MotionCapture/Assets/Behaviours/BoneBehaviour.cs

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

namespace Behaviours
{
    public class BoneBehaviour : MonoBehaviour
    {
        private readonly UdpListener _listener = new UdpListener();
        private Dictionary<HumanBodyBones, RotationNode> _rotationNodes;

        private Animator _animator;

        private void Start()
        {
            _animator = GetComponent<Animator>();
            CreateRotationNodes();

            _listener.AddHandler(OnReceive);
            _listener.Connect(5000);
        }

        private void Update()
        {
            foreach (var node in _rotationNodes)
            {
                _animator.GetBoneTransform(node.Key).rotation = node.Value.Rotation;
            }
        }

        

        private void OnDisable()
        {
            _listener.DisConnect();
        }

        private void OnReceive(List<PoseLandmark> landmarks)
        {
            // 计算腰部
            var frontLeft = Vector3.Cross(
                landmarks[PoseLandmarkType.RightHip].Vector3 - landmarks[PoseLandmarkType.LeftHip].Vector3,
                landmarks[PoseLandmarkType.RightShoulder].Vector3 - landmarks[PoseLandmarkType.LeftHip].Vector3);

            var frontRight = Vector3.Cross(
                landmarks[PoseLandmarkType.LeftShoulder].Vector3 - landmarks[PoseLandmarkType.RightHip].Vector3,
                landmarks[PoseLandmarkType.LeftHip].Vector3 - landmarks[PoseLandmarkType.LeftHip].Vector3);

            var front = frontLeft + frontRight;
            front.Normalize();

            var oldRotation = _rotationNodes[HumanBodyBones.Hips];
            _rotationNodes[HumanBodyBones.Hips] = new RotationNode(
                oldRotation.UnityName,
                oldRotation.Rotation,
                Quaternion.LookRotation(front));
        }

        private void CreateRotationNodes()
        {
            _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));
            }
        }
    }
}