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using UnityEngine.XR.ARFoundation;
using UnityEngine;
using UnityEngine.XR.ARSubsystems;
using System.Collections.Generic;
using System;
public class BoneController : MonoBehaviour
{
// 3D joint skeleton
enum JointIndices
{
Invalid = -1,
Root = 0, // parent: <none> [-1]
Hips = 1, // parent: Root [0]
LeftUpLeg = 2, // parent: Hips [1]
LeftLeg = 3, // parent: LeftUpLeg [2]
LeftFoot = 4, // parent: LeftLeg [3]
LeftToes = 5, // parent: LeftFoot [4]
LeftToesEnd = 6, // parent: LeftToes [5]
RightUpLeg = 7, // parent: Hips [1]
RightLeg = 8, // parent: RightUpLeg [7]
RightFoot = 9, // parent: RightLeg [8]
RightToes = 10, // parent: RightFoot [9]
RightToesEnd = 11, // parent: RightToes [10]
Spine1 = 12, // parent: Hips [1]
Spine2 = 13, // parent: Spine1 [12]
Spine3 = 14, // parent: Spine2 [13]
Spine4 = 15, // parent: Spine3 [14]
Spine5 = 16, // parent: Spine4 [15]
Spine6 = 17, // parent: Spine5 [16]
Spine7 = 18, // parent: Spine6 [17]
LeftShoulder1 = 19, // parent: Spine7 [18]
LeftArm = 20, // parent: LeftShoulder1 [19]
LeftForearm = 21, // parent: LeftArm [20]
LeftHand = 22, // parent: LeftForearm [21]
LeftHandIndexStart = 23, // parent: LeftHand [22]
LeftHandIndex1 = 24, // parent: LeftHandIndexStart [23]
LeftHandIndex2 = 25, // parent: LeftHandIndex1 [24]
LeftHandIndex3 = 26, // parent: LeftHandIndex2 [25]
LeftHandIndexEnd = 27, // parent: LeftHandIndex3 [26]
LeftHandMidStart = 28, // parent: LeftHand [22]
LeftHandMid1 = 29, // parent: LeftHandMidStart [28]
LeftHandMid2 = 30, // parent: LeftHandMid1 [29]
LeftHandMid3 = 31, // parent: LeftHandMid2 [30]
LeftHandMidEnd = 32, // parent: LeftHandMid3 [31]
LeftHandPinkyStart = 33, // parent: LeftHand [22]
LeftHandPinky1 = 34, // parent: LeftHandPinkyStart [33]
LeftHandPinky2 = 35, // parent: LeftHandPinky1 [34]
LeftHandPinky3 = 36, // parent: LeftHandPinky2 [35]
LeftHandPinkyEnd = 37, // parent: LeftHandPinky3 [36]
LeftHandRingStart = 38, // parent: LeftHand [22]
LeftHandRing1 = 39, // parent: LeftHandRingStart [38]
LeftHandRing2 = 40, // parent: LeftHandRing1 [39]
LeftHandRing3 = 41, // parent: LeftHandRing2 [40]
LeftHandRingEnd = 42, // parent: LeftHandRing3 [41]
LeftHandThumbStart = 43, // parent: LeftHand [22]
LeftHandThumb1 = 44, // parent: LeftHandThumbStart [43]
LeftHandThumb2 = 45, // parent: LeftHandThumb1 [44]
LeftHandThumbEnd = 46, // parent: LeftHandThumb2 [45]
Neck1 = 47, // parent: Spine7 [18]
Neck2 = 48, // parent: Neck1 [47]
Neck3 = 49, // parent: Neck2 [48]
Neck4 = 50, // parent: Neck3 [49]
Head = 51, // parent: Neck4 [50]
Jaw = 52, // parent: Head [51]
Chin = 53, // parent: Jaw [52]
LeftEye = 54, // parent: Head [51]
LeftEyeLowerLid = 55, // parent: LeftEye [54]
LeftEyeUpperLid = 56, // parent: LeftEye [54]
LeftEyeball = 57, // parent: LeftEye [54]
Nose = 58, // parent: Head [51]
RightEye = 59, // parent: Head [51]
RightEyeLowerLid = 60, // parent: RightEye [59]
RightEyeUpperLid = 61, // parent: RightEye [59]
RightEyeball = 62, // parent: RightEye [59]
RightShoulder1 = 63, // parent: Spine7 [18]
RightArm = 64, // parent: RightShoulder1 [63]
