使用Kinect SDK创建完整的3D骨架

这是我在uni的第一个图形主题，并且实现的某些部分不适合我。 我可以正确地绘制关节，但我正在尝试编写一个将关节之间的“骨骼”放入其中的函数。 在这一点上，骨骼只是立方体，被转换成直角棱镜，稍后我会尝试从搅拌机或其他东西介绍适当的模型。

我的麻烦是旋转。 大约5个小时左右后，我的伴侣和我有一些工作，但只要你的手臂或腿移动，立方体就会变形，看起来很奇怪。 任何帮助，将不胜感激。 以下是试图绘制骨骼的功能。

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;

---

对于骨取向，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

从那里你可以有四元数/矩阵的旋转，无论是在世界空间，还是在父骨骼空间（用于蒙皮）

你也使用：

new Quaternion(0)

这是一个0向量，不是用于旋转的有效四元数，使用：

Quaternion.Identity;

这将是（0,0,0,1）

---

虽然这是前一段时间提出的，但我认为在计算角度时也存在错误。 你有：

(float)Math.Acos(Vector3.Dot(bonevector, cubevector)

我认为你需要：

(float)Math.Acos(Vector3.Dot(bonevector, cubevector) / (bonevector.Length() *
cubevector.Length()))

这是一个很好的数学例子。 你也可以使它们成为单位矢量，所以它们的长度为1，而不用担心分割：

(float)Math.Acos(Vector3.Dot(bonevector.Normalize(), cubevector.Normalize()))

查看MSDN页面以获取更多信息。

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