MotionCapture/Assets/ModelBehaviour.cs

using System.Collections.Generic;
using Models;
using UnityEngine;

public class ModelBehaviour : MonoBehaviour
{
    private Animator _animator;

    private readonly UdpListener _listener = new UdpListener();

    //private static readonly List<PosTransformator> _posLandmarks = new List<PosTransformator>();

    private static readonly List<PoseTransform> PoseTransforms = new List<PoseTransform>();

    private void Start()
    {
        _animator = GetComponent<Animator>(); // 获取动画控件

        
        InitPoseTransformList();

        //_listener.AddHandler(LogLandmarks);
        _listener.AddHandler(RigPoint);
        _listener.Connect(5000);
    }

    // Update is called once per frame
    private void Update()
    {


        foreach (var landmark in PoseTransforms)
        {
            if (landmark.UnityName != HumanBodyBones.LastBone)
            {
                
                 _animator.GetBoneTransform(landmark.UnityName).rotation = landmark.CurrentQuaternion;
                 
            }
           

        }


    }

    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 = PoseTransforms[(int)landmark.Type];
            temp.CalculateCurrentQuaternion(landmark);
            PoseTransforms[(int)landmark.Type] = temp;
            //PoseTransforms[(int)landmark.Type].CalculateCurrentQuaternion(landmark);


            // 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!!");
        }

    }

    /// <summary>
    /// 初始化骨骼变化结构体列表
    /// </summary>
    private void InitPoseTransformList()
    {
        for (var type = 0; type <= (int)PoseLandmarkType.RightFootIndex; type++)
        {
            var item = new PoseTransform((PoseLandmarkType)type);

            if (item.UnityName != HumanBodyBones.LastBone)
            {
                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);
    }

    /// <summary>
    /// 给指定的骨骼变化结构体添加父节点
    /// </summary>
    /// <param name="target">需要添加的节点</param>
    /// <param name="parent">添加的父节点</param>
    private void AddParentTransform(PoseLandmarkType target, PoseLandmarkType parent)
    {
        var parents = PoseTransforms[(int)target].Parent;
        parents.Add(PoseTransforms[(int)parent]);
    }

}