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316 lines
17 KiB
316 lines
17 KiB
1 year ago
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using System.Collections.Generic;
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using UnityEngine;
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public class Avatar : MonoBehaviour
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{
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public bool showSkeleton = true;
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public Material skeletonMaterial;
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public float skeletonX;
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public float skeletonY;
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public float skeletonZ;
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public float skeletonScale = 1;
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private GameObject skeleton;
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private List<Skeleton> skeletons = new List<Skeleton>();
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public GameObject nose;
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public JointPoint[] jointPoints;
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private Animator animator;
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private Vector3 initPosition;
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private float centerTall = 224 * 0.75f;
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private float tall = 224 * 0.75f;
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private float prevTall = 224 * 0.75f;
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private float zScale = 1;
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private void Awake()
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{
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skeleton = new GameObject("Skeleton");
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animator = this.GetComponent<Animator>();
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Initialize();
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}
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private void Update()
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{
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PoseUpdate();
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}
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public void Initialize()
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{
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jointPoints = new JointPoint[PositionIndex.Count.Int()];
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for( int i = 0; i < PositionIndex.Count.Int(); i++ )
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{
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jointPoints[i] = new JointPoint();
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}
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// Right arm.
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jointPoints[PositionIndex.RightShoulderBend.Int()].transform = animator.GetBoneTransform(HumanBodyBones.RightUpperArm);
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jointPoints[PositionIndex.RightForearmBend.Int()].transform = animator.GetBoneTransform(HumanBodyBones.RightLowerArm);
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jointPoints[PositionIndex.RightHand.Int()].transform = animator.GetBoneTransform(HumanBodyBones.RightHand);
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jointPoints[PositionIndex.RightThumb2.Int()].transform = animator.GetBoneTransform(HumanBodyBones.RightThumbIntermediate);
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jointPoints[PositionIndex.RightMid1.Int()].transform = animator.GetBoneTransform(HumanBodyBones.RightMiddleProximal);
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// Left arm.
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jointPoints[PositionIndex.LeftShoulderBend.Int()].transform = animator.GetBoneTransform(HumanBodyBones.LeftUpperArm);
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jointPoints[PositionIndex.LeftForearmBend.Int()].transform = animator.GetBoneTransform(HumanBodyBones.LeftLowerArm);
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jointPoints[PositionIndex.LeftHand.Int()].transform = animator.GetBoneTransform(HumanBodyBones.LeftHand);
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jointPoints[PositionIndex.LeftThumb2.Int()].transform = animator.GetBoneTransform(HumanBodyBones.LeftThumbIntermediate);
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jointPoints[PositionIndex.LeftMid1.Int()].transform = animator.GetBoneTransform(HumanBodyBones.LeftMiddleProximal);
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// Face.
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jointPoints[PositionIndex.LeftEar.Int()].transform = animator.GetBoneTransform(HumanBodyBones.Head);
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jointPoints[PositionIndex.LeftEye.Int()].transform = animator.GetBoneTransform(HumanBodyBones.LeftEye);
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jointPoints[PositionIndex.RightEar.Int()].transform = animator.GetBoneTransform(HumanBodyBones.Head);
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jointPoints[PositionIndex.RightEye.Int()].transform = animator.GetBoneTransform(HumanBodyBones.RightEye);
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jointPoints[PositionIndex.Nose.Int()].transform = nose.transform;
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// Right leg.
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jointPoints[PositionIndex.RightThighBend.Int()].transform = animator.GetBoneTransform(HumanBodyBones.RightUpperLeg);
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jointPoints[PositionIndex.RightShin.Int()].transform = animator.GetBoneTransform(HumanBodyBones.RightLowerLeg);
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jointPoints[PositionIndex.RightFoot.Int()].transform = animator.GetBoneTransform(HumanBodyBones.RightFoot);
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jointPoints[PositionIndex.RightToe.Int()].transform = animator.GetBoneTransform(HumanBodyBones.RightToes);
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// Left leg.
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jointPoints[PositionIndex.LeftThighBend.Int()].transform = animator.GetBoneTransform(HumanBodyBones.LeftUpperLeg);
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jointPoints[PositionIndex.LeftShin.Int()].transform = animator.GetBoneTransform(HumanBodyBones.LeftLowerLeg);
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jointPoints[PositionIndex.LeftFoot.Int()].transform = animator.GetBoneTransform(HumanBodyBones.LeftFoot);
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jointPoints[PositionIndex.LeftToe.Int()].transform = animator.GetBoneTransform(HumanBodyBones.LeftToes);
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// Etc.
