C# 使用Kinect SDK创建完整的三维骨架

这是我在uni的第一门图形课程，实现的某些部分对我来说根本不起作用。我可以正确地绘制关节，但我正在尝试编写一个函数，在关节之间插入“骨骼”。在这一点上，骨骼只是被转换成矩形棱柱体的立方体，稍后我将尝试从blender或其他方面介绍合适的模型

我的问题是旋转。大约5个小时后，我和我的搭档开始工作，但只要你把胳膊或腿伸出来，立方体就会扭曲，看起来很奇怪。任何帮助都将不胜感激。下面是尝试绘制骨骼的函数

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;

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有关骨骼方向，请选中：

skeleton.BoneOrientations[joint.JointType]

它会给你一堂骨骼定向课

从那里，可以在世界空间或父骨骼空间（用于蒙皮）中将旋转设置为四元数/矩阵

您还可以使用：

new Quaternion(0)

这是0向量，不是用于旋转的有效四元数，请使用：

Quaternion.Identity;

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这将是（0,0,0,1）

虽然这是前一段时间提出的问题，但我认为在计算角度时也有一个错误。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小例子。您也可以将它们设置为单位向量，这样它们的长度为1，而不必进行除法：

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

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查看该页面了解更多信息。

嗨，文斯，你有过这样的经历吗？有兴趣了解如何在3D中显示模型。