void Awake()
{
if (SystemInfo.supportsGyroscope)
{
filter = new ComplementaryFilter(.98f, PREDICTION_TIME);
Input.gyro.enabled = true;
}
else
{
filter = new ComplementaryFilter(.5f, PREDICTION_TIME);
}
posePredictor = new PosePredictor(PREDICTION_TIME);
filterToWorldQ = Quaternion.AngleAxis(-Mathf.PI / 2, new Vector3(1, 0, 0));
originalPoseAdjustQ = Quaternion.AngleAxis(-windowOrientation * Mathf.PI / 18, new Vector3(0, 0, 1));
SetScreenTransform();
if (isLandscape)
{
filterToWorldQ *= inverseWorldToScreenQ;
}
Recenter();
}
public Game(Parameters param, int alg)
{
graphics = new GraphicsDeviceManager(this);
Content.RootDirectory = "Content";
this.IsMouseVisible = true;
this.alg = alg;
dt = 1.0 / param.freq;
this.COMport = "PL=PL_001{PN=COM" + param.porta + ", SENDMODE=B}";
if (alg == 1) //Complementary filter
{
ComplementaryFilter = new ComplementaryFilter(param);
}
if (alg == 2) //AHRS
{
AHRS = new AHRSalgorithm();
AHRS.setParamaters(param.AHRSpar1, param.AHRSpar2, param.freq);
}
if (alg == 3) //Kalman filter
{
KalmanFilter = new KalmanFilter(param);
}
this.Exiting += new EventHandler(Game1_Exiting);
}
void Awake()
{
if (instance != null)
{
UnityEngine.Debug.LogError("More than an instance of SensorFusion detected!");
}
instance = this;
if (SystemInfo.supportsGyroscope)
{
filter = new ComplementaryFilter(.98f);
Input.gyro.enabled = true;
Input.gyro.updateInterval = 0.0167f; // Set the update interval to it's highest value (60 Hz)
}
else
{
Debug.LogWarning("This device doesn't have a gyroscope! Using accelerometer only (if available)");
filter = new ComplementaryFilter(.5f);
}
posePredictor = new PosePredictor();
filterToWorldQ = Quaternion.AngleAxis((-Mathf.PI / 2) * Mathf.Rad2Deg, new Vector3(1, 0, 0));
originalPoseAdjustQ = Quaternion.AngleAxis((-windowOrientation * Mathf.PI / 18) * Mathf.Rad2Deg, new Vector3(0, 0, 1));
SetScreenTransform();
if (isLandscape)
{
filterToWorldQ *= inverseWorldToScreenQ;
}
Recenter();
}
private async void Selector_OnBoardConnected(object sender, Treehopper.Mvvm.BoardConnectedEventArgs e)
{
var imu = new Mpu9250(e.Board.I2c);
imu.EnableMagnetometer = false;
await imu.Calibrate();
filter = new ComplementaryFilter(imu, imu, 5, true);
filter.FilterUpdate += Filter_FilterUpdate;
}
// Use this for initialization
void Start()
{
complementaryFuzer = new ComplementaryFilter();
wiimote = GameObject.Find("wiimote");
Angles = new Vector3();
vSliderValuePrev = vSliderValue = 128f;
timer = new Timer(500.0);
timer.Elapsed += new ElapsedEventHandler(onTimerElapsed);
ui = this.GetComponent <UserInterfaceWindow>();
//supporting devices with custom drivers
//When you add them add specialized first then XInputDriver then wide range supporting drivers UnityDriver
#if (UNITY_STANDALONE_WIN)
InputManager.hidInterface.defaultDriver = new UnityDriver();
InputManager.AddDriver(new ThrustMasterDriver());
InputManager.AddDriver(new WiiDriver());
//InputManager.AddDriver(new XInputDriver());
#endif
#if (UNITY_STANDALONE_OSX)
//InputManager.AddDriver(new ThrustMasterDriver());
//InputManager.AddDriver(new XInputDriver());
InputManager.hidInterface.defaultDriver = new UnityDriver();
#endif
#if (UNITY_STANDALONE_ANDROID)
InputManager.AddDriver(new ThrustMasterDriver());
#endif
//TODO think of better entry point
InputManager.hidInterface.Enumerate();
// !!!Postive аxes mapping only currently(need to find way to distinct postive from negative axis in Unity way of handling)
// if(Application.isPlaying)
// InputManager.AddDriver(new UnityDriver());
//if you want to load some states from .xml and add custom manually first load settings xml
//!!!Application.streamingAssetPath gives "Raw" folder in web player
#if (UNITY_STANDALONE || UNITY_EDITOR) && !UNITY_WEBPLAYER && !UNITY_ANDROID
//UnityEngine.Debug.Log("Standalone");
if (ui != null)
{//settingsXML would trigger internal loading mechanism (only for testing)
InputManager.loadSettings(Path.Combine(Application.streamingAssetsPath, "InputSettings.xml"));
ui.settings = InputManager.Settings;
}
manuallyAddStateAndHandlers();
#endif
#region Load InputSettings.xml Android
#if UNITY_ANDROID
Loader request = new Loader();
if (Application.platform == RuntimePlatform.Android)
{
if (File.Exists(Application.persistentDataPath + "/" + "InputSettings.xml"))
{
if (ui != null)
{
Debug.Log("Game>> Try to load from " + Application.persistentDataPath);
InputManager.loadSettings(Application.persistentDataPath + "/" + "InputSettings.xml");
ui.settings = InputManager.Settings;
manuallyAddStateAndHandlers();
return;
}
}
else
{// content of StreamingAssets get packed inside .APK and need to be load with WWW
request.Add(Path.Combine(Application.streamingAssetsPath, "InputSettings.xml"));
}
request.LoadComplete += new EventHandler <LoaderEvtArgs <List <WWW> > >(onLoadComplete);
request.Error += new EventHandler <LoaderEvtArgs <String> >(onLoadError);
request.LoadItemComplete += new EventHandler <LoaderEvtArgs <WWW> >(onLoadItemComplete);
request.load();
}
else //TARGET=ANDROID but playing in EDITOR => use Standalone setup
{
if (ui != null)
{//settingsXML would trigger internal loading mechanism (only for testing)
InputManager.loadSettings(Path.Combine(Application.streamingAssetsPath, "InputSettings.xml"));
ui.settings = InputManager.Settings;
}
manuallyAddStateAndHandlers();
}
#endif
#endregion
#if (UNITY_WEBPLAYER || UNITY_EDITOR) && !UNITY_STANDALONE && !UNITY_ANDROID
Loader request = new Loader();
//UNITY_WEBPLAYER: Application.dataPath "http://localhost/appfolder/"
request.Add(Application.dataPath + "/StreamingAssets/InputSettings.xml");
request.LoadComplete += new EventHandler <LoaderEvtArgs <List <WWW> > >(onLoadComplete);
request.Error += new EventHandler <LoaderEvtArgs <String> >(onLoadError);
request.LoadItemComplete += new EventHandler <LoaderEvtArgs <WWW> >(onLoadItemComplete);
request.load();
#endif
}
