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添加了旋转方法

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This commit is contained in:
Ichirinko
2023-02-25 11:19:47 +08:00
parent 2d19970492
commit 3685ecee08
4 changed files with 121 additions and 195 deletions
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6
Assets/Models/PosTransformator.cs
View File

@@ -1,4 +1,5 @@
using System.Collections.Generic;
/*
using System.Collections.Generic;
using UnityEngine;
namespace Models
@@ -23,4 +24,5 @@ namespace Models
public Quaternion currentQ;
//该骨骼节点的当前角度
}
}
}
*/

78
Assets/Models/PoseTransform.cs
View File

@@ -1,5 +1,6 @@
using System.Collections.Generic;
using UnityEngine;
using System;
namespace Models
{
@@ -21,7 +22,7 @@ namespace Models
/// <summary>
/// MediaPipe捕捉空间坐标
/// </summary>
public Vector3 MediaPipePos;
public Vector3 MediaPipePos;
/// <summary>
/// 节点的父节点列表
@@ -57,6 +58,35 @@ namespace Models
public void CalculateCurrentQuaternion(PoseLandmark landmark)
{
//var temp = _posLandmarks.Find(t=>t.mediaPipeName == landmark.Type.ToString());
var sum = new Vector3(0,0,0);
if (landmark.Visibility > 0.6)
{
var temp = new Vector4(landmark.X, landmark.Y, landmark.Z, 1);
MediaPipePos = new Vector3(-temp.x, -temp.y, -temp.z);
}
if (UnityName != HumanBodyBones.LastBone)
{
Debug.Log(UnityName+".MediaPipePos:"+MediaPipePos);
}
foreach (var parents in Parent)
{
sum += parents.MediaPipePos;
//Debug.Log("parents:"+parents.UnityName+".MediaPipePos:"+parents.MediaPipePos);
}
//Debug.Log("sum:"+sum);
var currentPos = sum / Parent.Count;
CurrentQuaternion = Quaternion.LookRotation(MediaPipePos - currentPos);
}
/// <summary>
@@ -104,5 +134,51 @@ namespace Models
}
//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;
}
}
}