add:三维旋转的三个方法；同时给不同部位上色方便区分

Assets/MainBehaviour.cs

@@ -10,6 +10,7 @@ public class MainBehaviour : MonoBehaviour
     private readonly List<GameObject> _nodes = new List<GameObject>();
     private readonly List<PoseTransform> _poseTransforms = new List<PoseTransform>();
     private readonly UdpListener _listener = new UdpListener();
+    
 
     // Start is called before the first frame update
     private void Start()
@@ -26,7 +27,15 @@ public class MainBehaviour : MonoBehaviour
         foreach (var poseTransform in _poseTransforms)
         {
             var index = (int)poseTransform.MediaPipeName;
-            _nodes[index].transform.position = _poseTransforms[index].MediaPipePos * 5;
+            
+            var temp = new Vector4(_poseTransforms[index].MediaPipePos.x,
+                                   _poseTransforms[index].MediaPipePos.y,
+                                    _poseTransforms[index].MediaPipePos.z,1);
+            //temp = RotateAxisZ(180) * temp;
+            //warning：乘法的顺序不能改！
+            
+            _nodes[index].transform.position = new Vector3(temp.x, temp.y, temp.z) * 5;
+            //_nodes[index].transform.position = _poseTransforms[index].MediaPipePos * 5;
         }
     }
 
@@ -41,7 +50,20 @@ public class MainBehaviour : MonoBehaviour
         {
             var ball = GameObject.CreatePrimitive(PrimitiveType.Sphere);
 
-            ball.transform.localScale = new Vector3(0.3f, 0.3f, 0.3f);
+            ball.transform.localScale = new Vector3(0.1f, 0.1f, 0.1f);
+
+            if (i <= 10)
+            {
+                ball.GetComponent<Renderer>().material.color = Color.red;//给头部添加颜色
+            }
+            else if (i > 10 && i <= 22)
+            {
+                ball.GetComponent<Renderer>().material.color = Color.blue;//给手部添加颜色
+            }
+            else if (i > 12 && i <= 32)
+            {
+                ball.GetComponent<Renderer>().material.color = Color.green;//给脚部添加颜色
+            }
             
             _nodes.Add(ball);
 
@@ -57,10 +79,55 @@ public class MainBehaviour : MonoBehaviour
         {
             var poseTransform = new PoseTransform(landmark.Type)
             {
-                MediaPipePos = new Vector3(landmark.X, -landmark.Y, landmark.Z)
+                MediaPipePos = new Vector3(landmark.X, landmark.Y, landmark.Z)
             };
 
             _poseTransforms[(int)landmark.Type] = poseTransform;
         }
     }
+
+    //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;
+    }
 }