public void UpdateImage()
{
if (tracker != IntPtr.Zero)
{
PSMoveAPI.psmove_tracker_update_image(tracker);
}
}
private void UpdateRumbleAndLED()
{
// Update led color or set the automatic tracking recommended color
UpdateLedColor();
// Send rumble and leds notification back to the controller
PSMoveAPI.psmove_update_leds(move);
}
private void PollInternalData()
{
// Poll data (IMU and buttons)
while (PSMoveAPI.psmove_poll(move) != 0)
{
;
}
}
// **************
// Connection
// **************
public bool Connect()
{
move = PSMoveAPI.psmove_connect_by_id(Index);
// Enable inner psmoveapi IMU fusion
PSMoveAPI.psmove_enable_orientation(move, 1);
// Enable positional tracking for this device
PSMoveAPI.psmove_tracker_enable(tracker.TrackerHandle, move);
return(isConnected());
}
private void UpdatePosition()
{
// Update positional tracking info for this move
PSMoveAPI.psmove_tracker_update(tracker.TrackerHandle, move);
// Retrieve positional tracking data
PSMoveAPI.psmove_fusion_get_position(tracker.FusionHandle, move,
ref x, ref y, ref z);
rawPosition.Update(x, y, z);
}
private void UpdateLedColor()
{
// Check the camera tracking color update
if (AutoLedColor)
{
// If the color is automatically recommended by the camera, get it now
PSMoveAPI.psmove_tracker_get_color(tracker.TrackerHandle, move, ref r, ref g, ref b);
led.SetColor(r, g, b);
}
else
{
// If the color is manually set, let the tracker know
PSMoveAPI.psmove_tracker_set_camera_color(tracker.TrackerHandle, move, led.r, led.g, led.b);
}
// Finally set the led color
PSMoveAPI.psmove_set_leds(move, led.r, led.g, led.b);
}
private void UpdateOrientation()
{
// Orientation data
PSMoveAPI.psmove_get_orientation(move, ref w, ref x, ref y, ref z);
rotation.Update(w, z, x, y, false); // This update without conjugation solves the yaw problem
// Gyroscope data
PSMoveAPI.psmove_get_gyroscope_frame(move,
PSMove.PSMove_Frame.Frame_SecondHalf,
ref x, ref y, ref z);
gyroscope.Update(x, y, z);
// Accelerometer data
PSMoveAPI.psmove_get_accelerometer_frame(move,
PSMove.PSMove_Frame.Frame_SecondHalf,
ref x, ref y, ref z);
accelerometer.Update(x, y, z);
}
public void SetDimming(float dimming)
{
// Disable light bulb auto dimming effect
PSMoveAPI.psmove_tracker_set_dimming(tracker, 1);
}
public void Stop()
{
PSMoveAPI.psmove_fusion_free(fusion);
PSMoveAPI.psmove_tracker_free(tracker);
}
public void Start()
{
// Create the tracker object
tracker = PSMoveAPI.psmove_tracker_new();
fusion = PSMoveAPI.psmove_fusion_new(tracker, 1, 1000);
}
public void Disconnect()
{
PSMoveAPI.psmove_disconnect(move);
}
private void UpdateButtons()
{
// Button Events
buttons = PSMoveAPI.psmove_get_buttons(move);
PSMoveAPI.psmove_get_button_events(move, ref buttonsPressed, ref buttonsReleased);
}
public void resetOrientation()
{
PSMoveAPI.psmove_reset_orientation(move);
}