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jointPoints[PositionIndex.AbdomenUpper.Int()].transform = animator.GetBoneTransform(HumanBodyBones.Spine);
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jointPoints[PositionIndex.Hip.Int()].transform = animator.GetBoneTransform(HumanBodyBones.Hips);
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jointPoints[PositionIndex.Head.Int()].transform = animator.GetBoneTransform(HumanBodyBones.Head);
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jointPoints[PositionIndex.Neck.Int()].transform = animator.GetBoneTransform(HumanBodyBones.Neck);
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jointPoints[PositionIndex.Spine.Int()].transform = animator.GetBoneTransform(HumanBodyBones.Spine);
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// Child settings.
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// Right arm.
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jointPoints[PositionIndex.RightShoulderBend.Int()].child = jointPoints[PositionIndex.RightForearmBend.Int()];
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jointPoints[PositionIndex.RightForearmBend.Int()].child = jointPoints[PositionIndex.RightHand.Int()];
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jointPoints[PositionIndex.RightForearmBend.Int()].parent = jointPoints[PositionIndex.RightShoulderBend.Int()];
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// Left arm.
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jointPoints[PositionIndex.LeftShoulderBend.Int()].child = jointPoints[PositionIndex.LeftForearmBend.Int()];
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jointPoints[PositionIndex.LeftForearmBend.Int()].child = jointPoints[PositionIndex.LeftHand.Int()];
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jointPoints[PositionIndex.LeftForearmBend.Int()].parent = jointPoints[PositionIndex.LeftShoulderBend.Int()];
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// Fase.
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// Right leg.
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jointPoints[PositionIndex.RightThighBend.Int()].child = jointPoints[PositionIndex.RightShin.Int()];
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jointPoints[PositionIndex.RightShin.Int()].child = jointPoints[PositionIndex.RightFoot.Int()];
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jointPoints[PositionIndex.RightFoot.Int()].child = jointPoints[PositionIndex.RightToe.Int()];
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jointPoints[PositionIndex.RightFoot.Int()].parent = jointPoints[PositionIndex.RightShin.Int()];
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// Left leg.
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jointPoints[PositionIndex.LeftThighBend.Int()].child = jointPoints[PositionIndex.LeftShin.Int()];
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jointPoints[PositionIndex.LeftShin.Int()].child = jointPoints[PositionIndex.LeftFoot.Int()];
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jointPoints[PositionIndex.LeftFoot.Int()].child = jointPoints[PositionIndex.LeftToe.Int()];
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jointPoints[PositionIndex.LeftFoot.Int()].parent = jointPoints[PositionIndex.LeftShin.Int()];
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// Etc.
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jointPoints[PositionIndex.Spine.Int()].child = jointPoints[PositionIndex.Neck.Int()];
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jointPoints[PositionIndex.Neck.Int()].child = jointPoints[PositionIndex.Head.Int()];
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//jointPoints[PositionIndex.Head.Int()].child = jointPoints[PositionIndex.Nose.Int()];
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if( showSkeleton )
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{
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// Line child settings.
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// Right arm.
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AddSkeleton(PositionIndex.RightShoulderBend, PositionIndex.RightForearmBend);
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AddSkeleton(PositionIndex.RightForearmBend, PositionIndex.RightHand);
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AddSkeleton(PositionIndex.RightHand, PositionIndex.RightThumb2);
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AddSkeleton(PositionIndex.RightHand, PositionIndex.RightMid1);
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// Left arm.
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AddSkeleton(PositionIndex.LeftShoulderBend, PositionIndex.LeftForearmBend);
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AddSkeleton(PositionIndex.LeftForearmBend, PositionIndex.LeftHand);
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AddSkeleton(PositionIndex.LeftHand, PositionIndex.LeftThumb2);
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AddSkeleton(PositionIndex.LeftHand, PositionIndex.LeftMid1);
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// Fase.
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AddSkeleton(PositionIndex.LeftEar, PositionIndex.Nose);
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AddSkeleton(PositionIndex.RightEar, PositionIndex.Nose);
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// Right leg.
