kinect脚本部分翻译/注释

using UnityEngine;//using Windows.Kinect;using System;using System.Collections;using System.Collections.Generic;public class KinectManager : MonoBehaviour {    // How high off the ground is the sensor (in meters).     //离地面有多高的传感器(单位:米)。public float sensorHeight = 1.0f;// Kinect elevation angle (in degrees)    // Kinect仰角(度)public float sensorAngle = 0f;// Public Bool to determine whether to receive and compute the user map    //公共Bool来确定是否接收和计算用户映射public bool computeUserMap = false;// Public Bool to determine whether to receive and compute the color mappublic bool computeColorMap = false;// Public Bool to determine whether to receive and compute the infrared mappublic bool computeInfraredMap = false;// Public Bool to determine whether to display user map on the GUIpublic bool displayUserMap = false;// Public Bool to determine whether to display color map on the GUIpublic bool displayColorMap = false;// Public Bool to determine whether to display the skeleton lines on user mappublic bool displaySkeletonLines = false;// Public Float to specify the image width used by depth and color maps, as % of the camera width. the height is calculated depending on the width.// if percent is zero, it is calculated internally to match the selected width and height of the depth imagepublic float DisplayMapsWidthPercent = 20f;// Public Bool to determine whether to use multi-source reader, if availablepublic bool useMultiSourceReader = false;// Minimum user distance in order to process skeleton datapublic float minUserDistance = 0.5f;// Maximum user distance, if any. 0 means no max-distance limitationpublic float maxUserDistance = 0f;// Public Bool to determine whether to detect only the closest user or notpublic bool detectClosestUser = true;// Public Bool to determine whether to use only the tracked joints (and ignore the inferred ones)public bool ignoreInferredJoints = true;// Selection of smoothing parameterspublic enum Smoothing : int { None, Default, Medium, Aggressive }public Smoothing smoothing = Smoothing.Default;// Public Bool to determine the use of additional filterspublic bool useBoneOrientationConstraints = true;//public bool useBoneOrientationsFilter = false;// Lists of AvatarController-objects that will be controlled by Kinect userspublic List<AvatarController> avatarControllers;// Calibration pose for each player, if neededpublic KinectGestures.Gestures playerCalibrationPose;// List of Gestures to be detected for each playerpublic List<KinectGestures.Gestures> playerCommonGestures;// Minimum time between gesture detectionspublic float minTimeBetweenGestures = 0.7f;// List of Gesture Listeners. They must implement KinectGestures.GestureListenerInterfacepublic List<MonoBehaviour> gestureListeners;// GUI Text to show messages.public GUIText calibrationText;// Bool to keep track of whether Kinect has been initializedprivate bool kinectInitialized = false; // The singleton instance of KinectManagerprivate static KinectManager instance = null;// available sensor interfacesprivate List<DepthSensorInterface> sensorInterfaces = null;// primary SensorData structureprivate KinectInterop.SensorData sensorData = null;// Depth and user maps//private KinectInterop.DepthBuffer depthImage;//private KinectInterop.BodyIndexBuffer bodyIndexImage;//private KinectInterop.UserHistogramBuffer userHistogramImage;private Color32[] usersHistogramImage;private ushort[] usersPrevState;private float[] usersHistogramMap;private Texture2D usersLblTex;private Rect usersMapRect;private int usersMapSize;//private int minDepth;//private int maxDepth;// Color map//private KinectInterop.ColorBuffer colorImage;private Texture2D usersClrTex;private Rect usersClrRect;private int usersClrSize;// Kinect body frame dataprivate KinectInterop.BodyFrameData bodyFrame;//private Int64 lastBodyFrameTime = 0;// List of all userspublic List<Int64> alUserIds;private Dictionary<Int64, int> dictUserIdToIndex;// Primary (first or closest) user IDpublic Int64 liPrimaryUserId = 0;// Kinect to world matrixprivate Matrix4x4 kinectToWorld = Matrix4x4.zero;//private Matrix4x4 mOrient = Matrix4x4.zero;// Calibration gesture data for each playerprivate Dictionary<Int64, KinectGestures.GestureData> playerCalibrationData = new Dictionary<Int64, KinectGestures.GestureData>();// gestures data and parameters    /// <summary>    /// 手势数据和参数    /// </summary>private Dictionary<Int64, List<KinectGestures.GestureData>> playerGesturesData = new Dictionary<Int64, List<KinectGestures.GestureData>>();private Dictionary<Int64, float> gesturesTrackingAtTime = new Dictionary<Int64, float>();// List of Gesture Listeners. They must implement KinectGestures.GestureListenerInterfacepublic List<KinectGestures.GestureListenerInterface> gestureListenerInts;// Body filter instancesprivate JointPositionsFilter jointPositionFilter = null;private BoneOrientationsConstraint boneConstraintsFilter = null;//private BoneOrientationsFilter boneOrientationFilter = null;// returns the single KinectManager instance    //返回单一KinectManager实例    public static KinectManager Instance    {        get        {            return instance;        }    }// checks if Kinect is initialized and ready to use. If not, there was an error during Kinect-sensor initialization    // 检查是否初始化并准备使用Kinect。如果不是,有一个错误在Kinect-sensor初始化public static bool IsKinectInitialized(){return instance != null ? instance.kinectInitialized : false;}// checks if Kinect is initialized and ready to use. If not, there was an error during Kinect-sensor initialization    //检查Kinect是否初始化并已准备好使用。如果不是,在Kinect传感器初始化时会有一个错误    /// <summary>    /// 检查Kinect是否初始化并已准备好使用。如果不是,在Kinect传感器初始化时会有一个错误    /// </summary>    /// <returns></returns>public bool IsInitialized(){return kinectInitialized;}// returns the number of bodies, tracked by the sensor    //返回身体的数量,由传感器跟踪    /// <summary>    /// 返回身体的数量,由传感器跟踪    /// </summary>    /// <returns></returns>public int GetSensorBodyCount(){return sensorData != null ? sensorData.bodyCount : 0;}// returns the number of joints, tracked by the sensor    //返回的关节数量,跟踪传感器    /// <summary>    /// 返回的关节数量,跟踪传感器    /// </summary>    /// <returns></returns>public int GetSensorJointCount(){return sensorData != null ? sensorData.jointCount : 0;}// returns the index of the given joint in joint's array    //返回给定的指数关节关节数组    /// <summary>    /// 返回给定的指数关节关节数组    /// </summary>    /// <param name="joint"></param>    /// <returns></returns>public int GetJointIndex(KinectInterop.JointType joint){if(sensorData != null && sensorData.sensorInterface != null){return sensorData.sensorInterface.GetJointIndex(joint);}// fallback - index matches the jointreturn (int)joint;}// returns the joint at given index    //返回关节在给定索引    /// <summary>    /// 返回关节指定索引的关节    /// </summary>    /// <param name="index"></param>    /// <returns></returns>public KinectInterop.JointType GetJointAtIndex(int index){if(sensorData != null && sensorData.sensorInterface != null){return sensorData.sensorInterface.GetJointAtIndex(index);}// fallback - index matches the jointreturn (KinectInterop.JointType)index;}// returns the parent joint of the given joint    //返回给定的父关节点    /// <summary>    /// 返回指定关节的父节点关节    /// </summary>    /// <param name="joint"></param>    /// <returns></returns>public KinectInterop.JointType GetParentJoint(KinectInterop.JointType joint){if(sensorData != null && sensorData.sensorInterface != null){return sensorData.sensorInterface.GetParentJoint(joint);}// fall back - return the same joint (i.e. end-joint)return joint;}// returns the width of the sensor supported color image    /// <summary>    /// 返回传感器支持的彩图宽度    /// </summary>    /// <returns></returns>public int GetColorImageWidth(){return sensorData != null ? sensorData.colorImageWidth : 0;}// returns the height of the sensor supported color image    /// <summary>    /// 返回传感器支持的彩图高度    /// </summary>    /// <returns></returns>public int GetColorImageHeight(){return sensorData != null ? sensorData.colorImageHeight : 0;}// returns the width of the sensor supported depth image    /// <summary>    /// 返回传感器支持的深度图宽度    /// </summary>    /// <returns></returns>public int GetDepthImageWidth(){return sensorData != null ? sensorData.depthImageWidth : 0;}// returns the height of the sensor supported depth image    /// <summary>    /// 返回传感器支持的深度图高度    /// </summary>    /// <returns></returns>public int GetDepthImageHeight(){return sensorData != null ? sensorData.depthImageHeight : 0;}// returns the raw depth/user data,if ComputeUserMap is true    /// <summary>    /// 返回Kinect采集的用户信息，如果在KinectManager里ComputeUserMap已启用    /// </summary>    /// <returns></returns>public ushort[] GetRawDepthMap(){return sensorData != null ? sensorData.depthImage : null;}// returns the raw infrared data,if ComputeInfraredMap is true    /// <summary>    /// 