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unity远程协同共享leap手势

作者：凡人多烦事01 | 2024-02-22 01:47:02

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leap手势

1,本地leap手势数据的获取,并转换成字节码。

通过leap获取手势各关节的点坐标时，默认顺序是从大拇指到小拇指为0---4，然后关节从掌心到指尖默认为从0--1--2--3--4

 

 

  1. using System.Collections.Generic;
  2. using System;
  3. using UnityEngine;
  4. using Leap;
  5. using Leap.Unity;
  6. using PersonShare;
  7. using ServerCommunication;
  8.  
  9. public class LocalHands : MonoBehaviour
  10. {
  11.     public int HandID;
  12.     private LeapProvider mProvider;
  13.     public RemoteHand LeftHand = new RemoteHand();
  14.     public RemoteHand RightHand = new RemoteHand();
  15.  
  16.     private int numL = 0, numR = 0;
  17.     private const int leapHandLen= 44 * 3 * sizeof(double) + 4 * sizeof(double);
  18.  
  19.     //string path = "D:/Works/DEMO/Hands/Assets/StreamingAssets/";
  20.     private  List<Vector3> Pos_Left = new List<Vector3>();
  21.     private  List<Vector3> Pos_Right = new List<Vector3>();
  22.     private byte[] currentFrameLeft = new byte[leapHandLen];
  23.     private byte[] currentFrameRight = new byte[leapHandLen];
  24.     private byte[] currentFrameHands= new byte[2* leapHandLen];
  25.  
  26.     //some varibales to send the data of Leap hands
  27.  
  28.     public ClientManager clientManager;
  29.     void Start()
  30.     {
  31.         mProvider = FindObjectOfType<LeapProvider>() as LeapProvider;
  32.     }
  33.     void LateUpdate()
  34.     {
  35.         //1 Get hand data
  36.         Frame mFrame = mProvider.CurrentFrame;//获取当前帧
  37.         Hands_Model(mFrame);
  38.  
  39.         // 2 Connect the server
  40.         if (clientManager == null)
  41.             return;
  42.         TCPConnection myTCP = clientManager.TCP;
  43.         MessageIDInfo msgHands = new MessageIDInfo(MessageTypes.MT_SHAREHANDS);
  44.         msgHands.ID = BitConverter.GetBytes(HandID);
  45.  
  46.         /// 3 Transform  the left hand data to bytes
  47.         if (Pos_Left.Count == 0)
  48.         {
  49.             LeftHand.Arm.Direction = new Quaternion(0,0,0,0);  
  50.             for (int i = 0; i < 44; i++)
  51.             {
  52.                 Pos_Left.Add(new Vector3(0, 0, 0));
  53.             }
  54.         }
  55.         currentFrameLeft = EncodeLeftToByteArray();
  56.         currentFrameLeft.CopyTo(currentFrameHands, 0);
  57.  
  58.         //4 Transform the right hand data to bytes
  59.         if (Pos_Right.Count == 0)
  60.         {
  61.             RightHand.Arm.Direction = new Quaternion(0, 0, 0, 0);
  62.             for (int i = 0; i < 44; i++)
  63.             {
  64.                 Pos_Right.Add(new Vector3(0, 0, 0));
  65.             }
  66.         }
  67.         currentFrameRight = EncodeRightToByteArray();
  68.         currentFrameRight.CopyTo(currentFrameHands, leapHandLen);
  69.         msgHands.Info = currentFrameHands;
  70.         //5 send to server
  71.         myTCP.WriteSocket(msgHands.ToByteArray());
  72.  
  73.         //File.WriteAllBytes(path+"LeftHand.bytes", currentFramesLeft);
  74.         //Debug.Log("左手数据存储成功！");
  75.  
  76.         //6 clear the list
  77.  
  78.         if (numL >= 1)
  79.         {
  80.                 Pos_Left.Clear();
  81.                 numL = 0;
  82.         }
  83.  
  84.         if (numR >= 1)
  85.         {
  86.             Pos_Right.Clear();
  87.             numR = 0;