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AddSkeleton(PositionIndex.RightThighBend, PositionIndex.RightShin);
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AddSkeleton(PositionIndex.RightShin, PositionIndex.RightFoot);
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AddSkeleton(PositionIndex.RightFoot, PositionIndex.RightToe);
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// Left leg.
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AddSkeleton(PositionIndex.LeftThighBend, PositionIndex.LeftShin);
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AddSkeleton(PositionIndex.LeftShin, PositionIndex.LeftFoot);
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AddSkeleton(PositionIndex.LeftFoot, PositionIndex.LeftToe);
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// Etc.
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AddSkeleton(PositionIndex.Spine, PositionIndex.Neck);
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AddSkeleton(PositionIndex.Neck, PositionIndex.Head);
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AddSkeleton(PositionIndex.Head, PositionIndex.Nose);
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AddSkeleton(PositionIndex.Neck, PositionIndex.RightShoulderBend);
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AddSkeleton(PositionIndex.Neck, PositionIndex.LeftShoulderBend);
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AddSkeleton(PositionIndex.RightThighBend, PositionIndex.RightShoulderBend);
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AddSkeleton(PositionIndex.LeftThighBend, PositionIndex.LeftShoulderBend);
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AddSkeleton(PositionIndex.RightShoulderBend, PositionIndex.AbdomenUpper);
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AddSkeleton(PositionIndex.LeftShoulderBend, PositionIndex.AbdomenUpper);
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AddSkeleton(PositionIndex.RightThighBend, PositionIndex.AbdomenUpper);
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AddSkeleton(PositionIndex.LeftThighBend, PositionIndex.AbdomenUpper);
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AddSkeleton(PositionIndex.LeftThighBend, PositionIndex.RightThighBend);
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}
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// Set inverse.
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Vector3 forward = TriangleNormal(jointPoints[PositionIndex.Hip.Int()].transform.position, jointPoints[PositionIndex.LeftThighBend.Int()].transform.position, jointPoints[PositionIndex.RightThighBend.Int()].transform.position);
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foreach( JointPoint jointPoint in jointPoints )
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{
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if( jointPoint.transform != null )
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{
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jointPoint.initRotation = jointPoint.transform.rotation;
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}
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if( jointPoint.child != null )
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{
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jointPoint.inverse = GetInverse(jointPoint, jointPoint.child, forward);
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jointPoint.inverseRotation = jointPoint.inverse * jointPoint.initRotation;
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}
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}
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JointPoint hip = jointPoints[PositionIndex.Hip.Int()];
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initPosition = jointPoints[PositionIndex.Hip.Int()].transform.position;
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hip.inverse = Quaternion.Inverse(Quaternion.LookRotation(forward));
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hip.inverseRotation = hip.inverse * hip.initRotation;
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// Head rotation.
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JointPoint head = jointPoints[PositionIndex.Head.Int()];
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head.initRotation = jointPoints[PositionIndex.Head.Int()].transform.rotation;
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Vector3 gaze = jointPoints[PositionIndex.Nose.Int()].transform.position - jointPoints[PositionIndex.Head.Int()].transform.position;
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head.inverse = Quaternion.Inverse(Quaternion.LookRotation(gaze));
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head.inverseRotation = head.inverse * head.initRotation;
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JointPoint lHand = jointPoints[PositionIndex.LeftHand.Int()];
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Vector3 lf = TriangleNormal(lHand.pos3D, jointPoints[PositionIndex.LeftMid1.Int()].pos3D, jointPoints[PositionIndex.LeftThumb2.Int()].pos3D);
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lHand.initRotation = lHand.transform.rotation;
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lHand.inverse = Quaternion.Inverse(Quaternion.LookRotation(jointPoints[PositionIndex.LeftThumb2.Int()].transform.position - jointPoints[PositionIndex.LeftMid1.Int()].transform.position, lf));
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lHand.inverseRotation = lHand.inverse * lHand.initRotation;
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JointPoint rHand = jointPoints[PositionIndex.RightHand.Int()];
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Vector3 rf = TriangleNormal(rHand.pos3D, jointPoints[PositionIndex.RightThumb2.Int()].pos3D, jointPoints[PositionIndex.RightMid1.Int()].pos3D);
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rHand.initRotation = jointPoints[PositionIndex.RightHand.Int()].transform.rotation;
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rHand.inverse = Quaternion.Inverse(Quaternion.LookRotation(jointPoints[PositionIndex.RightThumb2.Int()].transform.position - jointPoints[PositionIndex.RightMid1.Int()].transform.position, rf));
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rHand.inverseRotation = rHand.inverse * rHand.initRotation;
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jointPoints[PositionIndex.Hip.Int()].score3D = 1f;
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jointPoints[PositionIndex.Neck.Int()].score3D = 1f;
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jointPoints[PositionIndex.Nose.Int()].score3D = 1f;
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jointPoints[PositionIndex.Head.Int()].score3D = 1f;
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jointPoints[PositionIndex.Spine.Int()].score3D = 1f;
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}
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public void PoseUpdate()
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{
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// Calculate movement range of z-coordinate from height.
