arfoundation-samples/Assets/Scripts/BoneController.cs

using UnityEngine.XR.ARFoundation;
using UnityEngine;
using UnityEngine.XR.ARSubsystems;
using System.Collections.Generic;
using System;

namespace UnityEngine.XR.ARFoundation.Samples
{
    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;
        }
    }
}