  88.         }
  89.     }
  90.     void Hands_Model(Frame mFrame)
  91.     {
  92.         foreach (var itemHands in mFrame.Hands)//遍历左右手
  93.         {
  94.             if (itemHands.IsLeft)
  95.             {
  96.                 LeftHand.Wrist= new Vector3(itemHands.WristPosition.x, itemHands.WristPosition.y, itemHands.WristPosition.z);
  97.                 LeftHand.Palm = new Vector3(itemHands.PalmPosition.x, itemHands.PalmPosition.y, itemHands.PalmPosition.z);
  98.                 LeftHand.Arm.WristPosition = new Vector3(itemHands.Arm.NextJoint.x, itemHands.Arm.NextJoint.y, itemHands.Arm.NextJoint.z);
  99.                 LeftHand.Arm.ElbowPosition = new Vector3(itemHands.Arm.PrevJoint.x, itemHands.Arm.PrevJoint.y, itemHands.Arm.PrevJoint.z);
  100.                 LeftHand.Arm.Direction= new Quaternion(itemHands.Arm.Rotation.x, itemHands.Arm.Rotation.y, itemHands.Arm.Rotation.z, itemHands.Arm.Rotation.w);
  101.                 
  102.  
  103.                 Pos_Left.Add(LeftHand.Wrist);
  104.                 Pos_Left.Add(LeftHand.Palm);
  105.                 Pos_Left.Add(LeftHand.Arm.WristPosition);
  106.                 Pos_Left.Add(LeftHand.Arm.ElbowPosition);
  107.                 
  108.                 foreach (var itemFingers in itemHands.Fingers)//五个手指，itemHands.Fingers[0]代表大拇指
  109.                 {
  110.                     foreach (var itemBones in itemFingers.bones)//骨头的四个骨关节，NextJoint代表靠近指尖的部分，
  111.                                                                 //PrevJoint代表靠近手腕的位置
  112.                     {
  113.                         LeftHand.Finger.Bone.PrevJoint = new Vector3(itemBones.PrevJoint.x, itemBones.PrevJoint.y, itemBones.PrevJoint.z);
  114.                         LeftHand.Finger.Bone.NextJoint = new Vector3(itemBones.NextJoint.x, itemBones.NextJoint.y, itemBones.NextJoint.z);
  115.                         Pos_Left.Add(LeftHand.Finger.Bone.PrevJoint);
  116.                         Pos_Left.Add(LeftHand.Finger.Bone.NextJoint);
  117.                     }
  118.                 }
  119.  
  120.                 numL++;
  121.             }
  122.             if (itemHands.IsRight)
  123.             {
  124.                 RightHand.Wrist = new Vector3(itemHands.WristPosition.x, itemHands.WristPosition.y, itemHands.WristPosition.z);
  125.                 RightHand.Palm = new Vector3(itemHands.PalmPosition.x, itemHands.PalmPosition.y, itemHands.PalmPosition.z);
  126.                 RightHand.Arm.WristPosition = new Vector3(itemHands.Arm.NextJoint.x, itemHands.Arm.NextJoint.y, itemHands.Arm.NextJoint.z);
  127.                 RightHand.Arm.ElbowPosition = new Vector3(itemHands.Arm.PrevJoint.x, itemHands.Arm.PrevJoint.y, itemHands.Arm.PrevJoint.z);
  128.                 RightHand.Arm.Direction = new Quaternion(itemHands.Arm.Rotation.x, itemHands.Arm.Rotation.y, itemHands.Arm.Rotation.z, itemHands.Arm.Rotation.w);
  129.  
  130.                 Pos_Right.Add(RightHand.Wrist);
  131.                 Pos_Right.Add(RightHand.Palm);
  132.                 Pos_Right.Add(RightHand.Arm.WristPosition);
  133.                 Pos_Right.Add(RightHand.Arm.ElbowPosition);
  134.                 foreach (var itemFingers in itemHands.Fingers)
  135.                 {
  136.                     foreach (var itemBones in itemFingers.bones)
  137.                     {
  138.                         RightHand.Finger.Bone.PrevJoint = new Vector3(itemBones.PrevJoint.x, itemBones.PrevJoint.y, itemBones.PrevJoint.z);
