Assets/Behaviours.meta

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Assets/Behaviours/BallStickBehaviour.cs

@@ -1,186 +0,0 @@
-using System.Collections.Generic;
-using Models;
-using UnityEngine;
-using Utils.PoseTransformHandlers;
-
-namespace Behaviours
-{
-    public class BallStickBehaviour : MonoBehaviour
-    {
-        private readonly GameObject[] _nodes = new GameObject[PoseLandmarkType.MaxValue];
-        private readonly List<Bond> _bonds = new List<Bond>();
-        private readonly PoseTransform[] _poseTransforms = new PoseTransform[PoseLandmarkType.MaxValue];
-        private readonly UdpListener _listener = new UdpListener();
-        private const float Scale = 0.2f;
-
-        // Start is called before the first frame update
-        private void Start()
-        {
-            PoseTransform.AverageLength = 3;
-
-            CreateNodes();
-            CreateBonds();
-
-            _listener.AddHandler(OnReceive);
-            _listener.Connect(5000);
-        }
-
-        // Update is called once per frame
-        private void Update()
-        {
-            var mid = _poseTransforms[PoseLandmarkType.LeftHip] + _poseTransforms[PoseLandmarkType.RightHip];
-            mid = mid / 2;
-            
-            for (var i = 0; i < PoseLandmarkType.MaxValue; i++)
-            {
-                _nodes[i].transform.position = (_poseTransforms[i].ResultPosition - mid) * -5f;
-            }
-
-            foreach (var bond in _bonds)
-            {
-                bond.UpdateBond();
-            }
-        }
-
-        private void OnDisable()
-        {
-            _listener.DisConnect();
-        }
-
-        private void OnReceive(List<PoseLandmark> landmarks)
-        {
-            foreach (var landmark in landmarks)
-            {
-                PoseTransform.UpdatePosition(ref _poseTransforms[landmark.Type.Value], landmark);
-            }
-        }
-
-        private void CreateNodes()
-        {
-            for (var i = 0; i < PoseLandmarkType.MaxValue; i++)
-            {
-                var ball = GameObject.CreatePrimitive(PrimitiveType.Sphere);
-
-                ball.transform.localScale = new Vector3(Scale, Scale, Scale);
-
-                if (i <= 10)
-                {
-                    ball.GetComponent<Renderer>().material.color = Color.red; //给头部添加颜色
-                }
-                else if (i <= 22)
-                {
-                    ball.GetComponent<Renderer>().material.color = Color.blue; //给手部添加颜色
-                }
-                else if (i <= 32)
-                {
-                    ball.GetComponent<Renderer>().material.color = Color.green; //给脚部添加颜色
-                }
-
-                _nodes[i] = ball;
-                _poseTransforms[i] = new PoseTransform(i, new AverageHandler());
-            }
-        }
-
-        private void CreateBonds()
-        {
-            var headBonds = new[]
-            {
-                PoseLandmarkType.RightEar,
-                PoseLandmarkType.RightEyeOuter,
-                PoseLandmarkType.RightEye,
-                PoseLandmarkType.RightEyeInner,
-                PoseLandmarkType.Nose,
-                PoseLandmarkType.LeftEyeInner,
-                PoseLandmarkType.LeftEye,
-                PoseLandmarkType.LeftEyeOuter,
-                PoseLandmarkType.LeftEar
-            };
-            _bonds.AddRange(GenerateBondsList(headBonds));
-
-            var monthBonds = new[]
-            {
-                PoseLandmarkType.MouthLeft,
-                PoseLandmarkType.MouthRight,
-            };
-            _bonds.AddRange(GenerateBondsList(monthBonds));
-
-            var leftArmBonds = new[]
-            {
-                PoseLandmarkType.LeftShoulder,
-                PoseLandmarkType.LeftElbow,
-                PoseLandmarkType.LeftWrist,
-                PoseLandmarkType.LeftPinky,
-                PoseLandmarkType.LeftIndex,
-                PoseLandmarkType.LeftWrist,
-                PoseLandmarkType.LeftThumb
-            };
-            _bonds.AddRange(GenerateBondsList(leftArmBonds));
-
-            var rightArmBonds = new[]
-            {
-                PoseLandmarkType.RightShoulder,
-                PoseLandmarkType.RightElbow,
-                PoseLandmarkType.RightWrist,
-                PoseLandmarkType.RightPinky,
-                PoseLandmarkType.RightIndex,
-                PoseLandmarkType.RightWrist,
-                PoseLandmarkType.RightThumb
-            };
-            _bonds.AddRange(GenerateBondsList(rightArmBonds));
-
-            var leftLegBonds = new[]
-            {
-                PoseLandmarkType.LeftShoulder,
-                PoseLandmarkType.LeftHip,
-                PoseLandmarkType.LeftKnee,
-                PoseLandmarkType.LeftAnkle,
-                PoseLandmarkType.LeftHeel,
-                PoseLandmarkType.LeftFootIndex,
-                PoseLandmarkType.LeftAnkle
-            };
-            _bonds.AddRange(GenerateBondsList(leftLegBonds));
-
-            var rightLegBonds = new[]
-            {
-                PoseLandmarkType.RightShoulder,
-                PoseLandmarkType.RightHip,
-                PoseLandmarkType.RightKnee,
-                PoseLandmarkType.RightAnkle,
-                PoseLandmarkType.RightHeel,
-                PoseLandmarkType.RightFootIndex,
-                PoseLandmarkType.RightAnkle
-            };
-            _bonds.AddRange(GenerateBondsList(rightLegBonds));
-
-            // 最后手动添加身体上的两条横线
-            _bonds.Add(new Bond(
-                _nodes[PoseLandmarkType.LeftShoulder],
-                _nodes[PoseLandmarkType.RightShoulder],
-                Scale));
-            _bonds.Add(new Bond(
-                _nodes[PoseLandmarkType.LeftHip],
-                _nodes[PoseLandmarkType.RightHip],
-                Scale));
-        }
-
-        /// <summary>
-        /// 创建棍子列表
-        /// </summary>
-        /// <param name="nodes">需要连接起来的关键点 需要按顺序设置</param>
-        /// <returns></returns>
-        private List<Bond> GenerateBondsList(int[] nodes)
-        {
-            var bonds = new List<Bond>();
-
-            for (var i = 0; i < nodes.Length - 1; i++)
-            {
-                bonds.Add(new Bond(
-                    _nodes[nodes[i]],
-                    _nodes[nodes[i + 1]],
-                    Scale));
-            }
-
-            return bonds;
-        }
-    }
-}

