rewrite ModelController.cs But may get stuck

Assets/Models/ModelController.cs

@@ -0,0 +1,265 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using Models;
+using UnityEngine;
+
+public class ModelController : MonoBehaviour
+{
+    Animator animator;
+
+    private readonly UdpListener _listener = new UdpListener();
+
+    private static List<PosTransformator> _posLandmarks = new List<PosTransformator>();
+
+    void Start()
+    {
+        animator = this.GetComponent<Animator>(); // 获取动画控件
+
+        TransformatorInit(); //匹配初始化
+        
+        _listener.AddHandler(LogLandmarks);
+        _listener.AddHandler(RigPoint);
+        _listener.Connect(5000);
+
+
+        
+
+
+
+
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+
+        
+        foreach (var landmark in _posLandmarks)
+        {
+            //animator.GetBoneTransform(landmark.unityName).rotation = landmark.currentQ;
+            
+        }
+
+
+    }
+
+    private void OnDisable()
+    {
+        _listener.DisConnect();
+    }
+
+    private static void LogLandmarks(List<PoseLandmark> landmarks)
+    {
+        foreach (var landmark in landmarks)
+        {
+            Debug.Log(landmark.ToString());
+        }
+    }
+
+
+    //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 = _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;
+            //foreach (var parents in temp.parent)
+            //{
+            //    if (parents != null)
+            //   {
+            //       sum += parents.mediaPipePos;
+            //   }
+
+
+            //}
+
+            //var currentPos = sum / temp.parent.Count();
+
+            //temp.currentQ = Quaternion.Euler(temp.mediaPipePos - currentPos);
+
+            //Debug.Log("Here!!");
+        }
+
+    }
+
+    private void TransformatorInit()
+    {
+
+        /*下面的语句的顺序最好别调换，不然可能会发生难以预料的事情*/
+        
+        PosTransformator[] transformator = new PosTransformator[15];
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "LeftHip";
+            temp.unityName = HumanBodyBones.LeftUpperLeg;
+            temp.parent.Add(null);
+            transformator[0] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "RightHip";
+            temp.unityName = HumanBodyBones.RightUpperLeg;
+            temp.parent.Add(null);
+            transformator[1] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "LeftShoulder";
+            temp.unityName = HumanBodyBones.LeftUpperArm;
+            temp.parent.Add(transformator[0]);
+            temp.parent.Add(transformator[1]);
+            transformator[2] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "RightShoulder";
+            temp.unityName = HumanBodyBones.RightUpperArm;
+            temp.parent.Add(transformator[0]);
+            temp.parent.Add(transformator[1]);
+            transformator[3] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "Nose";
+            temp.unityName = HumanBodyBones.Head;
+            temp.parent.Add(transformator[2]);
+            temp.parent.Add(transformator[3]);
+            transformator[4] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "LeftElbow";
+            temp.unityName = HumanBodyBones.LeftLowerArm;
+            temp.parent.Add(transformator[2]);
+            transformator[5] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "RightElbow";
+            temp.unityName = HumanBodyBones.RightLowerArm;
+            temp.parent.Add(transformator[3]);
+            transformator[6] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "LeftWrist";
+            temp.unityName = HumanBodyBones.LeftHand;
+            temp.parent.Add(transformator[5]);
+            transformator[7] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "RightWrist";
+            temp.unityName = HumanBodyBones.RightHand;
+            temp.parent.Add(transformator[6]);
+            transformator[8] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "LeftKnee";
+            temp.unityName = HumanBodyBones.LeftLowerLeg;
+            temp.parent.Add(transformator[0]);
+            transformator[9] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "RightKnee";
+            temp.unityName = HumanBodyBones.RightLowerLeg;
+            temp.parent.Add(transformator[1]);
+            transformator[10] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "LeftAnkle";
+            temp.unityName = HumanBodyBones.LeftFoot;
+            temp.parent.Add(transformator[9]);
+            transformator[11] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "RightAnkle";
+            temp.unityName = HumanBodyBones.RightFoot;
+            temp.parent.Add(transformator[10]);
+            transformator[12] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "LeftFootIndex";
+            temp.unityName = HumanBodyBones.LeftToes;
+            temp.parent.Add(transformator[11]);
+            transformator[13] = temp;
+        }
+
+        {
+            var temp = new PosTransformator();
+            temp.mediaPipeName = "RightFootIndex";
+            temp.unityName = HumanBodyBones.RightToes;
+            temp.parent.Add(transformator[12]);
+            transformator[14] = temp;
+        }
+
+        //Landmarks_Mapping.Add("Nose",HumanBodyBones.Head);                    //0 10
+
+        //Landmarks_Mapping.Add("LeftShoulder",HumanBodyBones.LeftUpperArm);    //11
+
+        //Landmarks_Mapping.Add("RightShoulder",HumanBodyBones.RightUpperArm);  //12
+
+        //Landmarks_Mapping.Add("LeftElbow",HumanBodyBones.LeftLowerArm);       //13
+
+        //Landmarks_Mapping.Add("RightElbow",HumanBodyBones.RightLowerArm);     //14
+
+        //Landmarks_Mapping.Add("LeftWrist",HumanBodyBones.LeftHand);           //15
+
+        //Landmarks_Mapping.Add("RightWrist",HumanBodyBones.RightHand);         //16
+
+        //Landmarks_Mapping.Add("LeftHip",HumanBodyBones.LeftUpperLeg);         //23
+
+        //Landmarks_Mapping.Add("RightHip",HumanBodyBones.RightUpperLeg);       //24
+
+        //Landmarks_Mapping.Add("LeftKnee",HumanBodyBones.LeftLowerLeg);        //25
+
+        //Landmarks_Mapping.Add("RightKnee",HumanBodyBones.RightLowerLeg);      //26
+
+        //Landmarks_Mapping.Add("LeftAnkle",HumanBodyBones.LeftFoot);           //27
+
+        //Landmarks_Mapping.Add("RightAnkle",HumanBodyBones.RightFoot);         //28
+
+        //Landmarks_Mapping.Add("LeftFootIndex",HumanBodyBones.LeftToes);        //31
+
+        //Landmarks_Mapping.Add("RightFootIndex",HumanBodyBones.RightToes);      //32
+
+        foreach (var temp in transformator)
+        {
+            temp.prevQ = animator.GetBoneTransform(temp.unityName).rotation; //获得初始角度
+
+            temp.currentQ = temp.prevQ;
+
+            _posLandmarks.Add(temp);
+        }
+
+    }
+}