  139.                         RightHand.Finger.Bone.NextJoint = new Vector3(itemBones.NextJoint.x, itemBones.NextJoint.y, itemBones.NextJoint.z);
  140.                         Pos_Right.Add(RightHand.Finger.Bone.PrevJoint);
  141.                         Pos_Right.Add(RightHand.Finger.Bone.NextJoint);
  142.                     }
  143.                 }
  144.                 numR++;
  145.             }
  146.         }
  147.     }
  148.     public byte[] EncodeLeftToByteArray()//编码左手
  149.     {
  150.         int index = 0;
  151.        
  152.         byte[] qua_x = BitConverter.GetBytes((double)LeftHand.Arm.Direction.x);
  153.         qua_x.CopyTo(currentFrameLeft, index);
  154.         index += sizeof(double);
  155.         byte[] qua_y = BitConverter.GetBytes((double)LeftHand.Arm.Direction.y);
  156.         qua_y.CopyTo(currentFrameLeft, index);
  157.         index += sizeof(double);
  158.         byte[] qua_z = BitConverter.GetBytes((double)LeftHand.Arm.Direction.z);
  159.         qua_z.CopyTo(currentFrameLeft, index);
  160.         index += sizeof(double);
  161.         byte[] qua_w = BitConverter.GetBytes((double)LeftHand.Arm.Direction.w);
  162.         qua_w.CopyTo(currentFrameLeft, index);
  163.  
  164.         index += sizeof(double);
  165.         for (int i = 0; i < 44; i++)
  166.         {
  167.         byte[] pos_x = BitConverter.GetBytes((double)Pos_Left[i].x);
  168.         pos_x.CopyTo(currentFrameLeft, index);
  169.         index += sizeof(double);
  170.         byte[] pos_y = BitConverter.GetBytes((double)Pos_Left[i].y);
  171.         pos_y.CopyTo(currentFrameLeft, index);
  172.         index += sizeof(double);
  173.         byte[] pos_z = BitConverter.GetBytes((double)Pos_Left[i].z);
  174.         pos_z.CopyTo(currentFrameLeft, index);
  175.         index += sizeof(double);
  176.         }
  177.         return currentFrameLeft;
  178.     }
  179.     public byte[] EncodeRightToByteArray()//编码右手
  180.     {
  181.         int index = 0;
  182.  
  183.         byte[] qua_x = BitConverter.GetBytes((double)RightHand.Arm.Direction.x);
  184.         qua_x.CopyTo(currentFrameRight, index);
  185.         index += sizeof(double);
  186.         byte[] qua_y = BitConverter.GetBytes((double)RightHand.Arm.Direction.y);
  187.         qua_y.CopyTo(currentFrameRight, index);
  188.         index += sizeof(double);
  189.         byte[] qua_z = BitConverter.GetBytes((double)RightHand.Arm.Direction.z);
  190.         qua_z.CopyTo(currentFrameRight, index);
  191.         index += sizeof(double);
  192.         byte[] qua_w = BitConverter.GetBytes((double)RightHand.Arm.Direction.w);
  193.         qua_w.CopyTo(currentFrameRight, index);
  194.  
  195.         index += sizeof(double);
  196.         for (int i = 0; i < 44; i++)
  197.         {
  198.             byte[] pos_x = BitConverter.GetBytes((double)Pos_Right[i].x);
  199.             pos_x.CopyTo(currentFrameRight, index);
  200.             index += sizeof(double);
  201.             byte[] pos_y = BitConverter.GetBytes((double)Pos_Right[i].y);
  202.             pos_y.CopyTo(currentFrameRight, index);
  203.             index += sizeof(double);
  204.             byte[] pos_z = BitConverter.GetBytes((double)Pos_Right[i].z);
  205.             pos_z.CopyTo(currentFrameRight, index);
  206.             index += sizeof(double);
  207.         }
  208.         return currentFrameRight;
  209.     }
  210. }

