public override string ToString() {
return Frames.ToString().PadLeft(4, ' ') + (Jump ? ",Jump" : "") + (Save ? ",Save" : "") + (Fire ? ",Fire" : "") + (Bash ? ",Bash" : "") +
(ChargeJump ? ",CJump" : "") + (Glide ? ",Glide" : "") + (Start ? ",Start" : "") + (Select ? ",Select" : "") + (UI ? ",UI" : "") +
(Action ? ",Action" : "") + (Esc ? ",Esc" : "") + (Dash ? ",Dash" : "") + (Grenade ? ",Grenade" : "") +
Axis() + (DLoad ? ",DLoad" : "") + (DSave ? ",DSave" : "") + (SaveSlot >= 0 ? ",Slot," + (SaveSlot + 1) : "") +
(!Position ? "" : ",Pos," + PositionX.ToString("0.####") + "," + PositionY.ToString("0.####")) +
(!Speed ? "" : ",Speed," + SpeedX.ToString("0.####") + "," + SpeedY.ToString("0.####")) +
(XP >= 0 ? ",XP," + XP : "") + (Color ? ",Color" : "") + (Random >= 0 ? ",Random," + Random : "") +
(!EntityPos ? "" : ",EntityPos," + EntityPosX.ToString("0.####") + "," + EntityPosY.ToString("0.####")) +
(!BlockPos ? "" : ",BlockPos," + BlockPosX.ToString("0.####") + "," + BlockPosY.ToString("0.####")) +
(EntityHP < 0 ? "" : ",EntityHP," + EntityHP.ToString("0.##")) + (HP >= 0 ? ",HP," + HP.ToString("0.#") : "") + (EN >= 0 ? ",EN," + EN.ToString("0.##") : "") +
(Restore ? ",Restore" : "") + (Copy >= 0 ? ",Copy," + (Copy + 1) : "") + (SkillTree >= 0 ? ",SkillTree," + SkillTree : "") +
(MouseX < 0 && MouseY < 0 ? "" : ",Mouse," + MouseX.ToString("0.####") + "," + MouseY.ToString("0.####"));
}
void RealTimeSerialWithAvg()
{
//Update the LastAccel
LastAccelX = AccelX;
LastAccelY = AccelY;
LastAccelZ = AccelZ;
LastSpeedX = SpeedX;
LastSpeedY = SpeedY;
LastSpeedZ = SpeedZ;
LastDispX = DispX;
LastDispY = DispY;
LastDispZ = DispZ;
//Read a serial message and update Quat and Accel data
WholeLine = GameObject.Find("RacketPviot").GetComponent <SerialController>().ReadSerialMessage();
if (WholeLine != null)
{
QAData = WholeLine.Split(new[] { ',' });
if (QAData.Length != 7)
{
//Invalid input, use the same data as the last update
Debug.Log("Invalid input, keep last valid data.");
}
else
{
//Valid input, update raw Quat and Accel data
float.TryParse(QAData[0], out QuatW);
float.TryParse(QAData[1], out QuatX);
float.TryParse(QAData[2], out QuatY);
float.TryParse(QAData[3], out QuatZ);
float.TryParse(QAData[4], out AccelX);
float.TryParse(QAData[5], out AccelY);
float.TryParse(QAData[6], out AccelZ);
if (RecordPlaybackRaw)
{
SW.WriteLine(WholeLine);
}
}
}
else
{
//Empty serial message, use the same data as the last update
Debug.Log("Empty serial message, keep last valid data");
}
//Update the average
SumAccelX = AvgAccelX * (AvgSize - 1) + AccelX;
AvgAccelX = SumAccelX / AvgSize;
SumAccelY = AvgAccelY * (AvgSize - 1) + AccelY;
AvgAccelY = SumAccelY / AvgSize;
SumAccelZ = AvgAccelZ * (AvgSize - 1) + AccelZ;
AvgAccelZ = SumAccelZ / AvgSize;
// Use a threshold to filter the mechanical noise
float MagnitudeAccel = Mathf.Sqrt(AvgAccelX * AvgAccelX + AvgAccelY * AvgAccelY + AvgAccelZ * AvgAccelZ);
if (MagnitudeAccel < MagnitudeAccelThreshold)
{
AccelX = 0;
AccelY = 0;
AccelZ = 0;
SpeedX = 0;
SpeedY = 0;
SpeedZ = 0;
DispX = 0;
DispY = 0;
DispZ = 0;
}
else
{
//TODO:Use AvgAccel or Zero mean version Accel?
AccelX = AvgAccelX - SStateAccelX;
AccelY = AvgAccelY - SStateAccelY;
AccelZ = AvgAccelZ - SStateAccelZ;
//Apply the double integration
SpeedX = LastSpeedX + LastAccelX * Time.fixedDeltaTime + (AccelX - LastAccelX) * Time.fixedDeltaTime / 2f;
SpeedY = LastSpeedY + LastAccelY * Time.fixedDeltaTime + (AccelY - LastAccelY) * Time.fixedDeltaTime / 2f;
SpeedZ = LastSpeedZ + LastAccelZ * Time.fixedDeltaTime + (AccelZ - LastAccelZ) * Time.fixedDeltaTime / 2f;
DispX = LastDispX + LastSpeedX * Time.fixedDeltaTime + (SpeedX - LastSpeedX) * Time.fixedDeltaTime / 2f;
DispY = LastDispY + LastSpeedY * Time.fixedDeltaTime + (SpeedY - LastSpeedY) * Time.fixedDeltaTime / 2f;
DispZ = LastDispZ + LastSpeedZ * Time.fixedDeltaTime + (SpeedZ - LastSpeedZ) * Time.fixedDeltaTime / 2f;
}
Rotate = new Quaternion(-QuatX, -QuatZ, -QuatY, QuatW);
//Apply the transform
if (ShowDisp)
{
this.transform.Translate(SpeedX, SpeedZ, SpeedY, Space.Self);
/*
* this.transform.Translate(Vector3.right * DispX);
* this.transform.Translate(Vector3.up * DispZ);
* this.transform.Translate(Vector3.forward * DispY);
*/
}
this.transform.rotation = Rotate;
if (RecordPlayback)
{
string RecordLine = QuatW.ToString() + "," + QuatX.ToString() + "," + QuatY.ToString() + "," + QuatZ.ToString() +
"," + SpeedX.ToString() + "," + SpeedY.ToString() + "," + SpeedZ.ToString();
SW.WriteLine(RecordLine);
}
}
