetRow(2, new Vector4(0, sin, cos, 0));
+            _matrix.SetRow(3, new Vector4(0, 0, 0, 1));
+
+            return _matrix;
+        }
+
+        /// <summary>
+        /// 获得绕Y轴旋转矩阵
+        /// </summary>
+        /// <param name="degree">旋转的角度</param>
+        /// <returns></returns>
+        public static Matrix4x4 RotateAxisY(float degree)
+        {
+            var sin = MathF.Sin(degree);
+            var cos = MathF.Cos(degree);
+            
+            _matrix.SetRow(0, new Vector4(cos, 0, sin, 0));
+            _matrix.SetRow(1, new Vector4(0, 1, 0, 1));
+            _matrix.SetRow(2, new Vector4(-sin, 0, cos, 0));
+            _matrix.SetRow(3, new Vector4(0, 0, 0, 1));
+
+            return _matrix;
+        }
+
+        /// <summary>
+        /// 获得绕Z轴旋转矩阵
+        /// </summary>
+        /// <param name="degree">旋转的角度</param>
+        /// <returns></returns>
+        public static Matrix4x4 RotateAxisZ(float degree)
+        {
+            var sin = MathF.Sin(degree);
+            var cos = MathF.Cos(degree);
+            
+            _matrix.SetRow(0, new Vector4(cos, -sin, 0, 0));
+            _matrix.SetRow(1, new Vector4(sin, cos, 0, 0));
+            _matrix.SetRow(2, new Vector4(0, 0, 1, 0));
+            _matrix.SetRow(3, new Vector4(0, 0, 0, 1));
+
+            return _matrix;
+        }
+    }
+}

Assets/Utils/RotateUtils.cs.meta

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+guid: d748c6669d714e65a5ca9164c5798583
+timeCreated: 1677319275