Assets/Models/ModelController.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a2b30b6aa6e08c4468a02e1fcabcd485
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Models/PosTransformator.cs

@@ -0,0 +1,26 @@
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Models
+{
+    public class PosTransformator
+    {
+        public string mediaPipeName;
+        //动捕手机端关节点标识
+        
+        public HumanBodyBones unityName;
+        //unity内部avatar系统关节点标识
+
+        public Vector3 mediaPipePos = new Vector3(0,0,0);
+        //动捕手机端位置数据
+
+        public List<PosTransformator> parent = new List<PosTransformator>();
+        //该骨骼节点的父关节点列表（因为传上来的数据没有脖子和骨盆节点）
+
+        public Quaternion prevQ;
+        //该骨骼节点的初始角度
+        
+        public Quaternion currentQ;
+        //该骨骼节点的当前角度
+    }
+} 

Assets/Models/PosTransformator.cs.meta

@@ -0,0 +1,11 @@
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+guid: dfbef38b30e17e44b831e51debbd5087
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
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Assets/Scenes/SampleScene.unity

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-  m_Enabled: 1
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@@ -234,7 +234,11 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+<<<<<<< Updated upstream
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+=======
+--- !u!1001 &404755305
+>>>>>>> Stashed changes
 PrefabInstance:
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@@ -255,7 +259,11 @@ PrefabInstance:
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       propertyPath: m_LocalPosition.z
+<<<<<<< Updated upstream
       value: 5
+=======
+      value: 0
+>>>>>>> Stashed changes
       objectReference: {fileID: 0}
     - target: {fileID: -8679921383154817045, guid: c5470c9a1aff50643b6a9ff0bab4297d, type: 3}
       propertyPath: m_LocalRotation.w
@@ -285,27 +293,40 @@ PrefabInstance:
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       objectReference: {fileID: 0}
+<<<<<<< Updated upstream
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       propertyPath: m_IsActive
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       objectReference: {fileID: 0}
+=======
+>>>>>>> Stashed changes
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       objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: c5470c9a1aff50643b6a9ff0bab4297d, type: 3}
+<<<<<<< Updated upstream
 --- !u!1 &437000000 stripped
 GameObject:
   m_CorrespondingSourceObject: {fileID: 919132149155446097, guid: c5470c9a1aff50643b6a9ff0bab4297d, type: 3}
   m_PrefabInstance: {fileID: 421937415}
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+=======
+--- !u!1 &404755306 stripped
+GameObject:
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+  m_PrefabInstance: {fileID: 404755305}
+  m_PrefabAsset: {fileID: 0}
+--- !u!114 &404755307
+>>>>>>> Stashed changes
 MonoBehaviour:
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   m_PrefabAsset: {fileID: 0}
+<<<<<<< Updated upstream
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+>>>>>>> Stashed changes
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+<<<<<<< Updated upstream
   m_LocalPosition: {x: 0, y: 9.29, z: 20}
+=======
+  m_LocalPosition: {x: 0, y: 7, z: 15}
+>>>>>>> Stashed changes
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