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float t1 = Vector3.Distance(jointPoints[PositionIndex.Head.Int()].pos3D, jointPoints[PositionIndex.Neck.Int()].pos3D);
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float t2 = Vector3.Distance(jointPoints[PositionIndex.Neck.Int()].pos3D, jointPoints[PositionIndex.Spine.Int()].pos3D);
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Vector3 pm = (jointPoints[PositionIndex.RightThighBend.Int()].pos3D + jointPoints[PositionIndex.LeftThighBend.Int()].pos3D) / 2f;
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float t3 = Vector3.Distance(jointPoints[PositionIndex.Spine.Int()].pos3D, pm);
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float t4r = Vector3.Distance(jointPoints[PositionIndex.RightThighBend.Int()].pos3D, jointPoints[PositionIndex.RightShin.Int()].pos3D);
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float t4l = Vector3.Distance(jointPoints[PositionIndex.LeftThighBend.Int()].pos3D, jointPoints[PositionIndex.LeftShin.Int()].pos3D);
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float t4 = (t4r + t4l) / 2f;
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float t5r = Vector3.Distance(jointPoints[PositionIndex.RightShin.Int()].pos3D, jointPoints[PositionIndex.RightFoot.Int()].pos3D);
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float t5l = Vector3.Distance(jointPoints[PositionIndex.LeftShin.Int()].pos3D, jointPoints[PositionIndex.LeftFoot.Int()].pos3D);
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float t5 = (t5r + t5l) / 2f;
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float t = t1 + t2 + t3 + t4 + t5;
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// Low pass filter in z direction.
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tall = t * 0.7f + prevTall * 0.3f;
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prevTall = tall;
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if( tall == 0 )
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{
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tall = centerTall;
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}
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float dz = (centerTall - tall) / centerTall * zScale;
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// Movement and rotatation of center.
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Vector3 forward = TriangleNormal(jointPoints[PositionIndex.Hip.Int()].pos3D, jointPoints[PositionIndex.LeftThighBend.Int()].pos3D, jointPoints[PositionIndex.RightThighBend.Int()].pos3D);
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jointPoints[PositionIndex.Hip.Int()].transform.position = jointPoints[PositionIndex.Hip.Int()].pos3D * 0.005f + new Vector3(initPosition.x, initPosition.y, initPosition.z + dz);
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jointPoints[PositionIndex.Hip.Int()].transform.rotation = Quaternion.LookRotation(forward) * jointPoints[PositionIndex.Hip.Int()].inverseRotation;
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// Rotate each of the bones.
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foreach( JointPoint jointPoint in jointPoints )
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{
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if( jointPoint.parent != null )
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{
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Vector3 fv = jointPoint.parent.pos3D - jointPoint.pos3D;
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jointPoint.transform.rotation = Quaternion.LookRotation(jointPoint.pos3D - jointPoint.child.pos3D, fv) * jointPoint.inverseRotation;
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}
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else if( jointPoint.child != null )
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{
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jointPoint.transform.rotation = Quaternion.LookRotation(jointPoint.pos3D - jointPoint.child.pos3D, forward) * jointPoint.inverseRotation;
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}
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}
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// Head rotation.