返回Kinect中采集的红外数据，如果红外图计算开启    /// </summary>    /// <returns></returns>public ushort[] GetRawInfraredMap(){return sensorData != null ? sensorData.infraredImage : null;}// returns the depth image/users histogram texture,if ComputeUserMap is true    /// <summary>    /// 返回传感器采集的用户的直方图，如果ComputeUserMap开启    /// </summary>    /// <returns></returns>    public Texture2D GetUsersLblTex()    { return usersLblTex;}// returns the color image texture,if ComputeColorMap is true    /// <summary>    /// 返回传传感器采集的彩色图，如果ComputeColorMap开启    /// </summary>    /// <returns></returns>public Texture2D GetUsersClrTex(){ return usersClrTex;}// returns true if at least one user is currently detected by the sensor    // 是否检测到用户    /// <summary>    /// 传感器是否检测到用户    /// </summary>    /// <returns></returns>public bool IsUserDetected(){return kinectInitialized && (alUserIds.Count > 0);}// returns true if the User is calibrated and ready to use    //Cakubrated  校正    /// <summary>    /// 如果用户已经校正过并且已准备好使用，则返回true    /// </summary>    /// <param name="userId"></param>    /// <returns></returns>public bool IsUserCalibrated(Int64 userId){return dictUserIdToIndex.ContainsKey(userId);}// returns the number of currently detected users    // 检测到用户的数量    /// <summary>    /// 返回检测到的用户数量     /// </summary>    /// <returns></returns>public int GetUsersCount(){return alUserIds.Count;}// returns the UserID by the given index    // 返回用户id通过给定的索引    /// <summary>    /// 返回指定用户索引的用户ID    /// </summary>    /// <param name="i"></param>    /// <returns></returns>public Int64 GetUserIdByIndex(int i){if(i >= 0 && i < alUserIds.Count){return alUserIds[i];}return 0;}// returns the UserID of the primary user (the first or the closest one), if there is any    // 返回主用户的用户ID    /// <summary>    /// 返回主用户的ID（第一个或者最接近的一个），如果有很多个的话    /// </summary>    /// <returns></returns>public Int64 GetPrimaryUserID(){return liPrimaryUserId;}// sets new primary user ID in order to change the active user    // 设置某用户为主用户    /// <summary>    /// 设置主用户ID    /// </summary>    /// <param name="userId">要设置的主用户ID</param>    /// <returns></returns>public bool SetPrimaryUserID(Int64 userId){bool bResult = false;if(alUserIds.Contains(userId) || (userId == 0)){liPrimaryUserId = userId;bResult = true;}return bResult;}  // returns the User body data, for debug purposes only// do not change the data in the structure directly    /// <summary>    /// 返回用户的身体数据，仅供调试    /// </summary>    /// <param name="userId"></param>    /// <returns></returns>public KinectInterop.BodyData GetUserBodyData(Int64 userId){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];            Debug.Log(index);if(index >= 0 && index < sensorData.bodyCount){return bodyFrame.bodyData[index];}}return new KinectInterop.BodyData();}// returns the User position, relative to the Kinect-sensor, in meters    //返回用户相对与Kinect的位置信息    /// <summary>    /// 返回用户相对于传感的位置，单位：米    /// </summary>    /// <param name="userId"></param>    /// <returns></returns>public Vector3 GetUserPosition(Int64 userId){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount && bodyFrame.bodyData[index].bIsTracked != 0){return bodyFrame.bodyData[index].position;}}return Vector3.zero;}// returns the User rotation, relative to the Kinect-sensor    /// <summary>    /// 返回全身旋转的四元数    /// </summary>    /// <param name="userId"></param>    /// <param name="flip"></param>    /// <returns></returns>public Quaternion GetUserOrientation(Int64 userId, bool flip){if(dictUserIdToIndex.ContainsKey(userId)){            int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount &&    bodyFrame.bodyData[index].bIsTracked != 0){if(flip)return bodyFrame.bodyData[index].normalRotation;elsereturn bodyFrame.bodyData[index].mirroredRotation;}}return Quaternion.identity;}// returns the raw tracking state of the given joint of the specified user    // 返回指定用户指定骨骼点的追踪状态    /// <summary>    /// 返回指定用户指定骨骼点的追踪状态    /// </summary>    /// <param name="userId"></param>    /// <param name="joint"></param>    /// <returns></returns>public KinectInterop.TrackingState GetJointTrackingState(Int64 userId, int joint){if(dictUserIdToIndex.ContainsKey(userId)){            int index = dictUserIdToIndex[userId];            if(index >= 0 && index < sensorData.bodyCount && bodyFrame.bodyData[index].bIsTracked != 0){if(joint >= 0 && joint < sensorData.jointCount){return  bodyFrame.bodyData[index].joint[joint].trackingState;}}}return KinectInterop.TrackingState.NotTracked;}// returns true if the given joint of the specified user is being tracked    /// <summary>    /// 如果指定用户指定关节被追踪上，则返回True    /// </summary>    /// <param name="userId"></param>    /// <param name="joint"></param>    /// <returns></returns>public bool IsJointTracked(Int64 userId, int joint){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount && bodyFrame.bodyData[index].bIsTracked != 0){if(joint >= 0 && joint < sensorData.jointCount){KinectInterop.JointData jointData = bodyFrame.bodyData[index].joint[joint];return ignoreInferredJoints ? (jointData.trackingState == KinectInterop.TrackingState.Tracked) : (jointData.trackingState != KinectInterop.TrackingState.NotTracked);}}}return false;}// returns the joint position of the specified user, relative to the Kinect-sensor, in meters    /// <summary>    /// 返回主要用户相对于传感器骨骼的Position，单位：米    /// </summary>    /// <param name="userId"></param>    /// <param name="joint"></param>    /// <returns></returns>public Vector3 GetJointKinectPosition(Int64 userId, int joint){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount &&    bodyFrame.bodyData[index].bIsTracked != 0){if(joint >= 0 && joint < sensorData.jointCount){KinectInterop.JointData jointData = bodyFrame.bodyData[index].joint[joint];return jointData.kinectPos;}}}return Vector3.zero;}// returns the joint position of the specified user, relative to the Kinect-sensor, in meters    /// <summary>    /// 返回主要用户相对于传感器骨骼的Position，单位：米    /// </summary>    /// <param name="userId"></param>    /// <param name="joint"></param>    /// <returns></returns>public Vector3 GetJointPosition(Int64 userId, int joint){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount && bodyFrame.bodyData[index].bIsTracked != 0){if(joint >= 0 && joint < sensorData.jointCount){KinectInterop.JointData jointData = bodyFrame.bodyData[index].joint[joint];return jointData.position;}}}return Vector3.zero;}// returns the joint direction of the specified user, relative to the parent joint    /// <summary>    /// 返回主要用户指定关节点相对于他父节点关节的距离    /// </summary>    /// <param name="userId"></param>    /// <param name="joint"></param>    /// <param name="flipX"></param>    /// <param name="flipZ"></param>    /// <returns></returns>public Vector3 GetJointDirection(Int64 userId, int joint, bool flipX, bool flipZ){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount && bodyFrame.bodyData[index].bIsTracked != 0){if(joint >= 0 && joint < sensorData.jointCount){KinectInterop.JointData jointData = bodyFrame.bodyData[index].joint[joint];Vector3 jointDir = jointData.direction;if(flipX)jointDir.x = -jointDir.x;if(flipZ)jointDir.z = -jointDir.z;return jointDir;}}}return Vector3.zero;}// returns the direction between firstJoint and secondJoint for the specified user    /// <summary>    /// 返回主要用户的传入的第一和第二个关节的距离    /// </summary>    /// <param name="userId"></param>    /// <param name="firstJoint"></param>    /// <param name="secondJoint"></param>    /// <param name="flipX"></param>    /// <param name="flipZ"></param>    /// <returns></returns>public Vector3 GetDirectionBetweenJoints(Int64 userId, int firstJoint, int secondJoint, bool flipX, bool flipZ){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount && bodyFrame.bodyData[index].bIsTracked != 0){KinectInterop.BodyData bodyData = bodyFrame.bodyData[index];if(firstJoint >= 0 && firstJoint < sensorData.jointCount &&secondJoint >= 0 && secondJoint < sensorData.jointCount){Vector3 firstJointPos = bodyData.joint[firstJoint].position;Vector3 secondJointPos = bodyData.joint[secondJoint].position;Vector3 jointDir = secondJointPos - firstJointPos;if(flipX)jointDir.x = -jointDir.x;if(flipZ)jointDir.z = -jointDir.z;return jointDir;}}}return Vector3.zero;}// returns the joint rotation of the specified user, relative to the Kinect-sensor    /// <summary>    /// 返回主要用户指定关节相对于传感器的旋转    /// </summary>    /// <param name="userId"></param>    /// <param name="joint"></param>    /// <param name="flip"></param>    /// <returns></returns>public Quaternion GetJointOrientation(Int64 userId, int joint, bool flip){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount &&    bodyFrame.bodyData[index].bIsTracked != 0){if(flip)return bodyFrame.bodyData[index].joint[joint].normalRotation;elsereturn bodyFrame.bodyData[index].joint[joint].mirroredRotation;}}return Quaternion.identity;}// checks if the