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I am trying to write to get all joint XYZ coordinates in ARKit 3 motion capture to get the XYZ to find all angles of body. but I can't find the XYZ coordinates so I can't do the next step.I am trying to use character!.jointTransforms to get the joint data translation maybe is the XYZ coordinates but I tried to track a few motion but the numbers didn't change.This is my code :import UIKit
import RealityKit
import ARKit
import Combine
class ViewController: UIViewController, ARSessionDelegate {
@IBOutlet var arView: ARView!
var character: BodyTrackedEntity?
let characterOffset: SIMD3 = [0.0, 0, 0]
let characterAnchor = AnchorEntity()
override func viewDidAppear(_ animated: Bool) {
super.viewDidAppear(animated)
arView.session.delegate = self
guard ARBodyTrackingConfiguration.isSupported else {
fatalError("This feature is only supported on devices with an A12 chip")
}
let configuration = ARBodyTrackingConfiguration()
arView.session.run(configuration)
arView.scene.addAnchor(characterAnchor)
// Asynchronously load the 3D character.
var cancellable: AnyCancellable? = nil
cancellable = Entity.loadBodyTrackedAsync(named: "character/robot").sink(
receiveCompletion: { completion in
if case let .failure(error) = completion {
print("Error: Unable to load model: \(error.localizedDescription)")
}
cancellable?.cancel()
}, receiveValue: { (character: Entity) in
if let character = character as? BodyTrackedEntity {
// Scale the character to human size
character.scale = [1.0, 1.0, 1.0]
self.character = character
cancellable?.cancel()
} else {
print("Error: Unable to load model as BodyTrackedEntity")
}
})
}
func session(_ session: ARSession, didUpdate anchors: [ARAnchor]) {
for anchor in anchors {
guard let bodyAnchor = anchor as? ARBodyAnchor else { continue }
let bodyPosition = simd_make_float3(bodyAnchor.transform.columns.3)
characterAnchor.position = bodyPosition + characterOffset
characterAnchor.orientation = Transform(matrix: bodyAnchor.transform).rotation
if let character = character, character.parent == nil {
characterAnchor.addChild(character)
}
let XYZArray = character!.jointTransforms.map({ (transform: RealityKit.Transform) -> SIMD3 in
transform.translation
})
print(XYZArray)
}
}
}The code is reference by :https://developer.apple.com/documentation/arkit/capturing_body_motion_in_3d