2, 远程接收字节码后，解析并赋给自己绘制的手势

 

  1. using System;
  2. using UnityEngine;
  3. using PersonShare;
  4. using System.IO;
  5. using System.Collections;
  6.  
  7. class RemoteHands : MonoBehaviour
  8. {
  9.     private const int leapHandLen = 44 * 3 * sizeof(double) + 4 * sizeof(double);
  10.     public int HandID;
  11.     public byte[] remoteFrameHands = new byte[2 * leapHandLen+sizeof(Int32)];
  12.  
  13.     private byte[] currentFramesLeft = new byte[leapHandLen];
  14.     private byte[] currentFramesRight = new byte[leapHandLen];
  15.  
  16.     public RemoteHand Hand = new RemoteHand();
  17.     string Leftpath = "D:/Works/DEMO/Hands/Assets/StreamingAssets/LeftHand.bytes";
  18.     string Rightpath = "D:/Works/DEMO/Hands/Assets/StreamingAssets/RightHand.bytes";
  19.     public const int NUM_Wrist = 1;
  20.     public const int NUM_Palm = 1;
  21.     public const int NUM_BONES = 20;
  22.     public const int NUM_JOINTS = 42;
  23.     public const int NUM_META = 12;
  24.     public const int NUM_ARM = 4;
  25.  
  26.     public GameObject[] L_Wrist = new GameObject[NUM_Wrist];
  27.     public GameObject[] L_Palm = new GameObject[NUM_Palm];
  28.     public GameObject[] L_Bones = new GameObject[NUM_BONES];
  29.     public GameObject[] L_Joints = new GameObject[NUM_JOINTS];
  30.     public GameObject[] L_Meta = new GameObject[NUM_META];
  31.     public GameObject[] L_Arm = new GameObject[NUM_ARM];
  32.  
  33.     public GameObject[] R_Wrist = new GameObject[NUM_Wrist];
  34.     public GameObject[] R_Palm = new GameObject[NUM_Palm];
  35.     public GameObject[] R_Bones = new GameObject[NUM_BONES];
  36.     public GameObject[] R_Joints = new GameObject[NUM_JOINTS];
  37.     public GameObject[] R_Meta = new GameObject[NUM_META];
  38.     public GameObject[] R_Arm = new GameObject[NUM_ARM];
  39.     IEnumerator Loadlefthandbyte(string path)
  40.     {
  41.         WWW www = new WWW(path);
  42.         yield return www;
  43.         LoadRemoteLeftHand(www.bytes);
  44.     }
  45.     IEnumerator Loadrighthandbyte(string path)
  46.     {
  47.         WWW www = new WWW(path);
  48.         yield return www;
  49.         LoadRemoteRightHand(www.bytes);
  50.     }
  51.     private void LateUpdate()
  52.     {
  53.  
  54.         Buffer.BlockCopy(remoteFrameHands,0, currentFramesLeft,0, leapHandLen);
  55.         Buffer.BlockCopy(remoteFrameHands, leapHandLen, currentFramesRight, 0, leapHandLen);
  56.         if (Input.GetKey(KeyCode.LeftShift) && Input.GetKey(KeyCode.L))
  57.         {
  58.             StartCoroutine(Loadlefthandbyte(Leftpath));
  59.             Debug.Log("左手数据加载成功！");
  60.         }
  61.         else
  62.         {
  63.             LoadRemoteLeftHand(currentFramesLeft);
  64.             //LoadRemoteLeftHand(LocalHands.currentFramesLeft);
  65.  
  66.         }
  67.         if (Input.GetKey(KeyCode.LeftShift) && Input.GetKey(KeyCode.R))
  68.         {
  69.             StartCoroutine(Loadrighthandbyte(Rightpath));
  70.             Debug.Log("右手数据加载成功！");
  71.         }
  72.         else
  73.         {
  74.             //LoadRemoteRightHand(LocalHands.currentFramesRight);
  75.             LoadRemoteRightHand(currentFramesRight);
  76.         }
  77.         AddDataToJoins();
  78.     }
