/// <summary>
/// Updates the UI based on the passed <see cref="SensorQuaternion"/> <paramref name="sensorQuaternion"/>
/// representing a <see cref="SensorFrame.rotation"/> value.
/// </summary>
/// <param name="sensorQuaternion"></param>
public void UpdateUI(SensorQuaternion sensorQuaternion)
{
SensorId id = _rotationSource == RotationSensorSource.NineDof ? SensorId.RotationNineDof : SensorId.RotationSixDof;
var currentDeviceConfig = _wearableControl.CurrentDeviceConfig;
var style = currentDeviceConfig.GetSensorConfig(id).isEnabled
? _colorPalette.GetCustomizedActiveStyle()
: _colorPalette.InactiveTitleElementStyle;
var rotValue3 = _vizMode == VisualizationMode.Quaternion
? sensorQuaternion.value.XYZ()
: sensorQuaternion.value.eulerAngles;
var positiveFormat = _vizMode == VisualizationMode.Quaternion
? DebuggingConstants.QUATERNION_COMPONENT_FORMAT_POSITIVE
: DebuggingConstants.EULER_DATA_COMPONENT_FORMAT_POSITIVE;
var negativeFormat = _vizMode == VisualizationMode.Quaternion
? DebuggingConstants.QUATERNION_COMPONENT_FORMAT_NEGATIVE
: DebuggingConstants.EULER_DATA_COMPONENT_FORMAT_NEGATIVE;
// Update Rotation
var isRotationEnabled = currentDeviceConfig.GetSensorConfig(id).isEnabled;
var childElementColor = isRotationEnabled
? _colorPalette.ActiveDataTextColor
: _colorPalette.InactiveDataTextColor;
Color rotTitleTextColor;
Color rotTitleElementColor;
if (isRotationEnabled)
{
rotTitleTextColor = style.textColor;
rotTitleElementColor = style.elementColor;
}
else
{
rotTitleTextColor = _colorPalette.InactiveTitleElementStyle.textColor;
rotTitleElementColor = _colorPalette.InactiveTitleElementStyle.elementColor;
}
_rotationTitleText.color = rotTitleTextColor;
_rotationTitleImage.color = rotTitleElementColor;
_rotationXText.color = childElementColor;
_rotationXText.text = string.Format(
rotValue3.x >= 0
? positiveFormat
: negativeFormat,
DebuggingConstants.X_FIELD,
Mathf.Abs(rotValue3.x));
_rotationYText.color = childElementColor;
_rotationYText.text = string.Format(
rotValue3.y >= 0
? positiveFormat
: negativeFormat,
DebuggingConstants.Y_FIELD,
Mathf.Abs(rotValue3.y));
_rotationZText.color = childElementColor;
_rotationZText.text = string.Format(
rotValue3.z >= 0
? positiveFormat
: negativeFormat,
DebuggingConstants.Z_FIELD,
Mathf.Abs(rotValue3.z));
_rotationWText.color = childElementColor;
if (_vizMode == VisualizationMode.Quaternion)
{
_rotationWText.text = string.Format(
sensorQuaternion.value.w >= 0
? positiveFormat
: negativeFormat,
DebuggingConstants.W_FIELD,
Mathf.Abs(sensorQuaternion.value.w));
}
else
{
_rotationWText.text = string.Empty;
}
if (_rotationUncertaintyText != null)
{
var font = float.IsInfinity(sensorQuaternion.measurementUncertainty) ? _fontAlpha : _fontNumeric;
if (_rotationUncertaintyText.font != font)
{
_rotationUncertaintyText.font = font;
}
_rotationUncertaintyText.color = _rotationSource == RotationSensorSource.SixDof
? _colorPalette.InactiveUncertaintyTextColor
: rotTitleTextColor;
_rotationUncertaintyText.text = string.Format(
DebuggingConstants.UNCERTAINTY_FORMAT,
sensorQuaternion.measurementUncertainty).ToUpper();
}
var unitsLabelValue = _vizMode == VisualizationMode.Quaternion
? string.Empty
: DebuggingConstants.EULER_UNITS;
_rotationSourceText.color = rotTitleTextColor;
_rotationSourceText.text = string.Format(
DebuggingConstants.ROTATION_SOURCE_FORMAT,
_rotationSource == RotationSensorSource.NineDof ? NINE_DOF_LABEL : SIX_DOF_LABEL,
unitsLabelValue);
UpdateTextAnchors();
}
/// <summary>
/// Updates the UI based on the passed <see cref="SensorQuaternion"/> <paramref name="sensorQuaternion"/>
/// representing a <see cref="SensorFrame.rotation"/> value.