RightForearm = 65, // parent: RightArm [64]
RightHand = 66, // parent: RightForearm [65]
RightHandIndexStart = 67, // parent: RightHand [66]
RightHandIndex1 = 68, // parent: RightHandIndexStart [67]
RightHandIndex2 = 69, // parent: RightHandIndex1 [68]
RightHandIndex3 = 70, // parent: RightHandIndex2 [69]
RightHandIndexEnd = 71, // parent: RightHandIndex3 [70]
RightHandMidStart = 72, // parent: RightHand [66]
RightHandMid1 = 73, // parent: RightHandMidStart [72]
RightHandMid2 = 74, // parent: RightHandMid1 [73]
RightHandMid3 = 75, // parent: RightHandMid2 [74]
RightHandMidEnd = 76, // parent: RightHandMid3 [75]
RightHandPinkyStart = 77, // parent: RightHand [66]
RightHandPinky1 = 78, // parent: RightHandPinkyStart [77]
RightHandPinky2 = 79, // parent: RightHandPinky1 [78]
RightHandPinky3 = 80, // parent: RightHandPinky2 [79]
RightHandPinkyEnd = 81, // parent: RightHandPinky3 [80]
RightHandRingStart = 82, // parent: RightHand [66]
RightHandRing1 = 83, // parent: RightHandRingStart [82]
RightHandRing2 = 84, // parent: RightHandRing1 [83]
RightHandRing3 = 85, // parent: RightHandRing2 [84]
RightHandRingEnd = 86, // parent: RightHandRing3 [85]
RightHandThumbStart = 87, // parent: RightHand [66]
RightHandThumb1 = 88, // parent: RightHandThumbStart [87]
RightHandThumb2 = 89, // parent: RightHandThumb1 [88]
RightHandThumbEnd = 90, // parent: RightHandThumb2 [89]
}
const int k_NumSkeletonJoints = 91;
[SerializeField]
[Tooltip("The root bone of the skeleton.")]
Transform m_SkeletonRoot;
/// <summary>
/// Get/Set the root bone of the skeleton.
/// </summary>
public Transform skeletonRoot
{
get
{
return m_SkeletonRoot;
}
set
{
m_SkeletonRoot = value;
}
}
Transform[] m_BoneMapping = new Transform[k_NumSkeletonJoints];
public void InitializeSkeletonJoints()
{
// Walk through all the child joints in the skeleton and
// store the skeleton joints at the corresponding index in the m_BoneMapping array.
// This assumes that the bones in the skeleton are named as per the
// JointIndices enum above.
Queue<Transform> nodes = new Queue<Transform>();
nodes.Enqueue(m_SkeletonRoot);
while (nodes.Count > 0)
{
Transform next = nodes.Dequeue();
for (int i = 0; i < next.childCount; ++i)
{
nodes.Enqueue(next.GetChild(i));
}
ProcessJoint(next);
}
}
public void ApplyBodyPose(ARHumanBody body)
{
var joints = body.joints;
if (!joints.IsCreated)
return;
for (int i = 0; i < k_NumSkeletonJoints; ++i)
{
XRHumanBodyJoint joint = joints[i];
var bone = m_BoneMapping[i];
if (bone != null)
{
bone.transform.localPosition = joint.localPose.position;
bone.transform.localRotation = joint.localPose.rotation;
}
}
}
void ProcessJoint(Transform joint)
{
int index = GetJointIndex(joint.name);
if (index >= 0 && index < k_NumSkeletonJoints)
{
m_BoneMapping[index] = joint;
}
else
{
Debug.LogWarning($"{joint.name} was not found.");
}
}
// Returns the integer value corresponding to the JointIndices enum value
// passed in as a string.
int GetJointIndex(string jointName)
{
JointIndices val;
if (Enum.TryParse(jointName, out val))
{
return (int)val;
}
return -1;
}
}