  79.     private void AddDataToJoins()
  80.     {
  81.         #region LeftHand
  82.         #region Thumb
  83.         BoneLenth(L_Joints[0], L_Joints[0], L_Bones[0]);
  84.         BoneLenth(L_Joints[1], L_Joints[3], L_Bones[1]);
  85.         BoneLenth(L_Joints[3], L_Joints[5], L_Bones[2]);
  86.         BoneLenth(L_Joints[5], L_Joints[7], L_Bones[3]);
  87.         #endregion
  88.  
  89.         #region Index
  90.         BoneLenth(L_Joints[0], L_Joints[9], L_Bones[4]);
  91.         BoneLenth(L_Joints[9], L_Joints[11], L_Bones[5]);
  92.         BoneLenth(L_Joints[11], L_Joints[13], L_Bones[6]);
  93.         BoneLenth(L_Joints[13], L_Joints[15], L_Bones[7]);
  94.         #endregion
  95.  
  96.         #region Middle
  97.         BoneLenth(L_Joints[16], L_Joints[17], L_Bones[8]);
  98.         BoneLenth(L_Joints[17], L_Joints[19], L_Bones[9]);
  99.         BoneLenth(L_Joints[19], L_Joints[21], L_Bones[10]);
  100.         BoneLenth(L_Joints[21], L_Joints[23], L_Bones[11]);
  101.         #endregion
  102.  
  103.         #region Ring
  104.         BoneLenth(L_Joints[24], L_Joints[25], L_Bones[12]);
  105.         BoneLenth(L_Joints[25], L_Joints[27], L_Bones[13]);
  106.         BoneLenth(L_Joints[27], L_Joints[29], L_Bones[14]);
  107.         BoneLenth(L_Joints[29], L_Joints[31], L_Bones[15]);
  108.         #endregion
  109.  
  110.         #region Pinky
  111.         BoneLenth(L_Joints[32], L_Joints[33], L_Bones[16]);
  112.         BoneLenth(L_Joints[33], L_Joints[35], L_Bones[17]);
  113.         BoneLenth(L_Joints[35], L_Joints[37], L_Bones[18]);
  114.         BoneLenth(L_Joints[27], L_Joints[29], L_Bones[19]);
  115.         #endregion
  116.  
  117.         #region Palm
  118.         BoneLenth(L_Joints[0], L_Joints[8], L_Meta[0]);
  119.         BoneLenth(L_Joints[8], L_Joints[16], L_Meta[1]);
  120.         BoneLenth(L_Joints[16], L_Joints[24], L_Meta[2]);
  121.         BoneLenth(L_Joints[24], L_Joints[32], L_Meta[3]);
  122.         BoneLenth(L_Joints[9], L_Joints[17], L_Meta[4]);
  123.         BoneLenth(L_Joints[17], L_Joints[25], L_Meta[5]);
  124.         BoneLenth(L_Joints[25], L_Joints[33], L_Meta[6]);
  125.         BoneLenth(L_Joints[0], L_Joints[32], L_Meta[7]);
  126.         #endregion
  127.  
  128.         #region Arm
  129.         BoneLenth(L_Arm[0], L_Arm[1], L_Meta[8]);
  130.         BoneLenth(L_Arm[0], L_Arm[2], L_Meta[10]);
  131.         BoneLenth(L_Arm[2], L_Arm[3], L_Meta[9]);
  132.         BoneLenth(L_Arm[1], L_Arm[3], L_Meta[11]);
  133.         #endregion
  134.  
  135.         #endregion
  136.  
  137.         #region RightHand
  138.         #region Thumb
  139.         BoneLenth(R_Joints[0], R_Joints[0], R_Bones[0]);
  140.         BoneLenth(R_Joints[1], R_Joints[3], R_Bones[1]);
  141.         BoneLenth(R_Joints[3], R_Joints[5], R_Bones[2]);
  142.         BoneLenth(R_Joints[5], R_Joints[7], R_Bones[3]);
  143.         #endregion
  144.  
  145.         #region Index
  146.         BoneLenth(R_Joints[0], R_Joints[9], R_Bones[4]);
  147.         BoneLenth(R_Joints[9], R_Joints[11], R_Bones[5]);
  148.         BoneLenth(R_Joints[11], R_Joints[13], R_Bones[6]);
  149.         BoneLenth(R_Joints[13], R_Joints[15], R_Bones[7]);
  150.         #endregion
  151.  
  152.         #region Middle