Assets/Behaviours/BoneBehaviour.cs

@@ -1,272 +0,0 @@
-using System;
-using System.Collections.Generic;
-using Models;
-using UnityEngine;
-
-namespace Behaviours
-{
-    public class BoneBehaviour : MonoBehaviour
-    {
-        private readonly UdpListener _listener = new UdpListener();
-        private readonly GameObject[] _nodes = new GameObject[PoseLandmarkType.MaxValue];
-        private readonly List<Bond> _bonds = new List<Bond>();
-        private Dictionary<HumanBodyBones, RotationNode> _rotationNodes;
-        private List<PoseLandmark> _landmarks;
-
-        private Animator _animator;
-        private bool _isReceived;
-        private const float Scale = 0.2f;
-
-        private void Start()
-        {
-            _animator = GetComponent<Animator>();
-            CreateRotationNodes();
-            CreateNodes();
-            CreateBonds();
-
-            _listener.AddHandler(OnReceive);
-            _listener.Connect(5000);
-        }
-
-        private void Update()
-        {
-            if (_isReceived)
-            {
-                _animator.GetBoneTransform(HumanBodyBones.Hips).rotation = 
-                    _rotationNodes[HumanBodyBones.Hips].Rotation;
-
-                /*var rotation = _rotationNodes[HumanBodyBones.Hips].CalculateRotate
-                               * Quaternion.Inverse(_rotationNodes[HumanBodyBones.RightUpperArm].CalculateRotate);
-
-                _animator.GetBoneTransform(HumanBodyBones.RightUpperArm).Rotate(rotation.eulerAngles);*/
-                
-                var mid = (_landmarks[PoseLandmarkType.LeftHip].Position + 
-                           _landmarks[PoseLandmarkType.RightHip].Position) / 2;
-
-                for (var i = 0; i < PoseLandmarkType.MaxValue; i++)
-                {
-                    _nodes[i].transform.position = (_landmarks[i].Position - mid) * 5f;
-                }
-
-                foreach (var bond in _bonds)
-                {
-                    bond.UpdateBond();
-                }
-
-                _animator.GetBoneTransform(HumanBodyBones.LeftUpperArm).rotation = _bonds[9].Rotation;
-                _animator.GetBoneTransform(HumanBodyBones.LeftUpperArm).Rotate(0, -180, 0, 
-                    Space.Self);
-                _animator.GetBoneTransform(HumanBodyBones.LeftLowerArm).rotation = _bonds[10].Rotation;
-                _animator.GetBoneTransform(HumanBodyBones.LeftLowerArm).Rotate(0, -180, 0, 
-                    Space.Self);
-                
-                _animator.GetBoneTransform(HumanBodyBones.RightUpperArm).rotation = _bonds[15].Rotation;
-                _animator.GetBoneTransform(HumanBodyBones.RightUpperArm).Rotate(0, -180, 0, 
-                    Space.Self);
-                
-                _animator.GetBoneTransform(HumanBodyBones.RightLowerArm).rotation = _bonds[16].Rotation;
-                _animator.GetBoneTransform(HumanBodyBones.RightLowerArm).Rotate(0, -180, 0, 
-                    Space.Self);
-
-                _animator.GetBoneTransform(HumanBodyBones.LeftUpperLeg).rotation = _bonds[22].Rotation;
-                _animator.GetBoneTransform(HumanBodyBones.LeftUpperLeg).Rotate(0, -180, 0, 
-                    Space.Self);
-                _animator.GetBoneTransform(HumanBodyBones.LeftLowerLeg).rotation = _bonds[23].Rotation;
-                _animator.GetBoneTransform(HumanBodyBones.LeftLowerLeg).Rotate(0, -180, 0, 
-                    Space.Self);
-
-                _animator.GetBoneTransform(HumanBodyBones.RightUpperLeg).rotation = _bonds[28].Rotation;
-                _animator.GetBoneTransform(HumanBodyBones.RightUpperLeg).Rotate(0, -180, 0, 
-                    Space.Self);
-                
-                _animator.GetBoneTransform(HumanBodyBones.RightLowerLeg).rotation = _bonds[29].Rotation;
-                _animator.GetBoneTransform(HumanBodyBones.RightLowerLeg).Rotate(0, -180, 0, 
-                    Space.Self);
-                
-                _isReceived = false;
-            }
-        }
-
-        
-
-        private void OnDisable()
-        {
-            _listener.DisConnect();
-        }
-
-        private void OnReceive(List<PoseLandmark> landmarks)
-        {
-            // 计算腰部
-            var frontLeft = Vector3.Cross(
-                landmarks[PoseLandmarkType.RightHip].Position - landmarks[PoseLandmarkType.LeftHip].Position,
-                landmarks[PoseLandmarkType.RightShoulder].Position - landmarks[PoseLandmarkType.LeftHip].Position);
-
-            var frontRight = Vector3.Cross(
-                landmarks[PoseLandmarkType.LeftShoulder].Position - landmarks[PoseLandmarkType.RightHip].Position,
-                landmarks[PoseLandmarkType.LeftHip].Position - landmarks[PoseLandmarkType.LeftHip].Position);
-
-            var front = frontLeft + frontRight;
-            front.Normalize();
-