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Vector3 gaze = jointPoints[PositionIndex.Nose.Int()].pos3D - jointPoints[PositionIndex.Head.Int()].pos3D;
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Vector3 f = TriangleNormal(jointPoints[PositionIndex.Nose.Int()].pos3D, jointPoints[PositionIndex.RightEar.Int()].pos3D, jointPoints[PositionIndex.LeftEar.Int()].pos3D);
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JointPoint head = jointPoints[PositionIndex.Head.Int()];
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head.transform.rotation = Quaternion.LookRotation(gaze, f) * head.inverseRotation;
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// Wrist rotation (test).
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JointPoint lHand = jointPoints[PositionIndex.LeftHand.Int()];
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Vector3 lf = TriangleNormal(lHand.pos3D, jointPoints[PositionIndex.LeftMid1.Int()].pos3D, jointPoints[PositionIndex.LeftThumb2.Int()].pos3D);
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lHand.transform.rotation = Quaternion.LookRotation(jointPoints[PositionIndex.LeftThumb2.Int()].pos3D - jointPoints[PositionIndex.LeftMid1.Int()].pos3D, lf) * lHand.inverseRotation;
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JointPoint rHand = jointPoints[PositionIndex.RightHand.Int()];
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Vector3 rf = TriangleNormal(rHand.pos3D, jointPoints[PositionIndex.RightThumb2.Int()].pos3D, jointPoints[PositionIndex.RightMid1.Int()].pos3D);
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//rHand.transform.rotation = Quaternion.LookRotation(jointPoints[PositionIndex.RightThumb2.Int()].pos3D - jointPoints[PositionIndex.RightMid1.Int()].pos3D, rf) * rHand.inverseRotation;
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rHand.transform.rotation = Quaternion.LookRotation(jointPoints[PositionIndex.RightThumb2.Int()].pos3D - jointPoints[PositionIndex.RightMid1.Int()].pos3D, rf) * rHand.inverseRotation;
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foreach( Skeleton sk in skeletons )
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{
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JointPoint s = sk.start;
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JointPoint e = sk.end;
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sk.lineRenderer.SetPosition(0, new Vector3(s.pos3D.x * skeletonScale + skeletonX, s.pos3D.y * skeletonScale + skeletonY, s.pos3D.z * skeletonScale + skeletonZ));
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sk.lineRenderer.SetPosition(1, new Vector3(e.pos3D.x * skeletonScale + skeletonX, e.pos3D.y * skeletonScale + skeletonY, e.pos3D.z * skeletonScale + skeletonZ));
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}
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}
|
||
|
|
|
||
|
|
private Vector3 TriangleNormal( Vector3 a, Vector3 b, Vector3 c )
|
||
|
|
{
|
||
|
|
Vector3 d1 = a - b;
|
||
|
|
Vector3 d2 = a - c;
|
||
|
|
|
||
|
|
Vector3 dd = Vector3.Cross(d1, d2);
|
||
|
|
dd.Normalize();
|
||
|
|
|
||
|
|
return dd;
|
||
|
|
}
|
||
|
|
|
||
|
|
private Quaternion GetInverse( JointPoint p1, JointPoint p2, Vector3 forward )
|
||
|
|
{
|
||
|
|
return Quaternion.Inverse(Quaternion.LookRotation(p1.transform.position - p2.transform.position, forward));
|
||
|
|
}
|
||
|
|
|
||
|
|
private void AddSkeleton( PositionIndex s, PositionIndex e )
|
||
|
|
{
|
||
|
|
Skeleton sk = new Skeleton()
|
||
|
|
{
|
||
|
|
gameObject = new GameObject("Line"),
|
||
|
|
start = jointPoints[s.Int()],
|
||
|
|
end = jointPoints[e.Int()],
|
||
|
|
};
|
||
|
|
|
||
|
|
sk.gameObject.transform.SetParent(skeleton.transform);
|
||
|
|
sk.lineRenderer = sk.gameObject.AddComponent<LineRenderer>();
|
||
|
|
sk.lineRenderer.startWidth = 0.04f;
|
||
|
|
sk.lineRenderer.endWidth = 0.01f;
|
||
|
|
|
||
|
|
// Define the number of vertices.
|
||
|
|
sk.lineRenderer.positionCount = 2;
|
||
|
|
sk.lineRenderer.material = skeletonMaterial;
|
||
|
|
|
||
|
|
skeletons.Add(sk);
|
||
|
|
}
|
||
|
|
}
|