  153.         BoneLenth(R_Joints[16], R_Joints[17], R_Bones[8]);
  154.         BoneLenth(R_Joints[17], R_Joints[19], R_Bones[9]);
  155.         BoneLenth(R_Joints[19], R_Joints[21], R_Bones[10]);
  156.         BoneLenth(R_Joints[21], R_Joints[23], R_Bones[11]);
  157.         #endregion
  158.  
  159.         #region Ring
  160.         BoneLenth(R_Joints[24], R_Joints[25], R_Bones[12]);
  161.         BoneLenth(R_Joints[25], R_Joints[27], R_Bones[13]);
  162.         BoneLenth(R_Joints[27], R_Joints[29], R_Bones[14]);
  163.         BoneLenth(R_Joints[29], R_Joints[31], R_Bones[15]);
  164.         #endregion
  165.  
  166.         #region Pinky
  167.         BoneLenth(R_Joints[32], R_Joints[33], R_Bones[16]);
  168.         BoneLenth(R_Joints[33], R_Joints[35], R_Bones[17]);
  169.         BoneLenth(R_Joints[35], R_Joints[37], R_Bones[18]);
  170.         BoneLenth(R_Joints[27], R_Joints[29], R_Bones[19]);
  171.         #endregion
  172.  
  173.         #region Palm
  174.         BoneLenth(R_Joints[0], R_Joints[8], R_Meta[0]);
  175.         BoneLenth(R_Joints[8], R_Joints[16], R_Meta[1]);
  176.         BoneLenth(R_Joints[16], R_Joints[24], R_Meta[2]);
  177.         BoneLenth(R_Joints[24], R_Joints[32], R_Meta[3]);
  178.         BoneLenth(R_Joints[9], R_Joints[17], R_Meta[4]);
  179.         BoneLenth(R_Joints[17], R_Joints[25], R_Meta[5]);
  180.         BoneLenth(R_Joints[25], R_Joints[33], R_Meta[6]);
  181.         BoneLenth(R_Joints[0], R_Joints[32], R_Meta[7]);
  182.         #endregion
  183.  
  184.         #region Arm
  185.         BoneLenth(R_Arm[0], R_Arm[1], R_Meta[8]);
  186.         BoneLenth(R_Arm[0], R_Arm[2], R_Meta[10]);
  187.         BoneLenth(R_Arm[2], R_Arm[3], R_Meta[9]);
  188.         BoneLenth(R_Arm[1], R_Arm[3], R_Meta[11]);
  189.         #endregion
  190.  
  191.         #endregion
  192.     }
  193.     private void BoneLenth(GameObject J0, GameObject J1, GameObject Bone)
  194.     {
  195.         Vector3 from = new Vector3(0.0f, 1.0f, 0.0f);//开始轴线的方向
  196.         Vector3 to = (J0.transform.position - J1.transform.position);//读取轴线的方向
  197.         Vector3 zhou = Vector3.Cross(from, to);//两个向量的叉积
  198.         float angle = Vector3.Angle(from, to);//默认夹角为0-180
  199.         // b 到 a 的夹角
  200.         float sign = Mathf.Sign(Vector3.Dot(zhou.normalized, Vector3.Cross(to.normalized, from.normalized)));//判断夹角的正负
  201.         float signed_angle = angle * sign;
  202.         Bone.transform.rotation = Quaternion.AngleAxis(angle, zhou);
  203.         double distance = (Vector3.Distance(J0.transform.position, J1.transform.position)) / 2.0;
  204.         float Dis = (float)distance;
  205.         Bone.transform.localScale
  206.             = new Vector3(Bone.transform.localScale.x, Dis, Bone.transform.localScale.z);
  207.         Bone.transform.position = (J0.transform.position + J1.transform.position) / 2;
  208.     }
  209.     private void LoadRemoteLeftHand(byte[] frame)//左手解码,赋值
  210.     {
  211.         int index = 0;
  212.  
  213.         Hand.Arm.Direction.x= (float)BitConverter.ToDouble(frame, index);
  214.         index += sizeof(double);
  215.         Hand.Arm.Direction.y = (float)BitConverter.ToDouble(frame, index);
  216.         index += sizeof(double);