-            var oldRotation = _rotationNodes[HumanBodyBones.Hips];
-            _rotationNodes[HumanBodyBones.Hips] = new RotationNode(
-                oldRotation.UnityName,
-                oldRotation.Rotation,
-                Quaternion.LookRotation(front));
-
-            _landmarks = landmarks;
-            _isReceived = true;
-        }
-
-        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));
-            }
-        }
-        
-        private void CreateNodes()
-        {
-            for (var i = 0; i < PoseLandmarkType.MaxValue; i++)
-            {
-                var ball = GameObject.CreatePrimitive(PrimitiveType.Sphere);
-
-                ball.transform.localScale = new Vector3(Scale, Scale, Scale);
-
-                if (i <= 10)
-                {
-                    ball.GetComponent<Renderer>().material.color = Color.red; //给头部添加颜色
-                }
-                else if (i <= 22)
-                {
-                    ball.GetComponent<Renderer>().material.color = Color.blue; //给手部添加颜色
-                }
-                else if (i <= 32)
-                {
-                    ball.GetComponent<Renderer>().material.color = Color.green; //给脚部添加颜色
-                }
-
-                _nodes[i] = ball;
-            }
-        }
-
-        private void CreateBonds()
-        {
-            var headBonds = new[]
-            {
-                PoseLandmarkType.RightEar,
-                PoseLandmarkType.RightEyeOuter,
-                PoseLandmarkType.RightEye,
-                PoseLandmarkType.RightEyeInner,
-                PoseLandmarkType.Nose,
-                PoseLandmarkType.LeftEyeInner,
-                PoseLandmarkType.LeftEye,
-                PoseLandmarkType.LeftEyeOuter,
-                PoseLandmarkType.LeftEar
-            };
-            _bonds.AddRange(GenerateBondsList(headBonds));
-
-            var monthBonds = new[]
-            {
-                PoseLandmarkType.MouthLeft,
-                PoseLandmarkType.MouthRight,
-            };
-            _bonds.AddRange(GenerateBondsList(monthBonds));
-
-            var leftArmBonds = new[]
-            {
-                PoseLandmarkType.LeftShoulder,
-                PoseLandmarkType.LeftElbow,
-                PoseLandmarkType.LeftWrist,
-                PoseLandmarkType.LeftPinky,
-                PoseLandmarkType.LeftIndex,
-                PoseLandmarkType.LeftWrist,
-                PoseLandmarkType.LeftThumb
-            };
-            _bonds.AddRange(GenerateBondsList(leftArmBonds));
-
-            var rightArmBonds = new[]
-            {
-                PoseLandmarkType.RightShoulder,
-                PoseLandmarkType.RightElbow,
-                PoseLandmarkType.RightWrist,
-                PoseLandmarkType.RightPinky,
-                PoseLandmarkType.RightIndex,
-                PoseLandmarkType.RightWrist,
-                PoseLandmarkType.RightThumb
-            };
-            _bonds.AddRange(GenerateBondsList(rightArmBonds));
-
-            var leftLegBonds = new[]
-            {
-                PoseLandmarkType.LeftShoulder,
-                PoseLandmarkType.LeftHip,
-                PoseLandmarkType.LeftKnee,
-                PoseLandmarkType.LeftAnkle,
-                PoseLandmarkType.LeftHeel,
-                PoseLandmarkType.LeftFootIndex,
-                PoseLandmarkType.LeftAnkle
-            };
-            _bonds.AddRange(GenerateBondsList(leftLegBonds));
-
-            var rightLegBonds = new[]
-            {
-                PoseLandmarkType.RightShoulder,
-                PoseLandmarkType.RightHip,
-                PoseLandmarkType.RightKnee,
-                PoseLandmarkType.RightAnkle,
-                PoseLandmarkType.RightHeel,
-                PoseLandmarkType.RightFootIndex,
-                PoseLandmarkType.RightAnkle
-            };
-            _bonds.AddRange(GenerateBondsList(rightLegBonds));
-
-            // 最后手动添加身体上的两条横线
-            _bonds.Add(new Bond(
-                _nodes[PoseLandmarkType.LeftShoulder],
-                _nodes[PoseLandmarkType.RightShoulder],
-                Scale));
-            _bonds.Add(new Bond(
-                _nodes[PoseLandmarkType.LeftHip],
-                _nodes[PoseLandmarkType.RightHip],
-                Scale));
-        }
-        
-        /// <summary>
-        /// 创建棍子列表
-        /// </summary>
-        /// <param name="nodes">需要连接起来的关键点 需要按顺序设置</param>
-        /// <returns></returns>
-        private List<Bond> GenerateBondsList(int[] nodes)
-        {
-            var bonds = new List<Bond>();
-
-            for (var i = 0; i < nodes.Length - 1; i++)
-            {
-                bonds.Add(new Bond(
-                    _nodes[nodes[i]],
-                    _nodes[nodes[i + 1]],
-                    Scale));
-            }
-
-            return bonds;
-        }
-    }
-}