left hand confidence for a user is high// returns true if the confidence is high, false if it is low or user is not foundpublic bool IsLeftHandConfidenceHigh(Int64 userId){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount && bodyFrame.bodyData[index].bIsTracked != 0){return (bodyFrame.bodyData[index].leftHandConfidence == KinectInterop.TrackingConfidence.High);}}return false;}// checks if the right hand confidence for a user is high// returns true if the confidence is high, false if it is low or user is not foundpublic bool IsRightHandConfidenceHigh(Int64 userId){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount && bodyFrame.bodyData[index].bIsTracked != 0){return (bodyFrame.bodyData[index].rightHandConfidence == KinectInterop.TrackingConfidence.High);}}return false;}// returns the left hand state for a user    // 返回用户左手状态    /// <summary>    /// 返回用户左手状态    /// </summary>    /// <param name="userId"></param>    /// <returns></returns>public KinectInterop.HandState GetLeftHandState(Int64 userId){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount && bodyFrame.bodyData[index].bIsTracked != 0){return bodyFrame.bodyData[index].leftHandState;}}return KinectInterop.HandState.NotTracked;}// returns the right hand state for a user    // 返回用户右手状态    /// <summary>    /// 返回用户右手状态    /// </summary>    /// <param name="userId"></param>    /// <returns></returns>public KinectInterop.HandState GetRightHandState(Int64 userId){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount && bodyFrame.bodyData[index].bIsTracked != 0){return bodyFrame.bodyData[index].rightHandState;}}return KinectInterop.HandState.NotTracked;}// returns the interaction box for the left hand of the specified user, in meters    /// <summary>    /// 返回指定用户左手交互框    /// </summary>    /// <param name="userId"></param>    /// <param name="leftBotBack"></param>    /// <param name="rightTopFront"></param>    /// <param name="bValidBox"></param>    /// <returns></returns>public bool GetLeftHandInteractionBox(Int64 userId, ref Vector3 leftBotBack, ref Vector3 rightTopFront, bool bValidBox){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount && bodyFrame.bodyData[index].bIsTracked != 0){KinectInterop.BodyData bodyData = bodyFrame.bodyData[index];bool bResult = true;if(bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].trackingState == KinectInterop.TrackingState.Tracked &&   bodyData.joint[(int)KinectInterop.JointType.HipLeft].trackingState == KinectInterop.TrackingState.Tracked){rightTopFront.x = bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].position.x;leftBotBack.x = rightTopFront.x - 2 * (rightTopFront.x - bodyData.joint[(int)KinectInterop.JointType.HipLeft].position.x);}else{bResult = bValidBox;}if(bodyData.joint[(int)KinectInterop.JointType.HipRight].trackingState == KinectInterop.TrackingState.Tracked &&   bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].trackingState == KinectInterop.TrackingState.Tracked){leftBotBack.y = bodyData.joint[(int)KinectInterop.JointType.HipRight].position.y;rightTopFront.y = bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].position.y;float fDelta = (rightTopFront.y - leftBotBack.y) * 0.35f; // * 2 / 3;leftBotBack.y += fDelta;rightTopFront.y += fDelta;}else{bResult = bValidBox;}if(bodyData.joint[(int)KinectInterop.JointType.SpineBase].trackingState == KinectInterop.TrackingState.Tracked){leftBotBack.z = bodyData.joint[(int)KinectInterop.JointType.SpineBase].position.z;rightTopFront.z = leftBotBack.z - 0.5f;}else{bResult = bValidBox;}return bResult;}}return false;}// returns the interaction box for the right hand of the specified user, in meters    /// <summary>    /// 以米为单位，返回主要用户右手的交互框    /// </summary>    /// <param name="userId"></param>    /// <param name="leftBotBack"></param>    /// <param name="rightTopFront"></param>    /// <param name="bValidBox"></param>    /// <returns></returns>public bool GetRightHandInteractionBox(Int64 userId, ref Vector3 leftBotBack, ref Vector3 rightTopFront, bool bValidBox){if(dictUserIdToIndex.ContainsKey(userId)){int index = dictUserIdToIndex[userId];if(index >= 0 && index < sensorData.bodyCount && bodyFrame.bodyData[index].bIsTracked != 0){KinectInterop.BodyData bodyData = bodyFrame.bodyData[index];bool bResult = true;if(bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].trackingState == KinectInterop.TrackingState.Tracked &&   bodyData.joint[(int)KinectInterop.JointType.HipRight].trackingState == KinectInterop.TrackingState.Tracked){leftBotBack.x = bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].position.x;rightTopFront.x = leftBotBack.x + 2 * (bodyData.joint[(int)KinectInterop.JointType.HipRight].position.x - leftBotBack.x);}else{bResult = bValidBox;}if(bodyData.joint[(int)KinectInterop.JointType.HipLeft].trackingState == KinectInterop.TrackingState.Tracked &&   bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].trackingState == KinectInterop.TrackingState.Tracked){leftBotBack.y = bodyData.joint[(int)KinectInterop.JointType.HipLeft].position.y;rightTopFront.y = bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].position.y;float fDelta = (rightTopFront.y - leftBotBack.y) * 0.35f; // * 2 / 3;leftBotBack.y += fDelta;rightTopFront.y += fDelta;}else{bResult = bValidBox;}if(bodyData.joint[(int)KinectInterop.JointType.SpineBase].trackingState == KinectInterop.TrackingState.Tracked){leftBotBack.z = bodyData.joint[(int)KinectInterop.JointType.SpineBase].position.z;rightTopFront.z = leftBotBack.z - 0.5f;}else{bResult = bValidBox;}return bResult;}}return false;}// returns the depth data for a specific pixel, if ComputeUserMap is true    /// <summary>    /// 返回特定像素的深度数据，如果ComputeUserMap是启用的    /// </summary>    /// <param name="x"></param>    /// <param name="y"></param>    /// <returns></returns>public ushort GetDepthForPixel(int x, int y){if(sensorData != null && sensorData.depthImage != null){int index = y * sensorData.depthImageWidth + x;if(index >= 0 && index < sensorData.depthImage.Length){return sensorData.depthImage[index];}}return 0;}// returns 3d coordinates of a depth-map point, or Vector3.zero if the sensor is not initialized    /// <summary>    /// 返回深度图点的三维坐标，如果传感没有初始化则返回0    /// </summary>    /// <param name="posPoint"></param>    /// <param name="depthValue"></param>    /// <param name="bWorldCoords"></param>    /// <returns></returns>public Vector3 MapDepthPointToSpaceCoords(Vector2 posPoint, ushort depthValue, bool bWorldCoords){Vector3 posKinect = Vector3.zero;if(kinectInitialized){posKinect = KinectInterop.MapDepthPointToSpaceCoords(sensorData, posPoint, depthValue);if(bWorldCoords){posKinect = kinectToWorld.MultiplyPoint3x4(posKinect);}}return posKinect;}// returns depth map coordinates of 3D point, or Vector2.zero if Kinect is not initialized    /// <summary>    /// 返回三维深度点，如果Kinect没有初始化则返回Vector2.Zero    /// </summary>    /// <param name="posPoint"></param>    /// <returns></returns>public Vector2 MapSpacePointToDepthCoords(Vector3 posPoint){Vector2 posDepth = Vector2.zero;if(kinectInitialized){posDepth = KinectInterop.MapSpacePointToDepthCoords(sensorData, posPoint);}return posDepth;}// returns color-map coordinates for the given depth point    /// <summary>    /// 返回给定深度点的彩色地图坐标    /// </summary>    /// <param name="posPoint"></param>    /// <param name="depthValue"></param>    /// <returns></returns>public Vector2 MapDepthPointToColorCoords(Vector2 posPoint, ushort depthValue){Vector2 posColor = Vector3.zero;if(kinectInitialized){posColor = KinectInterop.MapDepthPointToColorCoords(sensorData, posPoint, depthValue);}return posColor;}// removes the currently detected kinect users, allowing a new detection/calibration process to start    /// <summary>    /// 移除当前检测到的用户，允许开始新的用户检测    /// </summary>public void ClearKinectUsers(){        //判断设备如果没有初始化完成，则返回if(!kinectInitialized)return;// remove current users        // 删除当前用户for(int i = alUserIds.Count - 1; i >= 0; i--){Int64 userId = alUserIds[i];RemoveUser(userId);}ResetFilters();}// resets data filters    /// <summary>    /// 重置数据    /// </summary>public void ResetFilters(){if(jointPositionFilter != null){jointPositionFilter.Reset();}}// adds a gesture to the list of detected gestures for the specified user    /// <summary>    /// 为指定的用户添加一个可以检测的手势列表    /// </summary>    /// <param name="UserId"></param>    /// <param name="gesture"></param>public void DetectGesture(Int64 UserId, KinectGestures.Gestures gesture){List<KinectGestures.GestureData> gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : new List<KinectGestures.GestureData>();int index = GetGestureIndex(gesture, ref gesturesData);if(index >= 0){DeleteGesture(UserId, gesture);}KinectGestures.GestureData gestureData = new KinectGestures.GestureData();gestureData.userId = UserId;gestureData.gesture = gesture;gestureData.state = 