/// </summary>
/// <param name="sensorQuaternion"></param>
public void UpdateUI(SensorQuaternion sensorQuaternion)
{
SensorId id = _rotationSource == RotationSensorSource.NineDof ? SensorId.RotationNineDof : SensorId.RotationSixDof;
var currentDeviceConfig = _wearableControl.CurrentDeviceConfig;
var style = currentDeviceConfig.GetSensorConfig(id).isEnabled
? _colorPalette.GetCustomizedActiveStyle()
: _colorPalette.InactiveTitleElementStyle;
var rotValue3 = _vizMode == VisualizationMode.Quaternion
? sensorQuaternion.value.XYZ()
: sensorQuaternion.value.eulerAngles;
var positiveFormat = _vizMode == VisualizationMode.Quaternion
? DebuggingConstants.QuaternionComponentFormatPositive
: DebuggingConstants.EulerDataComponentFormatPositive;
var negativeFormat = _vizMode == VisualizationMode.Quaternion
? DebuggingConstants.QuaternionComponentFormatNegative
: DebuggingConstants.EulerDataComponentFormatNegative;
// Update Rotation
var isRotationEnabled = currentDeviceConfig.GetSensorConfig(id).isEnabled;
var childElementColor = isRotationEnabled
? _colorPalette.ActiveDataTextColor
: _colorPalette.InactiveDataTextColor;
Color rotTitleTextColor;
Color rotTitleElementColor;
if (isRotationEnabled)
{
rotTitleTextColor = style.textColor;
rotTitleElementColor = style.elementColor;
}
else
{
rotTitleTextColor = _colorPalette.InactiveTitleElementStyle.textColor;
rotTitleElementColor = _colorPalette.InactiveTitleElementStyle.elementColor;
}
_rotationTitleText.color = rotTitleTextColor;
_rotationTitleImage.color = rotTitleElementColor;
_rotationXText.color = childElementColor;
_rotationXText.text = string.Format(
rotValue3.x >= 0
? positiveFormat
: negativeFormat,
DebuggingConstants.XField,
Mathf.Abs(rotValue3.x));
_rotationYText.color = childElementColor;
_rotationYText.text = string.Format(
rotValue3.y >= 0
? positiveFormat
: negativeFormat,
DebuggingConstants.YField,
Mathf.Abs(rotValue3.y));
_rotationZText.color = childElementColor;
_rotationZText.text = string.Format(
rotValue3.z >= 0
? positiveFormat
: negativeFormat,
DebuggingConstants.ZField,
Mathf.Abs(rotValue3.z));
_rotationWText.color = childElementColor;
if (_vizMode == VisualizationMode.Quaternion)
{
_rotationWText.text = string.Format(
sensorQuaternion.value.w >= 0
? positiveFormat
: negativeFormat,
DebuggingConstants.WField,
Mathf.Abs(sensorQuaternion.value.w));
}
else
{
_rotationWText.text = string.Empty;
}
if (_rotationUncertaintyText != null)
{
var font = float.IsInfinity(sensorQuaternion.measurementUncertainty) ? _fontAlpha : _fontNumeric;
if (_rotationUncertaintyText.font != font)
{
_rotationUncertaintyText.font = font;
}
_rotationUncertaintyText.color = _rotationSource == RotationSensorSource.SixDof
? _colorPalette.InactiveUncertaintyTextColor
: rotTitleTextColor;
_rotationUncertaintyText.text = string.Format(
DebuggingConstants.UncertaintyFormat,
sensorQuaternion.measurementUncertainty).ToUpper();
}
var unitsLabelValue = _vizMode == VisualizationMode.Quaternion
? string.Empty
: DebuggingConstants.EulerUnits;
_rotationSourceText.color = rotTitleTextColor;
_rotationSourceText.text = string.Format(
DebuggingConstants.RotationSourceFormat,
_rotationSource == RotationSensorSource.NineDof ? NineDofLabel : SixDofLabel,
unitsLabelValue);
UpdateTextAnchors();
}
public void GetLatestSensorUpdatesInternal()
{
const string GetLengthMethod = "length";
const string GetFrameAtIndexMethod = "getFrameAtIndex";
const string GetAccelerationMethod = "getAcceleration";
const string GetAngularVelocityMethod = "getAngularVelocity";
const string GetRotationSixDofMethod = "getRotationSixDof";
const string GetRotationNineDofMethod = "getRotationNineDof";
const string GetWMethod = "getW";
const string GetXMethod = "getX";
const string GetYMethod = "getY";
const string GetZMethod = "getZ";
const string GetAccuracyMethod = "getAccuracyValue";
const string GetUncertaintyMethod = "getAccuracy";
const string GetTimestampMethod = "getTimestamp";
const string GetDeltaTimeMethod = "getDeltaTime";
const string GetInput = "getInput";