Assets/BoneAnimator.controller

@@ -1,55 +0,0 @@
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-  m_Script: {fileID: 11500000, guid: a2b060336532a01bfb4593b385955175, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
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-AnimatorStateMachine:
-  serializedVersion: 6
-  m_ObjectHideFlags: 1
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-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_Name: Base Layer
-  m_ChildStates: []
-  m_ChildStateMachines: []
-  m_AnyStateTransitions: []
-  m_EntryTransitions: []
-  m_StateMachineTransitions: {}
-  m_StateMachineBehaviours: []
-  m_AnyStatePosition: {x: 50, y: 20, z: 0}
-  m_EntryPosition: {x: 50, y: 120, z: 0}
-  m_ExitPosition: {x: 800, y: 120, z: 0}
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-  serializedVersion: 5
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-  m_AnimatorLayers:
-  - serializedVersion: 5
-    m_Name: Base Layer
-    m_StateMachine: {fileID: -4834836044711832442}
-    m_Mask: {fileID: 0}
-    m_Motions: []
-    m_Behaviours: []
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-    m_Controller: {fileID: 9100000}

Assets/BoneAnimator.controller.meta

@@ -1,8 +0,0 @@
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Assets/CameraBehaviour.cs

@@ -7,14 +7,15 @@ public class CameraBehaviour : MonoBehaviour
     private const int MouseWheelSensitivity = 1; //滚轮灵敏度设置
     private const int MouseZoomMin = 1; //相机距离最小值
     private const int MouseZoomMax = 20; //相机距离最大值
-    private const float XSpeed = 120.0f;
+    private const float XSpeed = 250.0f;
-    private const float YSpeed = 250.0f;
+    private const float YSpeed = 120.0f;
     private const int YMinLimit = -360;
     private const int YMaxLimit = 360;
 
     private float _eulerX; //存储相机的euler角
     private float _eulerY; //存储相机的euler角
-    private float _distance; //相机和target之间的距离，因为相机的Z轴总是指向target，也就是相机z轴方向上的距离
+
+    private float _distance = 5; //相机和target之间的距离，因为相机的Z轴总是指向target，也就是相机z轴方向上的距离
     private Vector3 _targetOnScreenPosition; //目标的屏幕坐标，第三个值为z轴距离
     private Quaternion _cameraRotation; //存储相机的姿态四元数
     private Vector3 _targetPosition; //target的位置
@@ -30,13 +31,11 @@ private void Start()
     {
         //这里就是设置一下初始的相机视角以及一些其他变量，这里的x和y。。。是和下面getAxis的mouse x与mouse y对应
         var angles = transform.eulerAngles;
-        _eulerX = angles.x;
+        _eulerX = angles.y;
-        _eulerY = angles.y;
+        _eulerY = angles.x;
-        var position = target.position;
+        _targetPosition = target.position;
-        _targetPosition = position;
+        //_cameraRotation = Quaternion.Euler(_eulerY + 60, _eulerX, 0);
-        _cameraRotation = Quaternion.Euler(_eulerX, _eulerY, 0);
+        _cameraRotation = Quaternion.Euler(_eulerY, _eulerX, 0);
-        _distance = Vector3.Distance(position, transform.position);
-        
         // 引入中间变量 提高代码效率
         var transform1 = transform;
         //设置相机姿态
@@ -53,12 +52,13 @@ private void Update()
         //鼠标右键旋转功能
         if (Input.GetMouseButton(1))
         {
-            // 鼠标控制需要反转X、Y轴
+            _eulerX += Input.GetAxis("Mouse X") * XSpeed * 0.02f;
-            _eulerX += Input.GetAxis("Mouse Y") * XSpeed * 0.02f;
+            _eulerY -= Input.GetAxis("Mouse Y") * YSpeed * 0.02f;
-            _eulerX = ClampAngle(_eulerX, YMinLimit, YMaxLimit);
-            _eulerY -= Input.GetAxis("Mouse X") * YSpeed * 0.02f;
 
-            _cameraRotation = Quaternion.Euler(_eulerX, _eulerY, 0);
+            _eulerY = ClampAngle(_eulerY, YMinLimit, YMaxLimit);
+
+            //_cameraRotation = Quaternion.Euler(_eulerY + 60, _eulerX, 0);
+            _cameraRotation = Quaternion.Euler(_eulerY, _eulerX, 0);
             var position = _cameraRotation * new Vector3(0.0f, 0.0f, -_distance) + _targetPosition;
 
             // 引入中间变量 提高代码效率
@@ -66,8 +66,7 @@ private void Update()
             transform1.rotation = _cameraRotation;
             transform1.position = position;
         }
-        
+        else if (Input.GetAxis("Mouse ScrollWheel") != 0) //鼠标滚轮缩放功能
-        if (Input.GetAxis("Mouse ScrollWheel") != 0) //鼠标滚轮缩放功能
         {
             if (_distance is >= MouseZoomMin and <= MouseZoomMax)
             {