0;gestureData.joint = 0;gestureData.progress = 0f;gestureData.complete = false;gestureData.cancelled = false;gestureData.checkForGestures = new List<KinectGestures.Gestures>();switch(gesture){case KinectGestures.Gestures.ZoomIn:gestureData.checkForGestures.Add(KinectGestures.Gestures.ZoomOut);gestureData.checkForGestures.Add(KinectGestures.Gestures.Wheel);break;case KinectGestures.Gestures.ZoomOut:gestureData.checkForGestures.Add(KinectGestures.Gestures.ZoomIn);gestureData.checkForGestures.Add(KinectGestures.Gestures.Wheel);break;case KinectGestures.Gestures.Wheel:gestureData.checkForGestures.Add(KinectGestures.Gestures.ZoomIn);gestureData.checkForGestures.Add(KinectGestures.Gestures.ZoomOut);break;}gesturesData.Add(gestureData);playerGesturesData[UserId] = gesturesData;if(!gesturesTrackingAtTime.ContainsKey(UserId)){gesturesTrackingAtTime[UserId] = 0f;}}// resets the gesture-data state for the given gesture of the specified user    /// <summary>    /// 重置指定用户的手势状态    /// </summary>    /// <param name="UserId"></param>    /// <param name="gesture"></param>    /// <returns></returns>public bool ResetGesture(Int64 UserId, KinectGestures.Gestures gesture){List<KinectGestures.GestureData> gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null;int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1;if(index < 0)return false;KinectGestures.GestureData gestureData = gesturesData[index];gestureData.state = 0;gestureData.joint = 0;gestureData.progress = 0f;gestureData.complete = false;gestureData.cancelled = false;gestureData.startTrackingAtTime = Time.realtimeSinceStartup + KinectInterop.Constants.MinTimeBetweenSameGestures;gesturesData[index] = gestureData;playerGesturesData[UserId] = gesturesData;return true;}// resets the gesture-data states for all detected gestures of the specified user    /// <summary>    /// 重置指定用户的所有手势    /// </summary>    /// <param name="UserId"></param>public void ResetPlayerGestures(Int64 UserId){List<KinectGestures.GestureData> gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null;if(gesturesData != null){int listSize = gesturesData.Count;for(int i = 0; i < listSize; i++){ResetGesture(UserId, gesturesData[i].gesture);}}}// deletes the given gesture from the list of detected gestures for the specified user    /// <summary>    /// 删除指定用的指定手势    /// </summary>    /// <param name="UserId"></param>    /// <param name="gesture"></param>    /// <returns></returns>public bool DeleteGesture(Int64 UserId, KinectGestures.Gestures gesture){List<KinectGestures.GestureData> gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null;int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1;if(index < 0)return false;gesturesData.RemoveAt(index);playerGesturesData[UserId] = gesturesData;return true;}// clears detected gestures list for the specified user    /// <summary>    /// 清空指定用户的所有手势    /// </summary>    /// <param name="UserId"></param>public void ClearGestures(Int64 UserId){List<KinectGestures.GestureData> gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null;if(gesturesData != null){gesturesData.Clear();playerGesturesData[UserId] = gesturesData;}}// returns the count of detected gestures in the list of detected gestures for the specified user    /// <summary>    /// 返回指定用户手势列表中的手势数量    /// </summary>    /// <param name="UserId"></param>    /// <returns></returns>public int GetGesturesCount(Int64 UserId){List<KinectGestures.GestureData> gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null;if(gesturesData != null){return gesturesData.Count;}return 0;}// returns the list of detected gestures for the specified user    /// <summary>    /// 返回指定用户的手势列表    /// </summary>    /// <param name="UserId"></param>    /// <returns></returns>public List<KinectGestures.Gestures> GetGesturesList(Int64 UserId){List<KinectGestures.Gestures> list = new List<KinectGestures.Gestures>();List<KinectGestures.GestureData> gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null;if(gesturesData != null){foreach(KinectGestures.GestureData data in gesturesData)list.Add(data.gesture);}return list;}// returns true, if the given gesture is in the list of detected gestures for the specified user    /// <summary>    /// 如果这个手势能在指定用户的手势列表中找到，则返回true    /// </summary>    /// <param name="UserId"></param>    /// <param name="gesture"></param>    /// <returns></returns>public bool IsGestureDetected(Int64 UserId, KinectGestures.Gestures gesture){List<KinectGestures.GestureData> gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null;int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1;return index >= 0;}// returns true, if the given gesture for the specified user is complete    /// <summary>    /// 如果指定用户完成了指定手势则返回true    /// </summary>    /// <param name="UserId"></param>    /// <param name="gesture"></param>    /// <param name="bResetOnComplete"></param>    /// <returns></returns>public bool IsGestureComplete(Int64 UserId, KinectGestures.Gestures gesture, bool bResetOnComplete){List<KinectGestures.GestureData> gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null;int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1;if(index >= 0){KinectGestures.GestureData gestureData = gesturesData[index];if(bResetOnComplete && gestureData.complete){ResetPlayerGestures(UserId);return true;}return gestureData.complete;}return false;}// returns true, if the given gesture for the specified user is cancelled    /// <summary>    /// 如果用户取消了指定手势，则返回true    /// </summary>    /// <param name="UserId"></param>    /// <param name="gesture"></param>    /// <returns></returns>public bool IsGestureCancelled(Int64 UserId, KinectGestures.Gestures gesture){List<KinectGestures.GestureData> gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null;int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1;if(index >= 0){KinectGestures.GestureData gestureData = gesturesData[index];return gestureData.cancelled;}return false;}// returns the progress in range [0, 1] of the given gesture for the specified user    /// <summary>    /// 指定用户指定的动作完成进度    /// </summary>    /// <param name="UserId"></param>    /// <param name="gesture"></param>    /// <returns></returns>public float GetGestureProgress(Int64 UserId, KinectGestures.Gestures gesture){List<KinectGestures.GestureData> gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null;int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1;if(index >= 0){KinectGestures.GestureData gestureData = gesturesData[index];return gestureData.progress;}return 0f;}// returns the current "screen position" of the given gesture for the specified user    /// <summary>    /// 返回指定用户当前的屏幕空间坐标    /// </summary>    /// <param name="UserId"></param>    /// <param name="gesture"></param>    /// <returns></returns>public Vector3 GetGestureScreenPos(Int64 UserId, KinectGestures.Gestures gesture){List<KinectGestures.GestureData> gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null;int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1;if(index >= 0){KinectGestures.GestureData gestureData = gesturesData[index];return gestureData.screenPos;}return Vector3.zero;}// KinectManager's Internal Methodsvoid Awake(){try{// init the available sensor interfacesbool bNeedRestart = false;sensorInterfaces = KinectInterop.InitSensorInterfaces(ref bNeedRestart);if(bNeedRestart){// reload the same levelApplication.LoadLevel(Application.loadedLevel);}} catch (Exception ex) {Debug.LogError(ex.ToString());if(calibrationText != null){calibrationText.guiText.text = ex.Message;}}}void Start() {try{// try to initialize the default Kinect2 sensorKinectInterop.FrameSource dwFlags = KinectInterop.FrameSource.TypeBody;if(computeUserMap)dwFlags |= KinectInterop.FrameSource.TypeDepth | KinectInterop.FrameSource.TypeBodyIndex;if(computeColorMap)dwFlags |= KinectInterop.FrameSource.TypeColor;if(computeInfraredMap)dwFlags |= KinectInterop.FrameSource.TypeInfrared;// open the default sensorsensorData = KinectInterop.OpenDefaultSensor(sensorInterfaces, dwFlags, sensorAngle, useMultiSourceReader);if (sensorData == null){throw new Exception("OpenDefaultSensor failed");}//create the transform matrix - kinect to worldQuaternion quatTiltAngle = new Quaternion();quatTiltAngle.eulerAngles = new Vector3(-sensorAngle, 0.0f, 0.0f);kinectToWorld.SetTRS(new Vector3(0.0f, sensorHeight, 0.0f), quatTiltAngle, Vector3.one);}catch(DllNotFoundException ex){string message = ex.Message + " cannot be loaded. Please check the Kinect SDK installation.";Debug.LogError(message);Debug.LogException(ex);if(calibrationText != null){calibrationText.guiText.text = message;}return;}catch(Exception ex){string message = ex.Message;Debug.LogError(message);Debug.LogException(ex);if(calibrationText != null){calibrationText.guiText.text = message;}return;}// set the singleton instanceinstance = this;// init skeleton