  217.         Hand.Arm.Direction.z = (float)BitConverter.ToDouble(frame, index);
  218.         index += sizeof(double);
  219.         Hand.Arm.Direction.w = (float)BitConverter.ToDouble(frame, index);
  220.         index += sizeof(double);
  221.         
  222.         Hand.Wrist.x = (float)BitConverter.ToDouble(frame, index);
  223.         index += sizeof(double);
  224.         Hand.Wrist.y = (float)BitConverter.ToDouble(frame, index);
  225.         index += sizeof(double);
  226.         Hand.Wrist.z = (float)BitConverter.ToDouble(frame, index);
  227.         L_Wrist[0].transform.position = new Vector3(Hand.Wrist.x, Hand.Wrist.y, Hand.Wrist.z);
  228.  
  229.         index += sizeof(double);
  230.         Hand.Palm.x = (float)BitConverter.ToDouble(frame, index);
  231.         index += sizeof(double);
  232.         Hand.Palm.y = (float)BitConverter.ToDouble(frame, index);
  233.         index += sizeof(double);
  234.         Hand.Palm.z = (float)BitConverter.ToDouble(frame, index);
  235.         L_Palm[0].transform.position = new Vector3(Hand.Palm.x, Hand.Palm.y, Hand.Palm.z);
  236.  
  237.         index += sizeof(double);
  238.         Hand.Arm.WristPosition.x = (float)BitConverter.ToDouble(frame, index);
  239.         index += sizeof(double);
  240.         Hand.Arm.WristPosition.y = (float)BitConverter.ToDouble(frame, index);
  241.         index += sizeof(double);
  242.         Hand.Arm.WristPosition.z = (float)BitConverter.ToDouble(frame, index);
  243.         L_Joints[40].transform.position = new Vector3(Hand.Arm.WristPosition.x, Hand.Arm.WristPosition.y, Hand.Arm.WristPosition.z);
  244.         L_Joints[40].transform.rotation = new Quaternion(Hand.Arm.Direction.x, Hand.Arm.Direction.y, Hand.Arm.Direction.z, Hand.Arm.Direction.w);
  245.  
  246.         index += sizeof(double);
  247.         Hand.Arm.ElbowPosition.x = (float)BitConverter.ToDouble(frame, index);
  248.         index += sizeof(double);
  249.         Hand.Arm.ElbowPosition.y = (float)BitConverter.ToDouble(frame, index);
  250.         index += sizeof(double);
  251.         Hand.Arm.ElbowPosition.z = (float)BitConverter.ToDouble(frame, index);
  252.         L_Joints[41].transform.position = new Vector3(Hand.Arm.ElbowPosition.x, Hand.Arm.ElbowPosition.y, Hand.Arm.ElbowPosition.z);
  253.         L_Joints[41].transform.rotation = new Quaternion(Hand.Arm.Direction.x, Hand.Arm.Direction.y, Hand.Arm.Direction.z, Hand.Arm.Direction.w);
  254.  
  255.         for (int i = 0; i < 40; i++)
  256.         {
  257.         float point_x=0, point_y=0, point_z=0;
  258.  
  259.         index += sizeof(double);
  260.         point_x = (float)BitConverter.ToDouble(frame, index);
  261.         index += sizeof(double);
  262.         point_y = (float)BitConverter.ToDouble(frame, index);
  263.         index += sizeof(double);
  264.         point_z = (float)BitConverter.ToDouble(frame, index);
  265.         L_Joints[i].transform.position = new Vector3(point_x, point_y, point_z);
  266.         }
  267.     }
  268.     private void LoadRemoteRightHand(byte[] frame)//右手解码,赋值
  269.     {
  270.         int index = 0;
  271.  
  272.         Hand.Arm.Direction.x = (float)BitConverter.ToDouble(frame, index);
  273.         index += sizeof(double);
  274.         Hand.Arm.Direction.y = (float)BitConverter.ToDouble(frame, index);