Assets/MainBehaviour.cs

@@ -0,0 +1,180 @@
+using System.Collections.Generic;
+using Models;
+using UnityEngine;
+using Utils.PoseTransformHandlers;
+
+public class MainBehaviour : MonoBehaviour
+{
+    private readonly GameObject[] _nodes = new GameObject[PoseLandmarkType.MaxValue];
+    private readonly List<Bond> _bonds = new List<Bond>();
+    private readonly PoseTransform[] _poseTransforms = new PoseTransform[PoseLandmarkType.MaxValue];
+    private readonly UdpListener _listener = new UdpListener();
+    private const float Scale = 0.2f;
+
+    // Start is called before the first frame update
+    private void Start()
+    {
+        PoseTransform.AverageLength = 3;
+
+        CreateNodes();
+        CreateBonds();
+
+        _listener.AddHandler(OnReceive);
+        _listener.Connect(5000);
+    }
+
+    // Update is called once per frame
+    private void Update()
+    {
+        for (var i = 0; i < PoseLandmarkType.MaxValue; i++)
+        {
+            _nodes[i].transform.position = _poseTransforms[i].ResultPosition * -5;
+        }
+
+        foreach (var bond in _bonds)
+        {
+            bond.UpdateBond();
+        }
+    }
+
+    private void OnDisable()
+    {
+        _listener.DisConnect();
+    }
+    
+    private void OnReceive(List<PoseLandmark> landmarks)
+    {
+        foreach (var landmark in landmarks)
+        {
+            PoseTransform.UpdatePosition(ref _poseTransforms[landmark.Type.Value], landmark);
+        }
+    }
+
+    private void CreateNodes()
+    {
+        for (var i = 0; i < PoseLandmarkType.MaxValue; i++)
+        {
+            var ball = GameObject.CreatePrimitive(PrimitiveType.Sphere);
+
+            ball.transform.localScale = new Vector3(Scale, Scale, Scale);
+
+            if (i <= 10)
+            {
+                ball.GetComponent<Renderer>().material.color = Color.red;//给头部添加颜色
+            }
+            else if (i <= 22)
+            {
+                ball.GetComponent<Renderer>().material.color = Color.blue;//给手部添加颜色
+            }
+            else if (i <= 32)
+            {
+                ball.GetComponent<Renderer>().material.color = Color.green;//给脚部添加颜色
+            }
+
+            _nodes[i] = ball;
+            _poseTransforms[i] = new PoseTransform(i, new AverageHandler());
+        }
+    }
+
+    private void CreateBonds()
+    {
+        var headBonds = new[]
+        {
+            PoseLandmarkType.RightEar,
+            PoseLandmarkType.RightEyeOuter,
+            PoseLandmarkType.RightEye,
+            PoseLandmarkType.RightEyeInner,
+            PoseLandmarkType.Nose,
+            PoseLandmarkType.LeftEyeInner,
+            PoseLandmarkType.LeftEye,
+            PoseLandmarkType.LeftEyeOuter,
+            PoseLandmarkType.LeftEar
+        };
+        _bonds.AddRange(GenerateBondsList(headBonds));
+
+        var monthBonds = new[]
+        {
+            PoseLandmarkType.MouthLeft,
+            PoseLandmarkType.MouthRight,
+        };
+        _bonds.AddRange(GenerateBondsList(monthBonds));
+
+        var leftArmBonds = new[]
+        {
+            PoseLandmarkType.LeftShoulder,
+            PoseLandmarkType.LeftElbow,
+            PoseLandmarkType.LeftWrist,
+            PoseLandmarkType.LeftPinky,
+            PoseLandmarkType.LeftIndex,
+            PoseLandmarkType.LeftWrist,
+            PoseLandmarkType.LeftThumb
+        };
+        _bonds.AddRange(GenerateBondsList(leftArmBonds));
+
+        var rightArmBonds = new[]
+        {
+            PoseLandmarkType.RightShoulder,
+            PoseLandmarkType.RightElbow,
+            PoseLandmarkType.RightWrist,
+            PoseLandmarkType.RightPinky,
+            PoseLandmarkType.RightIndex,
+            PoseLandmarkType.RightWrist,
+            PoseLandmarkType.RightThumb
+        };
+        _bonds.AddRange(GenerateBondsList(rightArmBonds));
+
+        var leftLegBonds = new[]
+        {
+            PoseLandmarkType.LeftShoulder,
+            PoseLandmarkType.LeftHip,
+            PoseLandmarkType.LeftKnee,
+            PoseLandmarkType.LeftAnkle,
+            PoseLandmarkType.LeftHeel,
+            PoseLandmarkType.LeftFootIndex,
+            PoseLandmarkType.LeftAnkle
+        };
+        _bonds.AddRange(GenerateBondsList(leftLegBonds));
+
+        var rightLegBonds = new[]
+        {
+            PoseLandmarkType.RightShoulder,
+            PoseLandmarkType.RightHip,
+            PoseLandmarkType.RightKnee,
+            PoseLandmarkType.RightAnkle,
+            PoseLandmarkType.RightHeel,
+            PoseLandmarkType.RightFootIndex,
+            PoseLandmarkType.RightAnkle
+        };
+        _bonds.AddRange(GenerateBondsList(rightLegBonds));
+        
+        // 最后手动添加身体上的两条横线
+        _bonds.Add(new Bond(
+            _nodes[PoseLandmarkType.LeftShoulder],
+            _nodes[PoseLandmarkType.RightShoulder],
+            Scale));
+        _bonds.Add(new Bond(
+            _nodes[PoseLandmarkType.LeftHip],
+            _nodes[PoseLandmarkType.RightHip],
+            Scale));
+    }
+
+    /// <summary>
+    /// 创建棍子列表
+    /// </summary>
+    /// <param name="nodes">需要连接起来的关键点 需要按顺序设置</param>
+    /// <returns></returns>
+    private List<Bond> GenerateBondsList(int[] nodes)
+    {
+        var bonds = new List<Bond>();
+
+        for (var i = 0; i < nodes.Length - 1; i++)
+        {
+            bonds.Add(new Bond(
+                _nodes[nodes[i]], 
+                _nodes[nodes[i + 1]], 
+                Scale));
+        }
+
+        return bonds;
+    }
+}

