public SensorFusion(RiftHeadsetDevice sensor = null)
{
Stage = 0;
RunningTime = 0;
DeltaT = 0.001f;
Gain = 0.05f;
EnableGravity = true;
EnablePrediction = true;
PredictionDT = 0.03f;
PredictionTimeIncrement = 0.001f;
FRawMag = new SensorFilter(10);
FAngV = new SensorFilter(20);
GyroOffset = new Vector3f();
TiltAngleFilter = new SensorFilterBase_float(1000);
EnableYawCorrection = false;
MagCalibrated = false;
MagNumReferences = 0;
MagRefIdx = -1;
MagRefScore = 0;
MotionTrackingEnabled = true;
if (sensor != null)
AttachToSensor(sensor);
MagCalibrationMatrix = new Matrix4f();
MagCalibrationMatrix.SetIdentity();
}
// *** Setup
// Attaches this SensorFusion to a sensor device, from which it will receive
// notification messages. If a sensor is attached, manual message notification
// is not necessary. Calling this function also resets SensorFusion state.
public bool AttachToSensor(RiftHeadsetDevice sensor)
{
// clear the cached device information
CachedSensorInfo = sensor.GetDeviceInfo(); // save the device information
Reset();
// Automatically load the default mag calibration for this sensor
//LoadMagCalibration();
return true;
}
