使用Kinect SDK创建完整的3d骨架

Question

这是我在uni的第一个图形主题,并且实现的某些部分对我不起作用.我可以正确地绘制关节,但我正在尝试编写一个在关节之间放入"骨骼"的函数.在这一点上,骨头只是立方体,被转换为矩形棱柱,稍后我将尝试从搅拌机或其他东西引入适当的模型.

我的麻烦在于轮换.大约5个小时左右后,我的伴侣和我有一些工作,但是一旦你移动你的手臂或腿,立方体就会扭曲并看起来很奇怪.任何帮助,将不胜感激.以下是尝试绘制骨骼的功能.

private void DrawBone(Skeleton skeleton, JointType jointType0, JointType jointType1)
{
    Joint joint0 = skeleton.Joints[jointType0];
    Joint joint1 = skeleton.Joints[jointType1];

    // If we can't find either of these joints, exit
    if (joint0.TrackingState == JointTrackingState.NotTracked ||
        joint1.TrackingState == JointTrackingState.NotTracked)
    {
        return;
    }

    // Don't draw if both points are inferred
    if (joint0.TrackingState == JointTrackingState.Inferred &&
        joint1.TrackingState == JointTrackingState.Inferred)
    {
        return;
    }

    // We assume all drawn bones are inferred unless BOTH joints are tracked
    if (joint0.TrackingState == JointTrackingState.Tracked && joint1.TrackingState == JointTrackingState.Tracked)

        //jointvector(joint) takes a joint and returns a Vector2 with its position data, with the z invtred to work properly with directx11
        Vector3 bonevector = Vector3.Subtract(jointVector(joint0), jointVector(joint1));
        //cubevector is supposed to describe the initial vector of a cube centred at (0,0,0) with a side length of 2. A fair amount of guesswork has gone into this bit.
        Vector3 cubevector = new Vector3(0, 2, 0);
        //midpoint of two joints
        Vector3 transTest = Vector3.Divide(Vector3.Add(jointVector(joint0),jointVector(joint1)), 2);
        //divide by two because our original cube has side length 2
        float scaleFactor = Math.Abs(bonevector.Length() / cubevector.Length());

        //we haven't been taught quaternions in class or anything, but after a fair while searching for similar problems they seemed like the go-to option for rotations.
        world = Matrix.Transformation(new Vector3(0, 0, 0), new Quaternion(0), new Vector3(0.05f, scaleFactor, 0.05f), new Vector3(0, 0, 0), new Quaternion(Vector3.Cross(cubevector, bonevector), (float)Math.Acos(Vector3.Dot(bonevector, cubevector))), transTest);     

        //view and proj are defined elsewhere and are working fine, it's just the world that is being lame         
        worldViewProj = world * view * proj;
        worldViewProj.Transpose();
        sDXdata.context.UpdateSubresource(ref worldViewProj, sDXdata.constantBuffer);
        //36 vertices of the cube (two triangles per face) defined elsewhere
        sDXdata.context.Draw(36, 0);
        return;

Answer 1

对于骨骼方向，请检查：

skeleton.BoneOrientations[joint.JointType]

它会给你一个 BoneOrientation 类

http://msdn.microsoft.com/en-us/library/microsoft.kinect.boneorientation.aspx

从那里，您可以将旋转作为四元数/矩阵，在世界空间中或在父骨骼空间中（用于蒙皮）

您还使用：

new Quaternion(0)

这是一个 0 向量，不是用于旋转的有效四元数，请使用：

Quaternion.Identity;

这将是 (0,0,0,1)