Assets/ModelBehaviour.cs

@@ -0,0 +1,135 @@
+using System.Collections.Generic;
+using Models;
+using UnityEngine;
+using Utils.PoseTransformHandlers;
+
+public class ModelBehaviour : MonoBehaviour
+{
+    private Animator _animator;
+
+    private readonly UdpListener _listener = new UdpListener();
+    private static readonly PoseTransform[] PoseTransforms = new PoseTransform[PoseLandmarkType.MaxValue];
+
+    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)
+            {
+                var transfrom = _animator.GetBoneTransform(landmark.UnityName);
+
+                var parentsum = new Vector3(0, 0, 0);
+
+                foreach (var parent in landmark.Parent)
+                {
+                    parentsum += PoseTransforms[parent.Value].ResultPosition;
+                }
+
+                parentsum /= landmark.Parent.Count;
+                
+                transfrom.rotation = Quaternion.FromToRotation(transfrom.rotation.eulerAngles,landmark.ResultPosition-parentsum);
+
+            }
+        }
+
+
+    }
+
+    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)
+        {
+            
+            PoseTransform.UpdatePosition(ref PoseTransforms[landmark.Type.Value], landmark);
+            
+            Debug.Log(PoseTransforms[landmark.Type.Value].UnityName+":"+PoseTransforms[landmark.Type.Value].ResultPosition);
+        }
+
+    }
+
+    /// <summary>
+    /// 初始化骨骼变化结构体列表
+    /// </summary>
+    private void InitPoseTransformList()
+    {
+        for (var type = 0; type <= PoseLandmarkType.RightFootIndex; type++)
+        {
+            var item = new PoseTransform(type, new NormalHandler());
+
+            if (item.UnityName != HumanBodyBones.LastBone)
+            {
+                item.PreviousQuaternion = _animator.GetBoneTransform(item.UnityName).rotation;
+                item.CurrentQuaternion = item.PreviousQuaternion;
+            }
+            
+            PoseTransforms[type] = 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(int target, int parent)
+    {
+        var parents = PoseTransforms[target].Parent;
+        parents.Add(PoseTransforms[parent].MediaPipeName);
+    }
+
+}

Assets/ModelBehaviour.cs.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: a2b060336532a01bfb4593b385955175
+guid: a2b30b6aa6e08c4468a02e1fcabcd485
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2

Assets/Models/Bond.cs

@@ -1,5 +1,4 @@
 using UnityEngine;
-using Utils;
 
 namespace Models
 {
@@ -11,9 +10,6 @@ public class Bond
         protected readonly GameObject Start;
         protected readonly GameObject End;
         private readonly GameObject _bond;
-
-        public Quaternion Rotation => _bond.transform.rotation;
-        public Vector3 Vector => End.transform.position - Start.transform.position;
         
         public Bond(GameObject start,GameObject end,float scale)
         {

Assets/Models/PoseLandmark.cs

@@ -1,163 +1,160 @@
 using System;
 using System.Collections.Generic;
 using System.Text;
-using UnityEngine;
 
 namespace Models
 {
     public class PoseLandmark
     {
         private const double Tolerance = 1E-6;
+    
+    /// <summary>
+    /// 单个包的长度
+    /// </summary>
+    public const int PacketLength = 28;
+    
+    /// <summary>
+    /// 坐标点的种类
+    /// </summary>
+    public PoseLandmarkType Type { get; }
+    
+    /// <summary>
+    /// 真实世界x坐标
+    /// 以米为单位
+    /// 以臀部为重心 hip
+    /// </summary>
+    public float X { get; }
+    
+    /// <summary>
+    /// 真实世界y坐标
+    /// 以米为单位
+    /// 以臀部为重心
+    /// </summary>
+    public float Y { get; }
+    
+    /// <summary>
+    /// 真实世界z坐标
+    /// 以米为单位
+    /// 以臀部为重心
+    /// </summary>
+    public float Z { get; }
+    
+    /// <summary>
+    /// 该坐标点估计的可见性
+    /// [0,1]
+    /// </summary>
+    public float Visibility { get; }
+    
+    public long TimeStamp { get; }
 
-        /// <summary>
+    public PoseLandmark(int type, float x, float y, float z, float visibility, long timeStamp)
-        /// 单个包的长度
+    {
-        /// </summary>
+        Type = new PoseLandmarkType(type);
-        public const int PacketLength = 28;
+        X = x;
+        Y = y;
+        Z = z;
+        Visibility = visibility;
+        TimeStamp = timeStamp;
+    }
 
-        /// <summary>
+    /// <summary>
-        /// 坐标点的种类
+    /// 转换成字节数组
-        /// </summary>
+    /// 便于UDP发送
-        public PoseLandmarkType Type { get; }
+    /// </summary>
+    /// <returns></returns>
+    public byte[] ToByteArray()
+    {
+        var result = new byte[PacketLength];
 
