void ISensorEventListener.OnSensorChanged(SensorEvent e)
{
var count = e?.Values?.Count ?? 0;
if (count < 3)
{
return;
}
OrientationSensorData?data;
// Docs: https://developer.android.com/reference/android/hardware/SensorEvent#sensor.type_rotation_vector-:
// values[3], originally optional, will always be present from SDK Level 18 onwards. values[4] is a new value that has been added in SDK Level 18.
if (count < 4)
{
data = new OrientationSensorData(e.Values[0], e.Values[1], e.Values[2], -1);
}
else
{
data = new OrientationSensorData(e.Values[0], e.Values[1], e.Values[2], e.Values[3]);
}
OrientationSensor.OnChanged(data.Value);
}
void ISensorEventListener.OnSensorChanged(SensorEvent?e)
{
var values = e?.Values ?? Array.Empty <float>();
if (values.Count < 3)
{
return;
}
OrientationSensorData?data;
// Docs: https://developer.android.com/reference/android/hardware/SensorEvent#sensor.type_rotation_vector:
// values[3], originally optional, will always be present from SDK Level 18 onwards. values[4] is a new value that has been added in SDK Level 18.
if (values.Count < 4)
{
data = new OrientationSensorData(values[0], values[1], values[2], -1);
}
else
{
data = new OrientationSensorData(values[0], values[1], values[2], values[3]);
}
Callback?.Invoke(data.Value);
}
static void DataUpdated(object sender, OrientationSensorReadingChangedEventArgs e)
{
var reading = e.Reading;
var data = new OrientationSensorData(reading.Quaternion.X, reading.Quaternion.Y, reading.Quaternion.Z, reading.Quaternion.W);
OnChanged(data);
}
public void OrientationSensorData_Comparison(
float x1,
float y1,
float z1,
float w1,
float x2,
float y2,
float z2,
float w2,
bool equals)
{
var data1 = new OrientationSensorData(x1, y1, z1, w1);
var data2 = new OrientationSensorData(x2, y2, z2, w2);
if (equals)
{
Assert.True(data1.Equals(data2));
Assert.True(data1 == data2);
Assert.False(data1 != data2);
Assert.Equal(data1, data2);
Assert.Equal(data1.GetHashCode(), data2.GetHashCode());
}
else
{
Assert.False(data1.Equals(data2));
Assert.False(data1 == data2);
Assert.True(data1 != data2);
Assert.NotEqual(data1, data2);
Assert.NotEqual(data1.GetHashCode(), data2.GetHashCode());
}
}
private void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
OrientationSensorData reading = e.Reading;
QuaternionData data = Orientation;
data.Value = reading.Orientation;
data.TimeStamp = DateTime.UtcNow;
data.SendNotification();
}
static void DataUpdated(CMDeviceMotion data, NSError error)
{
if (data == null)
{
return;
}
var field = data.Attitude.Quaternion;
var rotationData = new OrientationSensorData(field.x, field.y, field.z, field.w);
OnChanged(rotationData);
}
internal void RaiseReadingChanged(OrientationSensorData reading)
{
var args = new OrientationSensorChangedEventArgs(reading);
if (UseSyncContext)
{
MainThread.BeginInvokeOnMainThread(() => ReadingChanged?.Invoke(null, args));
}
else
{
ReadingChanged?.Invoke(null, args);
}
}
static void DataUpdated(CMDeviceMotion data, NSError error)
{
if (data == null)
{
return;
}
var field = data.Attitude.Quaternion;
// the quaternion returned by the MotionManager refers to a frame where the X axis points north
var q = new Quaternion((float)field.x, (float)field.y, (float)field.z, (float)field.w);
// we rotate it by 90 degrees around the Z axis, so that the Y axis points north and the X axis points east
var qz90 = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)(Math.PI / 2.0));
q = Quaternion.Multiply(q, qz90);
var rotationData = new OrientationSensorData(q.X, q.Y, q.Z, q.W);
OnChanged(rotationData);
}
static void DataUpdated(CMDeviceMotion data, NSError error)
{
if (data == null)
{
return;
}
var field = data.Attitude.Quaternion;
// the quaternion returned by the MotionManager refers to a frame where the X axis points north ("iOS frame")
var q = new Quaternion((float)field.x, (float)field.y, (float)field.z, (float)field.w);
// in Xamarin, the reference frame is defined such that Y points north and Z is vertical,
// so we first rotate by 90 degrees around the Z axis, in order to get from the Xamarin frame to the iOS frame
var qz90 = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)(Math.PI / 2.0));
// on top of this rotation, we apply the actual quaternion obtained from the MotionManager,
// so that the final quaternion will take us from the earth frame in Xamarin convention to the phone frame
q = Quaternion.Multiply(qz90, q);
var rotationData = new OrientationSensorData(q.X, q.Y, q.Z, q.W);
OnChanged(rotationData);
}
void DataUpdated(CMDeviceMotion data, NSError error)
{
if (data == null)
{
return;
}
#pragma warning disable CA1416 // https://github.com/xamarin/xamarin-macios/issues/14619
var field = data.Attitude.Quaternion;
#pragma warning restore CA1416
// the quaternion returned by the MotionManager refers to a frame where the X axis points north ("iOS frame")
var q = new Quaternion((float)field.x, (float)field.y, (float)field.z, (float)field.w);
// In .NET MAUI, the reference frame is defined such that Y points north and Z is vertical,
// so we first rotate by 90 degrees around the Z axis, in order to get from the .NET MAUI frame to the iOS frame
var qz90 = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)(Math.PI / 2.0));
// on top of this rotation, we apply the actual quaternion obtained from the MotionManager,
// so that the final quaternion will take us from the earth frame in .NET MAUI convention to the phone frame
q = Quaternion.Multiply(qz90, q);
var rotationData = new OrientationSensorData(q.X, q.Y, q.Z, q.W);
RaiseReadingChanged(rotationData);
}
internal OrientationSensorChangedEventArgs(OrientationSensorData reading) =>
internal static void OnChanged(OrientationSensorData reading) => OnChanged(new OrientationSensorChangedEventArgs(reading));
public OrientationSensorChangedEventArgs(OrientationSensorData reading) =>
void ISensorEventListener.OnSensorChanged(SensorEvent e)
{
var data = new OrientationSensorData(e.Values[0], e.Values[1], e.Values[2], e.Values[3]);
OrientationSensor.OnChanged(data);
}
