From 41b6eb26aa699d0aff0426cd73dd9bc2cc8a1b65 Mon Sep 17 00:00:00 2001
From: doomertheboomer <hackerdoomer@gmail.com>
Date: Fri, 28 Jul 2023 00:01:11 +0700
Subject: [PATCH] kinect step support

---
 depthrush/drs.cpp | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/depthrush/drs.cpp b/depthrush/drs.cpp
index ca9d374..4709ac1 100644
--- a/depthrush/drs.cpp
+++ b/depthrush/drs.cpp
@@ -230,6 +230,7 @@ void pollKinect() {
 
 		// main loop to read and process skeleton data
 		NUI_SKELETON_FRAME skeletonFrame = { 0 };
+		float errorMargin = 0.02;
 		while (true) {
 			// get the latest skeleton frame
 			hr = NuiSkeletonGetNextFrame(0, &skeletonFrame);
@@ -252,6 +253,22 @@ void pollKinect() {
 					feet[1].event.y = 0.5;
 					feet[2].event.x = rightLegPos.x;
 					feet[2].event.y = 0.5;
+
+					// check for stepping
+					if (leftLegPos.y > (rightLegPos.y + errorMargin)) {
+						feet[2].touching = true;
+						feet[1].touching = false;
+
+					}
+					else if (rightLegPos.y > (leftLegPos.y + errorMargin)) {
+						feet[1].touching = true;
+						feet[2].touching = false;
+					}
+					else {
+						feet[1].touching = true;
+						feet[2].touching = true;
+					}
+
 				}
 			}
 		}