-        /// <summary>
+        BitConverter.GetBytes(Type.Value).CopyTo(result, 0);
-        /// 真实世界x坐标
+        BitConverter.GetBytes(X).CopyTo(result, 4);
-        /// 以米为单位
+        BitConverter.GetBytes(Y).CopyTo(result, 8);
-        /// 以臀部为重心 hip
+        BitConverter.GetBytes(Z).CopyTo(result, 12);
-        /// </summary>
+        BitConverter.GetBytes(Visibility).CopyTo(result, 16);
-        public float X { get; }
+        BitConverter.GetBytes(TimeStamp).CopyTo(result, 20);
+        
+        return result;
+    }
 
-        /// <summary>
+    /// <summary>
-        /// 真实世界y坐标
+    /// 解析字节数组
-        /// 以米为单位
+    /// </summary>
-        /// 以臀部为重心
+    /// <param name="bytes">收到的字节数组</param>
-        /// </summary>
+    /// <returns>字节数组中代表的坐标对象</returns>
-        public float Y { get; }
+    public static PoseLandmark ValueOf(byte[] bytes)
+    {
+        var result = new PoseLandmark(
+            BitConverter.ToInt32(bytes, 0),
+            BitConverter.ToSingle(bytes, 4),
+            BitConverter.ToSingle(bytes, 8),
+            BitConverter.ToSingle(bytes, 12),
+            BitConverter.ToSingle(bytes, 16),
+            BitConverter.ToInt64(bytes, 20));
 
-        /// <summary>
+        return result;
-        /// 真实世界z坐标
+    }
-        /// 以米为单位
-        /// 以臀部为重心
-        /// </summary>
-        public float Z { get; }
 
-        public Vector3 Position => new Vector3(-X, -Y, -0.2f * Z);
+    /// <summary>
+    /// 解析字节数组为对象列表
+    /// 单个
+    /// </summary>
+    /// <param name="bytes">字节数组</param>
+    /// <returns></returns>
+    public static List<PoseLandmark> ArrayOf(byte[] bytes)
+    {
+        var result = new List<PoseLandmark>();
 
-        /// <summary>
+        for (var i = 0; i < bytes.Length; i = i + PacketLength)
-        /// 该坐标点估计的可见性
-        /// [0,1]
-        /// </summary>
-        public float Visibility { get; }
-
-        public long TimeStamp { get; }
-
-        public PoseLandmark(int type, float x, float y, float z, float visibility, long timeStamp)
         {
-            Type = new PoseLandmarkType(type);
+            var landmark = new PoseLandmark(BitConverter.ToInt32(bytes, i),
-            X = x;
+                BitConverter.ToSingle(bytes, i + 4),
-            Y = y;
+                BitConverter.ToSingle(bytes, i + 8),
-            Z = z;
+                BitConverter.ToSingle(bytes, i + 12),
-            Visibility = visibility;
+                BitConverter.ToSingle(bytes, i + 16),
-            TimeStamp = timeStamp;
+                BitConverter.ToInt64(bytes, i + 20));
+
+            result.Add(landmark);
         }
 
-        /// <summary>
+        return result;
-        /// 转换成字节数组
+    }
-        /// 便于UDP发送
+
-        /// </summary>
+    public override bool Equals(object obj)
-        /// <returns></returns>
+    {
-        public byte[] ToByteArray()
+        if (obj is not PoseLandmark landmark)
         {
-            var result = new byte[PacketLength];
+            return false;
-
-            BitConverter.GetBytes(Type.Value).CopyTo(result, 0);
-            BitConverter.GetBytes(X).CopyTo(result, 4);
-            BitConverter.GetBytes(Y).CopyTo(result, 8);
-            BitConverter.GetBytes(Z).CopyTo(result, 12);
-            BitConverter.GetBytes(Visibility).CopyTo(result, 16);
-            BitConverter.GetBytes(TimeStamp).CopyTo(result, 20);
-
-            return result;
         }
-
+        else
-        /// <summary>
-        /// 解析字节数组
-        /// </summary>
-        /// <param name="bytes">收到的字节数组</param>
-        /// <returns>字节数组中代表的坐标对象</returns>
-        public static PoseLandmark ValueOf(byte[] bytes)
         {
-            var result = new PoseLandmark(
+            return Type.Value == landmark.Type.Value
-                BitConverter.ToInt32(bytes, 0),
+                   && Math.Abs(X - landmark.X) < Tolerance
-                BitConverter.ToSingle(bytes, 4),
+                   && Math.Abs(Y - landmark.Y) < Tolerance
-                BitConverter.ToSingle(bytes, 8),
+                   && Math.Abs(Z - landmark.Z) < Tolerance
-                BitConverter.ToSingle(bytes, 12),
+                   && Math.Abs(Visibility - landmark.Visibility) < Tolerance
-                BitConverter.ToSingle(bytes, 16),
+                   && TimeStamp == landmark.TimeStamp;
-                BitConverter.ToInt64(bytes, 20));
-
-            return result;
-        }
-
-        /// <summary>
-        /// 解析字节数组为对象列表
-        /// 单个
-        /// </summary>
-        /// <param name="bytes">字节数组</param>
-        /// <returns></returns>
-        public static List<PoseLandmark> ArrayOf(byte[] bytes)
-        {
-            var result = new List<PoseLandmark>();
-
-            for (var i = 0; i < bytes.Length; i = i + PacketLength)
-            {
-                var landmark = new PoseLandmark(BitConverter.ToInt32(bytes, i),
-                    BitConverter.ToSingle(bytes, i + 4),
-                    BitConverter.ToSingle(bytes, i + 8),
-                    BitConverter.ToSingle(bytes, i + 12),
-                    BitConverter.ToSingle(bytes, i + 16),
-                    BitConverter.ToInt64(bytes, i + 20));
-
-                result.Add(landmark);
-            }
-
-            return result;
-        }
-
-        public override bool Equals(object obj)
-        {
-            if (obj is not PoseLandmark landmark)
-            {
-                return false;
-            }
-            else
-            {
-                return Type.Value == landmark.Type.Value
-                       && Math.Abs(X - landmark.X) < Tolerance
-                       && Math.Abs(Y - landmark.Y) < Tolerance
-                       && Math.Abs(Z - landmark.Z) < Tolerance
-                       && Math.Abs(Visibility - landmark.Visibility) < Tolerance
-                       && TimeStamp == landmark.TimeStamp;
-            }
-        }
-
-        public override int GetHashCode()
-        {
-            var hashCode = Type.GetHashCode();
-            hashCode ^= X.GetHashCode();
-            hashCode ^= Y.GetHashCode();
-            hashCode ^= Z.GetHashCode();
-            hashCode ^= Visibility.GetHashCode();
-            hashCode ^= TimeStamp.GetHashCode();
-
-            return hashCode;
-        }
-
-        public override string ToString()
-        {
-            var builder = new StringBuilder();
-            builder.Append($"Time: {TimeStamp}, Type: {Type}:\n");
-            builder.Append($"\tX:{X}, Y:{Y}, Z:{Z}, Visibility: {Visibility}\n");
-
-            return builder.ToString();
         }
     }
+
+    public override int GetHashCode()
+    {
+        var hashCode = Type.GetHashCode();
+        hashCode ^= X.GetHashCode();
+        hashCode ^= Y.GetHashCode();
+        hashCode ^= Z.GetHashCode();
+        hashCode ^= Visibility.GetHashCode();
+        hashCode ^= TimeStamp.GetHashCode();
+
+        return hashCode;
+    }
+
+    public override string ToString()
+    {
+        var builder = new StringBuilder();
+        builder.Append($"Time: {TimeStamp}, Type: {Type}:\n");
+        builder.Append($"\tX:{X}, Y:{Y}, Z:{Z}, Visibility: {Visibility}\n");
+
+        return builder.ToString();
+    }
+    }
 }