  275.         index += sizeof(double);
  276.         Hand.Arm.Direction.z = (float)BitConverter.ToDouble(frame, index);
  277.         index += sizeof(double);
  278.         Hand.Arm.Direction.w = (float)BitConverter.ToDouble(frame, index);
  279.         index += sizeof(double);
  280.  
  281.         Hand.Wrist.x = (float)BitConverter.ToDouble(frame, index);
  282.         index += sizeof(double);
  283.         Hand.Wrist.y = (float)BitConverter.ToDouble(frame, index);
  284.         index += sizeof(double);
  285.         Hand.Wrist.z = (float)BitConverter.ToDouble(frame, index);
  286.         R_Wrist[0].transform.position = new Vector3(Hand.Wrist.x, Hand.Wrist.y, Hand.Wrist.z);
  287.  
  288.         index += sizeof(double);
  289.         Hand.Palm.x = (float)BitConverter.ToDouble(frame, index);
  290.         index += sizeof(double);
  291.         Hand.Palm.y = (float)BitConverter.ToDouble(frame, index);
  292.         index += sizeof(double);
  293.         Hand.Palm.z = (float)BitConverter.ToDouble(frame, index);
  294.         R_Palm[0].transform.position = new Vector3(Hand.Palm.x, Hand.Palm.y, Hand.Palm.z);
  295.  
  296.         index += sizeof(double);
  297.         Hand.Arm.WristPosition.x = (float)BitConverter.ToDouble(frame, index);
  298.         index += sizeof(double);
  299.         Hand.Arm.WristPosition.y = (float)BitConverter.ToDouble(frame, index);
  300.         index += sizeof(double);
  301.         Hand.Arm.WristPosition.z = (float)BitConverter.ToDouble(frame, index);
  302.         R_Joints[40].transform.position = new Vector3(Hand.Arm.WristPosition.x, Hand.Arm.WristPosition.y, Hand.Arm.WristPosition.z);
  303.         R_Joints[40].transform.rotation = new Quaternion(Hand.Arm.Direction.x, Hand.Arm.Direction.y, Hand.Arm.Direction.z, Hand.Arm.Direction.w);
  304.  
  305.         index += sizeof(double);
  306.         Hand.Arm.ElbowPosition.x = (float)BitConverter.ToDouble(frame, index);
  307.         index += sizeof(double);
  308.         Hand.Arm.ElbowPosition.y = (float)BitConverter.ToDouble(frame, index);
  309.         index += sizeof(double);
  310.         Hand.Arm.ElbowPosition.z = (float)BitConverter.ToDouble(frame, index);
  311.         R_Joints[41].transform.position = new Vector3(Hand.Arm.ElbowPosition.x, Hand.Arm.ElbowPosition.y, Hand.Arm.ElbowPosition.z);
  312.         R_Joints[41].transform.rotation = new Quaternion(Hand.Arm.Direction.x, Hand.Arm.Direction.y, Hand.Arm.Direction.z, Hand.Arm.Direction.w);
  313.  
  314.         for (int i = 0; i < 40; i++)
  315.         {
  316.             float point_x = 0, point_y = 0, point_z = 0;
  317.  
  318.             index += sizeof(double);
  319.             point_x = (float)BitConverter.ToDouble(frame, index);
  320.             index += sizeof(double);
  321.             point_y = (float)BitConverter.ToDouble(frame, index);
  322.             index += sizeof(double);
  323.             point_z = (float)BitConverter.ToDouble(frame, index);
  324.             R_Joints[i].transform.position = new Vector3(point_x, point_y, point_z);
  325.         }
  326.     }
  327. }

手势一个关节一个小球，中间用杆相连。

以上完成了手势数据的共享，但在远程端需要自己建手的三维模型

分为两步，一个是各关节点，一个是关节点的连杆。

两个关节点构成中间的连杆，连杆的

 

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