structuresbodyFrame = new KinectInterop.BodyFrameData(sensorData.bodyCount, KinectInterop.Constants.JointCount); // sensorData.jointCountKinectInterop.SmoothParameters smoothParameters = new KinectInterop.SmoothParameters();switch(smoothing){case Smoothing.Default:                //平滑量,0为不平滑,  值在  0-1之间smoothParameters.smoothing = 1f;                //接受一个0-1的浮点型，值越少，修正越多  smoothParameters.correction = 0.5f;                //返回用来进行平滑需要的骨骼帧的数目smoothParameters.prediction = 0.5f;                //抖动半径，单位为M，如果关节点的抖动超过这个半径，将会纠正回该半径内smoothParameters.jitterRadius = 0.05f;                //用来与抖动半径一起设置抖动半径的最大边界，任何超过这一半径的点被认定为新的点smoothParameters.maxDeviationRadius = 0.04f;break;case Smoothing.Medium:smoothParameters.smoothing = 0.5f;smoothParameters.correction = 0.1f;smoothParameters.prediction = 0.5f;smoothParameters.jitterRadius = 0.1f;smoothParameters.maxDeviationRadius = 0.1f;break;case Smoothing.Aggressive:smoothParameters.smoothing = 0.7f;smoothParameters.correction = 0.3f;smoothParameters.prediction = 1.0f;smoothParameters.jitterRadius = 1.0f;smoothParameters.maxDeviationRadius = 1.0f;break;}// init data filtersjointPositionFilter = new JointPositionsFilter();jointPositionFilter.Init(smoothParameters);// init the bone orientation constraintsif(useBoneOrientationConstraints){boneConstraintsFilter = new BoneOrientationsConstraint();boneConstraintsFilter.AddDefaultConstraints();//boneConstraintsFilter.SetDebugText(calibrationText);}// get the main camera rectangleRect cameraRect = Camera.main.pixelRect;// calculate map width and height in percent, if neededif(DisplayMapsWidthPercent == 0f){DisplayMapsWidthPercent = (sensorData.depthImageWidth / 2) * 100 / cameraRect.width;}if(computeUserMap){float displayMapsWidthPercent = DisplayMapsWidthPercent / 100f;float displayMapsHeightPercent = displayMapsWidthPercent * sensorData.depthImageHeight / sensorData.depthImageWidth;float displayWidth = cameraRect.width * displayMapsWidthPercent;float displayHeight = cameraRect.width * displayMapsHeightPercent;// Initialize depth & label map related stuff        usersLblTex = new Texture2D(sensorData.depthImageWidth, sensorData.depthImageHeight);usersMapRect = new Rect(cameraRect.width - displayWidth, cameraRect.height, displayWidth, -displayHeight);usersMapSize = sensorData.depthImageWidth * sensorData.depthImageHeight;usersHistogramImage = new Color32[usersMapSize];usersPrevState = new ushort[usersMapSize];        usersHistogramMap = new float[5001];}if(computeColorMap){float displayMapsWidthPercent = DisplayMapsWidthPercent / 100f;float displayMapsHeightPercent = displayMapsWidthPercent * sensorData.colorImageHeight / sensorData.colorImageWidth;float displayWidth = cameraRect.width * displayMapsWidthPercent;float displayHeight = cameraRect.width * displayMapsHeightPercent;// Initialize color map related stuffusersClrTex = new Texture2D(sensorData.colorImageWidth, sensorData.colorImageHeight, TextureFormat.RGBA32, false);usersClrRect = new Rect(cameraRect.width - displayWidth, cameraRect.height, displayWidth, -displayHeight);usersClrSize = sensorData.colorImageWidth * sensorData.colorImageHeight;//if(computeUserMap && displayColorMap)//{//usersMapRect.x -= cameraRect.width * displayMapsWidthPercent;//}}// try to automatically find the available avatar controllers at the sceneif(avatarControllers.Count == 0){AvatarController[] avatars = FindObjectsOfType(typeof(AvatarController)) as AvatarController[];foreach(AvatarController avatar in avatars){avatarControllers.Add(avatar);}}        // Initialize user list to contain all users.        alUserIds = new List<Int64>();        dictUserIdToIndex = new Dictionary<Int64, int>();kinectInitialized = true;//DontDestroyOnLoad(gameObject);// GUI Text.if(calibrationText != null){calibrationText.guiText.text = "WAITING FOR USERS";}Debug.Log("Waiting for users.");        if (kinectEnded.ended() == false)        {            Destroy(this.GetComponent("InputPosture"));        }}void OnApplicationQuit(){// shut down the Kinect on quitting.if(kinectInitialized){KinectInterop.CloseSensor(sensorData);//KinectInterop.ShutdownKinectSensor();instance = null;}}    void OnGUI()    {        //如果设备初始化完成if(kinectInitialized){        if(computeUserMap && displayUserMap)        {            GUI.DrawTexture(usersMapRect, usersLblTex);        }else if(computeColorMap && displayColorMap){GUI.DrawTexture(usersClrRect, usersClrTex);}}    }void Update() {        //print(liPrimaryUserId);        //如果设备初始化完成if(kinectInitialized){            //更新体感数据KinectInterop.UpdateSensorData(sensorData);if(useMultiSourceReader){KinectInterop.GetMultiSourceFrame(sensorData);}if(computeColorMap){if(KinectInterop.PollColorFrame(sensorData)){UpdateColorMap();}}if(computeUserMap){if(KinectInterop.PollDepthFrame(sensorData)){UpdateUserMap();}}if(computeInfraredMap){if(KinectInterop.PollInfraredFrame(sensorData)){UpdateInfraredMap();}}if(KinectInterop.PollBodyFrame(sensorData, ref bodyFrame, ref kinectToWorld)){//lastFrameTime = bodyFrame.liRelativeTime;// filter the tracked joint positionsif(smoothing != Smoothing.None){jointPositionFilter.UpdateFilter(ref bodyFrame);}ProcessBodyFrameData();}if(useMultiSourceReader){KinectInterop.FreeMultiSourceFrame(sensorData);}foreach (AvatarController controller in avatarControllers){int userIndex = controller.playerIndex;if((userIndex >= 0) && (userIndex < alUserIds.Count)){Int64 userId = alUserIds[userIndex];controller.UpdateAvatar(userId);}}foreach(Int64 userId in alUserIds){if(!playerGesturesData.ContainsKey(userId))continue;// Check for player 1's gestures                // 检测手势CheckForGestures(userId);// Check for complete gesturesList<KinectGestures.GestureData> gesturesData = playerGesturesData[userId];foreach(KinectGestures.GestureData gestureData in gesturesData){if(gestureData.complete){//if(gestureData.gesture == KinectGestures.Gestures.Click)//{//if(controlMouseCursor)//{//MouseControl.MouseClick();//}//}foreach(KinectGestures.GestureListenerInterface listener in gestureListeners){if(listener.GestureCompleted(userId, 0, gestureData.gesture, (KinectInterop.JointType)gestureData.joint, gestureData.screenPos)){ResetPlayerGestures(userId);}}}else if(gestureData.cancelled){foreach(KinectGestures.GestureListenerInterface listener in gestureListeners){if(listener.GestureCancelled(userId, 0, gestureData.gesture, (KinectInterop.JointType)gestureData.joint)){ResetGesture(userId, gestureData.gesture);}}}else if(gestureData.progress >= 0.1f){//if((gestureData.gesture == KinectGestures.Gestures.RightHandCursor || //    gestureData.gesture == KinectGestures.Gestures.LeftHandCursor) && //   gestureData.progress >= 0.5f)//{//if(handCursor != null)//{//handCursor.transform.position = Vector3.Lerp(handCursor.transform.position, gestureData.screenPos, 3 * Time.deltaTime);//}////if(controlMouseCursor)//{//MouseControl.MouseMove(gestureData.screenPos);//}//}foreach(KinectGestures.GestureListenerInterface listener in gestureListeners){listener.GestureInProgress(userId, 0, gestureData.gesture, gestureData.progress,                            (KinectInterop.JointType)gestureData.joint, gestureData.screenPos);}}}}}}// Update the color imagevoid UpdateColorMap(){//usersClrTex.SetPixels32(colorImage.pixels);usersClrTex.LoadRawTextureData(sensorData.colorImage);usersClrTex.Apply();}// Update the user histogram    void UpdateUserMap()    {//if(KinectInterop.PollUserHistogramFrame(ref userHistogramImage, computeColorMap)){// draw user histogram//usersLblTex.SetPixels32(userHistogramImage.pixels);UpdateUserHistogramImage();usersLblTex.SetPixels32(usersHistogramImage);// draw skeleton linesif(displaySkeletonLines){for(int i = 0; i < alUserIds.Count; i++){Int64 liUserId = alUserIds[i];int index = dictUserIdToIndex[liUserId];if(index >= 0 && index < sensorData.bodyCount){DrawSkeleton(usersLblTex, ref bodyFrame.bodyData[index]);}}}usersLblTex.Apply();}    }// Update the user infrared mapvoid UpdateInfraredMap(){// does nothing at the moment}// Update the user histogram mapvoid UpdateUserHistogramImage(){int numOfPoints = 0;Array.Clear(usersHistogramMap, 0, usersHistogramMap.Length);// Calculate cumulative histogram for depthfor (int i = 0; i < usersMapSize; i++){// Only calculate for depth that contains usersif (sensorData.bodyIndexImage[i] != 255){ushort depth = sensorData.depthImage[i];if(depth > 5000)depth = 5000;usersHistogramMap[depth]++;numOfPoints++;}}if (numOfPoints > 0){for (int i = 1; i < usersHistogramMap.Length; i++){   usersHistogramMap[i] += usersHistogramMap[i - 1];}for (int i = 0; i < usersHistogramMap.Length; i++){usersHistogramMap[i] = 1.0f - (usersHistogramMap[i] / numOfPoints);}}Vector2[] colorCoords = null;//ColorSpacePoint[] colorCoords = null;if(sensorData.colorImage != null){colorCoords = new Vector2[sensorData.depthImageWidth * sensorData.depthImageHeight];if(!KinectInterop.MapDepthFrameToColorCoords(sensorData, ref colorCoords)){colorCoords = null;}}// Create the actual users texture based on label map and depth histogramColor32 clrClear = Color.clear;for (int i = 0; i < usersMapSize; i++){ushort userMap = sensorData.bodyIndexImage[i];ushort userDepth = sensorData.depthImage[i];if(userDepth > 5000)userDepth = 5000;ushort nowUserPixel = userMap != 255 ? (ushort)((userMap << 13) | userDepth) : userDepth;ushort wasUserPixel = usersPrevState[i];// draw only the changed pixelsif(nowUserPixel != wasUserPixel){usersPrevState[i] = nowUserPixel;if (userMap == 255){usersHistogramImage[i] = clrClear;}else{if(sensorData.colorImage != null){Vector2 vColorPos = Vector2.zero;if(colorCoords != null){vColorPos.x = colorCoords[i].x;vColorPos.y = colorCoords[i].y;}else{Vector2 vDepthPos = Vector2.zero;vDepthPos.x = i % sensorData.depthImageWidth;vDepthPos.y = i / sensorData.depthImageWidth;vColorPos = KinectInterop.MapDepthPointToColorCoords(sensorData, vDepthPos, userDepth);}if(!float.IsInfinity(vColorPos.x) && !float.IsInfinity(vColorPos.y)){int cx = (int)vColorPos.x;int cy = (int)vColorPos.y;int colorIndex = cx + cy * sensorData.colorImageWidth;if(colorIndex >= 0 && colorIndex < usersClrSize){int ci = colorIndex << 2;Color32 colorPixel = new Color32(sensorData.colorImage[ci], sensorData.colorImage[ci + 1], sensorData.colorImage[ci + 2], 230);usersHistogramImage[i] = colorPixel;}}}else{// Create a blending color based on the depth histogramfloat histDepth = usersHistogramMap[userDepth];Color c = new Color(histDepth, histDepth, histDepth, 0.9f);switch(userMap % 4){case 0:usersHistogramImage[i] = Color.red * c;break;case 1:usersHistogramImage[i] = Color.green * c;break;case 2:usersHistogramImage[i] = Color.blue * c;break;case 3:usersHistogramImage[i] = Color.magenta * c;break;}}}}}}// Processes body frame dataprivate void ProcessBodyFrameData(){List<Int64> addedUsers = new List<Int64>();List<int> addedIndexes = new List<int>();List<Int64> lostUsers = new List<Int64>();lostUsers.AddRange(alUserIds);for(int i = 0; i < sensorData.bodyCount; i++){KinectInterop.BodyData bodyData = bodyFrame.bodyData[i];Int64 userId = bodyData.liTrackingID;if(bodyData.bIsTracked != 0 && Mathf.Abs(bodyData.position.z) >= minUserDistance &&   (maxUserDistance <= 0f || Mathf.Abs(bodyData.position.z) <= maxUserDistance)){// get the body positionVector3 bodyPos = bodyData.position;if(liPrimaryUserId == 0){// check if this is the closest userbool bClosestUser = true;int iClosestUserIndex = i;if(detectClosestUser){for(int j = 0; j < sensorData.bodyCount; j++){if(j != i){KinectInterop.BodyData bodyDataOther = bodyFrame.bodyData[j];if((bodyDataOther.bIsTracked != 0) && (Mathf.Abs(bodyDataOther.position.z) < Mathf.Abs(bodyPos.z))){bClosestUser = false;iClosestUserIndex = j;break;}}}}if(bClosestUser){// add the first or closest userId to the list of new usersif(!addedUsers.Contains(userId)){addedUsers.Add(userId);addedIndexes.Add(iClosestUserIndex);}}}// add userId to the list of new usersif(!addedUsers.Contains(userId)){addedUsers.Add(userId);addedIndexes.Add(i);}// convert Kinect positions to world positionsbodyFrame.bodyData[i].position = bodyPos;//string debugText = String.Empty;// process special casesif(bodyData.joint[(int)KinectInterop.JointType.HipLeft].trackingState == KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.SpineBase].trackingState != KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.HipRight].trackingState != KinectInterop.TrackingState.NotTracked){bodyData.joint[(int)KinectInterop.JointType.HipLeft].trackingState = KinectInterop.TrackingState.Inferred;bodyData.joint[(int)KinectInterop.JointType.HipLeft].kinectPos = bodyData.joint[(int)KinectInterop.JointType.SpineBase].kinectPos +(bodyData.joint[(int)KinectInterop.JointType.SpineBase].kinectPos - bodyData.joint[(int)KinectInterop.JointType.HipRight].kinectPos);bodyData.joint[(int)KinectInterop.JointType.HipLeft].position = bodyData.joint[(int)KinectInterop.JointType.SpineBase].position +(bodyData.joint[(int)KinectInterop.JointType.SpineBase].position - bodyData.joint[(int)KinectInterop.JointType.HipRight].position);bodyData.joint[(int)KinectInterop.JointType.HipLeft].direction = bodyData.joint[(int)KinectInterop.JointType.HipLeft].position -bodyData.joint[(int)KinectInterop.JointType.SpineBase].position;}if(bodyData.joint[(int)KinectInterop.JointType.HipRight].trackingState == KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.SpineBase].trackingState != KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.HipLeft].trackingState != KinectInterop.TrackingState.NotTracked){bodyData.joint[(int)KinectInterop.JointType.HipRight].trackingState = KinectInterop.TrackingState.Inferred;bodyData.joint[(int)KinectInterop.JointType.HipRight].kinectPos = bodyData.joint[(int)KinectInterop.JointType.SpineBase].kinectPos +(bodyData.joint[(int)KinectInterop.JointType.SpineBase].kinectPos - bodyData.joint[(int)KinectInterop.JointType.HipLeft].kinectPos);bodyData.joint[(int)KinectInterop.JointType.HipRight].position = bodyData.joint[(int)KinectInterop.JointType.SpineBase].position +(bodyData.joint[(int)KinectInterop.JointType.SpineBase].position - bodyData.joint[(int)KinectInterop.JointType.HipLeft].position);bodyData.joint[(int)KinectInterop.JointType.HipRight].direction = bodyData.joint[(int)KinectInterop.JointType.HipRight].position -bodyData.joint[(int)KinectInterop.JointType.SpineBase].position;}if((bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].trackingState == KinectInterop.TrackingState.NotTracked &&    bodyData.joint[(int)KinectInterop.JointType.SpineShoulder].trackingState != KinectInterop.TrackingState.NotTracked &&    bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].trackingState != KinectInterop.TrackingState.NotTracked)){bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].trackingState = KinectInterop.TrackingState.Inferred;bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].kinectPos = bodyData.joint[(int)KinectInterop.JointType.SpineShoulder].kinectPos +(bodyData.joint[(int)KinectInterop.JointType.SpineShoulder].kinectPos - bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].kinectPos);bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].position = bodyData.joint[(int)KinectInterop.JointType.SpineShoulder].position +(bodyData.joint[(int)KinectInterop.JointType.SpineShoulder].position - bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].position);bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].direction = bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].position -bodyData.joint[(int)KinectInterop.JointType.SpineShoulder].position;}if((bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].trackingState == KinectInterop.TrackingState.NotTracked &&    bodyData.joint[(int)KinectInterop.JointType.SpineShoulder].trackingState != KinectInterop.TrackingState.NotTracked &&    bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].trackingState != KinectInterop.TrackingState.NotTracked)){bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].trackingState = KinectInterop.TrackingState.Inferred;bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].kinectPos = bodyData.joint[(int)KinectInterop.JointType.SpineShoulder].kinectPos +(bodyData.joint[(int)KinectInterop.JointType.SpineShoulder].kinectPos - bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].kinectPos);bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].position = bodyData.joint[(int)KinectInterop.JointType.SpineShoulder].position +(bodyData.joint[(int)KinectInterop.JointType.SpineShoulder].position - bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].position);bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].direction = bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].position -bodyData.joint[(int)KinectInterop.JointType.SpineShoulder].position;}// calculate special directionsif(bodyData.joint[(int)KinectInterop.JointType.HipLeft].trackingState != KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.HipRight].trackingState != KinectInterop.TrackingState.NotTracked){Vector3 posRHip = bodyData.joint[(int)KinectInterop.JointType.HipRight].position;Vector3 posLHip = bodyData.joint[(int)KinectInterop.JointType.HipLeft].position;bodyData.hipsDirection = posRHip - posLHip;bodyData.hipsDirection -= Vector3.Project(bodyData.hipsDirection, Vector3.up);}if(bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].trackingState != KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].trackingState != KinectInterop.TrackingState.NotTracked){Vector3 posRShoulder = bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].position;Vector3 posLShoulder = bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].position;bodyData.shouldersDirection = posRShoulder - posLShoulder;bodyData.shouldersDirection -= Vector3.Project(bodyData.shouldersDirection, Vector3.up);Vector3 shouldersDir = bodyData.shouldersDirection;shouldersDir.z = -shouldersDir.z;Quaternion turnRot = Quaternion.FromToRotation(Vector3.right, shouldersDir);bodyData.bodyTurnAngle = turnRot.eulerAngles.y;}if(bodyData.joint[(int)KinectInterop.JointType.WristLeft].trackingState != KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.HandLeft].trackingState != KinectInterop.TrackingState.NotTracked){Vector3 pos1 = bodyData.joint[(int)KinectInterop.JointType.WristLeft].position;Vector3 pos2 = bodyData.joint[(int)KinectInterop.JointType.HandLeft].position;bodyData.leftHandDirection = pos2 - pos1;}if(bodyData.leftHandDirection != Vector3.zero &&   bodyData.joint[(int)KinectInterop.JointType.WristLeft].trackingState != KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.ThumbLeft].trackingState != KinectInterop.TrackingState.NotTracked){Vector3 pos1 = bodyData.joint[(int)KinectInterop.JointType.WristLeft].position;Vector3 pos2 = bodyData.joint[(int)KinectInterop.JointType.ThumbLeft].position;bodyData.leftThumbDirection = pos2 - pos1;bodyData.leftThumbDirection -= Vector3.Project(bodyData.leftThumbDirection, bodyData.leftHandDirection);//Vector3 shouldersDir = bodyData.shouldersDirection;//Vector3 thumbFwdDir = Vector3.forward;//Vector3.OrthoNormalize(ref shouldersDir, ref thumbFwdDir);////bodyData.leftThumbForward = thumbFwdDir;//bodyData.leftThumbForward -= Vector3.Project(bodyData.leftThumbForward, bodyData.leftHandDirection);////bodyData.leftThumbAngle = Vector3.Angle(bodyData.leftThumbForward, bodyData.leftThumbDirection);bodyData.leftThumbAngle = bodyData.bodyTurnAngle;}if(bodyData.joint[(int)KinectInterop.JointType.WristRight].trackingState != KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.HandRight].trackingState != KinectInterop.TrackingState.NotTracked){Vector3 pos1 = bodyData.joint[(int)KinectInterop.JointType.WristRight].position;Vector3 pos2 = bodyData.joint[(int)KinectInterop.JointType.HandRight].position;bodyData.rightHandDirection = pos2 - pos1;}if(bodyData.rightHandDirection != Vector3.zero &&   bodyData.joint[(int)KinectInterop.JointType.WristRight].trackingState != KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.ThumbRight].trackingState != KinectInterop.TrackingState.NotTracked){Vector3 pos1 = bodyData.joint[(int)KinectInterop.JointType.WristRight].position;Vector3 pos2 = bodyData.joint[(int)KinectInterop.JointType.ThumbRight].position;bodyData.rightThumbDirection = pos2 - pos1;bodyData.rightThumbDirection -= Vector3.Project(bodyData.rightThumbDirection, bodyData.rightHandDirection);//Vector3 shouldersDir = bodyData.shouldersDirection;//Vector3 thumbFwdDir = Vector3.forward;//Vector3.OrthoNormalize(ref shouldersDir, ref thumbFwdDir);////bodyData.rightThumbForward = thumbFwdDir;//bodyData.rightThumbForward -= Vector3.Project(bodyData.rightThumbForward, bodyData.rightHandDirection);////bodyData.rightThumbAngle = Vector3.Angle(bodyData.rightThumbForward, bodyData.rightThumbDirection);bodyData.rightThumbAngle = bodyData.bodyTurnAngle;}if(bodyData.joint[(int)KinectInterop.JointType.KneeLeft].trackingState != KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.AnkleLeft].trackingState != KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.FootLeft].trackingState != KinectInterop.TrackingState.NotTracked){Vector3 vFootProjected = Vector3.Project(bodyData.joint[(int)KinectInterop.JointType.FootLeft].direction, bodyData.joint[(int)KinectInterop.JointType.AnkleLeft].direction);bodyData.joint[(int)KinectInterop.JointType.AnkleLeft].kinectPos += vFootProjected;bodyData.joint[(int)KinectInterop.JointType.AnkleLeft].position += vFootProjected;bodyData.joint[(int)KinectInterop.JointType.FootLeft].direction -= vFootProjected;}if(bodyData.joint[(int)KinectInterop.JointType.KneeRight].trackingState != KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.AnkleRight].trackingState != KinectInterop.TrackingState.NotTracked &&   bodyData.joint[(int)KinectInterop.JointType.FootRight].trackingState != KinectInterop.TrackingState.NotTracked){Vector3 vFootProjected = Vector3.Project(bodyData.joint[(int)KinectInterop.JointType.FootRight].direction, bodyData.joint[(int)KinectInterop.JointType.AnkleRight].direction);bodyData.joint[(int)KinectInterop.JointType.AnkleRight].kinectPos += vFootProjected;bodyData.joint[(int)KinectInterop.JointType.AnkleRight].position += vFootProjected;bodyData.joint[(int)KinectInterop.JointType.FootRight].direction -= vFootProjected;}// calculate world orientations of the body jointsCalculateJointOrients(ref bodyData);if(sensorData != null && sensorData.sensorInterface != null){// do sensor-specific fixes of joint positions and orientationssensorData.sensorInterface.FixJointOrientations(sensorData, ref bodyData);}// filter orientation constraintsif(useBoneOrientationConstraints && boneConstraintsFilter != null){boneConstraintsFilter.Constrain(ref bodyData);}lostUsers.Remove(userId);bodyFrame.bodyData[i] = bodyData;}}// remove the lost users if anyif(lostUsers.Count > 0){foreach(Int64 userId in lostUsers){RemoveUser(userId);}lostUsers.Clear();}// calibrate newly detected usersif(addedUsers.Count > 0){for(int i = 0; i < addedUsers.Count; i++){Int64 userId = addedUsers[i];int userIndex = addedIndexes[i];CalibrateUser(userId, userIndex);}addedUsers.Clear();addedIndexes.Clear();}}// Adds UserId to the list of users    // 将新用户添加到用户列表    void CalibrateUser(Int64 userId, int bodyIndex)    {if(!alUserIds.Contains(userId)){if(CheckForCalibrationPose(userId, bodyIndex, playerCalibrationPose)){int uidIndex = alUserIds.Count;Debug.Log("Adding user " + uidIndex + ", ID: " + userId + ", Index: " + bodyIndex);alUserIds.Add(userId);dictUserIdToIndex[userId] = bodyIndex;if(liPrimaryUserId == 0){//liPrimaryUserId = userId;                    liPrimaryUserId = 0;if(liPrimaryUserId != 0){if(calibrationText != null && calibrationText.guiText.text != ""){calibrationText.guiText.text = "";}}}for(int i = 0; i < avatarControllers.Count; i++){AvatarController avatar = avatarControllers[i];if(avatar && avatar.playerIndex == uidIndex){avatar.SuccessfulCalibration(userId);}}// add the gestures to detect, if anyforeach(KinectGestures.Gestures gesture in playerCommonGestures){DetectGesture(userId, gesture);}// notify the gesture listeners about the new userforeach(KinectGestures.GestureListenerInterface listener in gestureListeners){listener.UserDetected(userId, 0);}ResetFilters();}}    }// Remove a lost UserId    // 删除用户void RemoveUser(Int64 userId){int uidIndex = alUserIds.IndexOf(userId);Debug.Log("Removing user " + uidIndex + ", ID: " + userId);for(int i = 0; i < avatarControllers.Count; i++){AvatarController avatar = avatarControllers[i];if(avatar && avatar.playerIndex >= uidIndex && avatar.playerIndex < alUserIds.Count){avatar.ResetToInitialPosition();}}// notify the gesture listeners about the user lossforeach(KinectGestures.GestureListenerInterface listener in gestureListeners){listener.UserLost(userId, 0);}// clear gestures list for this userClearGestures(userId);// clear calibration data for this userif(playerCalibrationData.ContainsKey(userId)){playerCalibrationData.Remove(userId);}// clean up the outdated calibration data in the data dictionaryList<Int64> alCalDataKeys = new List<Int64>(playerCalibrationData.Keys);foreach(Int64 calUserID in alCalDataKeys){KinectGestures.GestureData gestureData = playerCalibrationData[calUserID];if((gestureData.timestamp + 60f) < Time.realtimeSinceStartup){playerCalibrationData.Remove(calUserID);}}alCalDataKeys.Clear();// remove from global users list        alUserIds.Remove(userId);dictUserIdToIndex.Remove(userId);if(liPrimaryUserId == userId){if(alUserIds.Count > 0){//liPrimaryUserId = alUserIds[0];                liPrimaryUserId = 0;}else{liPrimaryUserId = 0;}}for(int i = 0; i < avatarControllers.Count; i++){AvatarController avatar = avatarControllers[i];if(avatar && avatar.playerIndex >= uidIndex && avatar.playerIndex < alUserIds.Count){avatar.SuccessfulCalibration(alUserIds[avatar.playerIndex]);}}if(liPrimaryUserId == 0){Debug.Log("Waiting for users.");if(calibrationText != null){calibrationText.guiText.text = "WAITING FOR USERS";}}}// draws the skeleton in the given textureprivate void DrawSkeleton(Texture2D aTexture, ref KinectInterop.BodyData bodyData){int jointsCount = sensorData.jointCount;for(int i = 0; i < jointsCount; i++){int parent = (int)sensorData.sensorInterface.GetParentJoint((KinectInterop.JointType)i);if(bodyData.joint[i].trackingState != KinectInterop.TrackingState.NotTracked &&    bodyData.joint[parent].trackingState != KinectInterop.TrackingState.NotTracked){Vector2 posParent = KinectInterop.MapSpacePointToDepthCoords(sensorData, bodyData.joint[parent].kinectPos);Vector2 posJoint = KinectInterop.MapSpacePointToDepthCoords(sensorData, bodyData.joint[i].kinectPos);if(posParent != Vector2.zero && posJoint != Vector2.zero){//Color lineColor = playerJointsTracked[i] && playerJointsTracked[parent] ? Color.red : Color.yellow;DrawLine(aTexture, (int)posParent.x, (int)posParent.y, (int)posJoint.x, (int)posJoint.y, Color.yellow);}}}//aTexture.Apply();}// draws a line in a textureprivate void DrawLine(Texture2D a_Texture, int x1, int y1, int x2, int y2, Color a_Color){int width = sensorData != null ? sensorData.depthImageWidth : 0;int height = sensorData != null ? sensorData.depthImageHeight : 0;int dy = y2 - y1;int dx = x2 - x1; int stepy = 1;if (dy < 0) {dy = -dy; stepy = -1;}int stepx = 1;if (dx < 0) {dx = -dx; stepx = -1;}dy <<= 1;dx <<= 1; if(x1 >= 0 && x1 < width && y1 >= 0 && y1 < height)for(int x = -1; x <= 1; x++)for(int y = -1; y <= 1; y++)a_Texture.SetPixel(x1 + x, y1 + y, a_Color);if (dx > dy) {int fraction = dy - (dx >> 1);while (x1 != x2) {if (fraction >= 0) {y1 += stepy;fraction -= dx;}x1 += stepx;fraction += dy;if(x1 >= 0 && x1 < width && y1 >= 0 && y1 < height)for(int x = -1; x <= 1; x++)for(int y = -1; y <= 1; y++)a_Texture.SetPixel(x1 + x, y1 + y, a_Color);}}else {int fraction = dx - (dy >> 1);while (y1 != y2) {if (fraction >= 0) {x1 += stepx;fraction -= dy;}y1 += stepy;fraction += dx;if(x1 >= 0 && x1 < width && y1 >= 0 && y1 < height)for(int x = -1; x <= 1; x++)for(int y = -1; y <= 1; y++)a_Texture.SetPixel(x1 + x, y1 + y, a_Color);}}}// calculates joint orientations of the body jointsprivate void CalculateJointOrients(ref KinectInterop.BodyData bodyData){int jointCount = bodyData.joint.Length;for(int j = 0; j < jointCount; j++){int joint = j;KinectInterop.JointData jointData = bodyData.joint[joint];bool bJointValid = ignoreInferredJoints ? jointData.trackingState == KinectInterop.TrackingState.Tracked : jointData.trackingState != KinectInterop.TrackingState.NotTracked;if(bJointValid){int nextJoint = (int)sensorData.sensorInterface.GetNextJoint((KinectInterop.JointType)joint);if(nextJoint != joint && nextJoint >= 0 && nextJoint < sensorData.jointCount){KinectInterop.JointData nextJointData = bodyData.joint[nextJoint];bool bNextJointValid = ignoreInferredJoints ? nextJointData.trackingState == KinectInterop.TrackingState.Tracked : nextJointData.trackingState != KinectInterop.TrackingState.NotTracked;if(bNextJointValid){Vector3 baseDir = KinectInterop.JointBaseDir[nextJoint];Vector3 jointDir = nextJointData.direction;jointDir.z = -jointDir.z;if((joint == (int)KinectInterop.JointType.ShoulderLeft) || (joint == (int)KinectInterop.JointType.ElbowLeft) ||   (joint == (int)KinectInterop.JointType.WristLeft) || (joint == (int)KinectInterop.JointType.HandLeft)){float angle = -bodyData.leftThumbAngle;Vector3 axis = jointDir;Quaternion armTurnRotation = Quaternion.AngleAxis(angle, axis);jointData.normalRotation = armTurnRotation * Quaternion.FromToRotation(baseDir, jointDir);}else if((joint == (int)KinectInterop.JointType.ShoulderRight) || (joint == (int)KinectInterop.JointType.ElbowRight) ||        (joint == (int)KinectInterop.JointType.WristRight) || (joint == (int)KinectInterop.JointType.HandRight)){float angle = -bodyData.rightThumbAngle;Vector3 axis = jointDir;Quaternion armTurnRotation = Quaternion.AngleAxis(angle, axis);jointData.normalRotation = armTurnRotation * Quaternion.FromToRotation(baseDir, jointDir);}else{jointData.normalRotation = Quaternion.FromToRotation(baseDir, jointDir);}if((joint == (int)KinectInterop.JointType.SpineBase) || (joint == (int)KinectInterop.JointType.SpineMid) ||    (joint == (int)KinectInterop.JointType.SpineShoulder) || (joint == (int)KinectInterop.JointType.Neck) ||   (joint == (int)KinectInterop.JointType.HipLeft) || (joint == (int)KinectInterop.JointType.HipRight) ||   (joint == (int)KinectInterop.JointType.KneeLeft) || (joint == (int)KinectInterop.JointType.KneeRight) ||   (joint == (int)KinectInterop.JointType.AnkleLeft) || (joint == (int)KinectInterop.JointType.AnkleRight)){baseDir = Vector3.right;jointDir = bodyData.shouldersDirection;jointDir.z = -jointDir.z;jointData.normalRotation *= Quaternion.FromToRotation(baseDir, jointDir);}//jointDir.x = -jointDir.x;////jointDir.y = -jointDir.y;////baseDir.x = -baseDir.x;////baseDir.y = -baseDir.y;////jointData.mirroredRotation = Quaternion.FromToRotation(baseDir, jointDir);Vector3 mirroredAngles = jointData.normalRotation.eulerAngles;mirroredAngles.y = -mirroredAngles.y;mirroredAngles.z = -mirroredAngles.z;jointData.mirroredRotation = Quaternion.Euler(mirroredAngles);}}else{jointData.normalRotation = Quaternion.identity;jointData.mirroredRotation = Quaternion.identity;}}bodyData.joint[joint] = jointData;if(joint == (int)KinectInterop.JointType.SpineBase){bodyData.normalRotation = jointData.normalRotation;bodyData.mirroredRotation = jointData.mirroredRotation;}}}// Estimates the current state of the defined gestures    // 估计的当前状态定义的手势    /// <summary>    /// 估计的当前状态默认的手势    /// </summary>    /// <param name="UserId"></param>private void CheckForGestures(Int64 UserId){if(!playerGesturesData.ContainsKey(UserId) || !gesturesTrackingAtTime.ContainsKey(UserId))return;// check for gesturesif(Time.realtimeSinceStartup >= gesturesTrackingAtTime[UserId]){// get joint positions and trackingint iAllJointsCount = sensorData.jointCount;bool[] playerJointsTracked = new bool[iAllJointsCount];Vector3[] playerJointsPos = new Vector3[iAllJointsCount];int[] aiNeededJointIndexes = KinectGestures.GetNeededJointIndexes();int iNeededJointsCount = aiNeededJointIndexes.Length;for(int i = 0; i < iNeededJointsCount; i++){int joint = aiNeededJointIndexes[i];if(joint >= 0 && IsJointTracked(UserId, joint)){playerJointsTracked[joint] = true;playerJointsPos[joint] = GetJointPosition(UserId, joint);}}// check for gesturesList<KinectGestures.GestureData> gesturesData = playerGesturesData[UserId];int listGestureSize = gesturesData.Count;float timestampNow = Time.realtimeSinceStartup;for(int g = 0; g < listGestureSize; g++){KinectGestures.GestureData gestureData = gesturesData[g];if((timestampNow >= gestureData.startTrackingAtTime) && !IsConflictingGestureInProgress(gestureData, ref gesturesData)){KinectGestures.CheckForGesture(UserId, ref gestureData, Time.realtimeSinceStartup, ref playerJointsPos, ref playerJointsTracked);gesturesData[g] = gestureData;if(gestureData.complete){gesturesTrackingAtTime[UserId] = timestampNow + minTimeBetweenGestures;}}}playerGesturesData[UserId] = gesturesData;}}private bool IsConflictingGestureInProgress(KinectGestures.GestureData gestureData, ref List<KinectGestures.GestureData> gesturesData){foreach(KinectGestures.Gestures gesture in gestureData.checkForGestures){int index = GetGestureIndex(gesture, ref gesturesData);if(index >= 0){if(gesturesData[index].progress > 0f)return true;}}return false;}// return the index of gesture in the list, or -1 if not foundprivate int GetGestureIndex(KinectGestures.Gestures gesture, ref List<KinectGestures.GestureData> gesturesData){        //列表最大值int listSize = gesturesData.Count;for(int i = 0; i < listSize; i++){if(gesturesData[i].gesture == gesture)return i;}return -1;}// check if the calibration pose is complete for given userprivate bool CheckForCalibrationPose(Int64 UserId, int bodyIndex, KinectGestures.Gestures calibrationGesture){if(calibrationGesture == KinectGestures.Gestures.None)return true;KinectGestures.GestureData gestureData = playerCalibrationData.ContainsKey(UserId) ? playerCalibrationData[UserId] : new KinectGestures.GestureData();// init gesture data if neededif(gestureData.userId != UserId){gestureData.userId = UserId;gestureData.gesture = calibrationGesture;gestureData.state = 0;gestureData.timestamp = Time.realtimeSinceStartup;gestureData.joint = 0;gestureData.progress = 0f;gestureData.complete = false;gestureData.cancelled = false;}// get joint positions and trackingint iAllJointsCount = sensorData.jointCount;bool[] playerJointsTracked = new bool[iAllJointsCount];Vector3[] playerJointsPos = new Vector3[iAllJointsCount];int[] aiNeededJointIndexes = KinectGestures.GetNeededJointIndexes();int iNeededJointsCount = aiNeededJointIndexes.Length;for(int i = 0; i < iNeededJointsCount; i++){int joint = aiNeededJointIndexes[i];if(joint >= 0){KinectInterop.JointData jointData = bodyFrame.bodyData[bodyIndex].joint[joint];playerJointsTracked[joint] = jointData.trackingState != KinectInterop.TrackingState.NotTracked;playerJointsPos[joint] = jointData.kinectPos;}}// estimate the gesture progessKinectGestures.CheckForGesture(UserId, ref gestureData, Time.realtimeSinceStartup, ref playerJointsPos, ref playerJointsTracked);playerCalibrationData[UserId] = gestureData;// check if gesture is completeif(gestureData.complete){gestureData.userId = 0;playerCalibrationData[UserId] = gestureData;return true;}return false;}}