Assets/Models/PoseTransform.cs

@@ -28,11 +28,22 @@ public struct PoseTransform
         /// 取平均之后的结果
         /// </summary>
         public Vector3 ResultPosition => _transformHandler.GetResultPosition();
+
         /// <summary>
         /// 节点的父节点列表
         /// </summary>
         public readonly List<PoseLandmarkType> Parent;
 
+        /// <summary>
+        /// 骨骼节点的初始角度
+        /// </summary>
+        public Quaternion PreviousQuaternion;
+
+        /// <summary>
+        /// 骨骼节点的当前角度
+        /// </summary>
+        public Quaternion CurrentQuaternion;
+        
         private readonly IPoseTransformHandler _transformHandler;
 
         public PoseTransform(
@@ -43,6 +54,8 @@ IPoseTransformHandler handler
             MediaPipeName = new PoseLandmarkType(type);
             UnityName = GetRelatedBone(MediaPipeName);
             Parent = new List<PoseLandmarkType>();
+            PreviousQuaternion = new Quaternion();
+            CurrentQuaternion = new Quaternion();
             
             _transformHandler = handler;
         }
@@ -52,6 +65,11 @@ public static void UpdatePosition(ref PoseTransform pose, PoseLandmark landmark)
             pose._transformHandler.ReceivePoseLandmark(landmark);
         }
 
+        public static void CalculateRotation(ref PoseTransform poseTransform, PoseLandmark landmark)
+        {
+            
+        }
+
         public static Vector3 operator +(PoseTransform a) => a.ResultPosition;
 
         public static Vector3 operator -(PoseTransform a) => -a.ResultPosition;

Assets/Models/RotationNode.cs

@@ -1,29 +0,0 @@
-using UnityEngine;
-
-namespace Models
-{
-    public struct RotationNode
-    {
-        public readonly HumanBodyBones UnityName;
-        public Quaternion PreviousRotation;
-        public Quaternion Rotation;
-
-        public Quaternion CalculateRotate => PreviousRotation * Quaternion.Inverse(Rotation);
-
-        public RotationNode(HumanBodyBones humanBodyBone, Quaternion previousRotation, Quaternion rotation)
-        {
-            UnityName = humanBodyBone;
-            PreviousRotation = previousRotation;
-            Rotation = rotation;
-        }
-
-        public RotationNode(RotationNode node, PoseLandmark begin, PoseLandmark end)
-        {
-            UnityName = node.UnityName;
-            PreviousRotation = node.Rotation;
-
-            var forward = end.Position - begin.Position;
-            Rotation = Quaternion.LookRotation(forward);
-        }
-    }
-}

Assets/Models/RotationNode.cs.meta

@@ -1,3 +0,0 @@
-fileFormatVersion: 2
-guid: 87e238cb51f34339a39945af13f43248
-timeCreated: 1680090845

Assets/Scenes/BallHumanScene.unity

@@ -1,441 +0,0 @@
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-  m_LinearFogEnd: 300
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-  m_AmbientEquatorColor: {r: 0.114, g: 0.125, b: 0.133, a: 1}
-  m_AmbientGroundColor: {r: 0.047, g: 0.043, b: 0.035, a: 1}
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-{
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