AndroidJavaObject androidObj = AndroidPlugin.GetFrames();
int count = androidObj.Call <int>(GetLengthMethod);
if (count > 0)
{
for (int i = 0; i < count; i++)
{
AndroidJavaObject frame = androidObj.Call <AndroidJavaObject>(GetFrameAtIndexMethod, i);
AndroidJavaObject accelValue = frame.Call <AndroidJavaObject>(GetAccelerationMethod);
AndroidJavaObject angVelValue = frame.Call <AndroidJavaObject>(GetAngularVelocityMethod);
AndroidJavaObject rotSixDofValue = frame.Call <AndroidJavaObject>(GetRotationSixDofMethod);
AndroidJavaObject rotNineDofValue = frame.Call <AndroidJavaObject>(GetRotationNineDofMethod);
byte gesture = frame.Call <byte>(GetInput);
SensorVector3 accel = new SensorVector3();
SensorVector3 gyro = new SensorVector3();
SensorQuaternion rotSixDof = new SensorQuaternion();
SensorQuaternion rotNineDof = new SensorQuaternion();
accel.value = new Vector3(
(float)accelValue.Call <double>(GetXMethod),
(float)accelValue.Call <double>(GetYMethod),
(float)accelValue.Call <double>(GetZMethod)
);
accel.accuracy = (SensorAccuracy)accelValue.Call <byte>(GetAccuracyMethod);
gyro.value = new Vector3(
(float)angVelValue.Call <double>(GetXMethod),
(float)angVelValue.Call <double>(GetYMethod),
(float)angVelValue.Call <double>(GetZMethod)
);
gyro.accuracy = (SensorAccuracy)angVelValue.Call <byte>(GetAccuracyMethod);
rotSixDof.value = new Quaternion(
(float)rotSixDofValue.Call <double>(GetXMethod),
(float)rotSixDofValue.Call <double>(GetYMethod),
(float)rotSixDofValue.Call <double>(GetZMethod),
(float)rotSixDofValue.Call <double>(GetWMethod)
);
rotSixDof.measurementUncertainty = (float)rotSixDofValue.Call <double>(GetUncertaintyMethod);
rotNineDof.value = new Quaternion(
(float)rotNineDofValue.Call <double>(GetXMethod),
(float)rotNineDofValue.Call <double>(GetYMethod),
(float)rotNineDofValue.Call <double>(GetZMethod),
(float)rotNineDofValue.Call <double>(GetWMethod)
);
rotNineDof.measurementUncertainty = (float)rotNineDofValue.Call <double>(GetUncertaintyMethod);
_currentSensorFrames.Add(
new SensorFrame
{
timestamp = WearableConstants.Sensor2UnityTime * frame.Call <int>(GetTimestampMethod),
deltaTime = WearableConstants.Sensor2UnityTime * frame.Call <int>(GetDeltaTimeMethod),
acceleration = accel,
angularVelocity = gyro,
rotationSixDof = rotSixDof,
rotationNineDof = rotNineDof,
gestureId = (GestureId)gesture
}
);
}
}
}
/// <summary>
/// Used internally by WearableControl to get the latest buffer of SensorFrame updates from
/// the Wearable Device; the newest frame in that batch is set as the CurrentSensorFrame.
/// </summary>
private void GetLatestSensorUpdates()
{
_currentSensorFrames.Clear();
#if UNITY_IOS && !UNITY_EDITOR
unsafe
{
BridgeSensorFrame *frames = null;
int count = 0;
WearableGetSensorFrames(&frames, &count);
if (count > 0)
{
for (int i = 0; i < count; i++)
{
var frame = frames + i;
_currentSensorFrames.Add(new SensorFrame {
timestamp = WearableConstants.Sensor2UnityTime * frame->timestamp,
deltaTime = WearableConstants.Sensor2UnityTime * frame->deltaTime,
acceleration = frame->acceleration,
angularVelocity = frame->angularVelocity,
rotation = frame->rotation,
gestureId = frame->gestureId
});
}
_lastSensorFrame = _currentSensorFrames[_currentSensorFrames.Count - 1];
OnSensorsOrGestureUpdated(_lastSensorFrame);
}
}
#elif UNITY_ANDROID && !UNITY_EDITOR
const string GetLengthMethod = "length";
const string GetFrameAtIndexMethod = "getFrameAtIndex";
const string GetAccelerationMethod = "getAcceleration";
const string GetAngularVelocityMethod = "getAngularVelocity";
const string GetRotationMethod = "getRotation";
const string GetWMethod = "getW";
const string GetXMethod = "getX";
const string GetYMethod = "getY";
const string GetZMethod = "getZ";
const string GetAccuracyMethod = "getAccuracyValue";
const string GetUncertaintyMethod = "getAccuracy";
const string GetTimestampMethod = "getTimestamp";
const string GetDeltaTimeMethod = "getDeltaTime";
const string GetInput = "getInput";
AndroidJavaObject androidObj = AndroidPlugin.GetFrames();
int count = androidObj.Call <int>(GetLengthMethod);
if (count > 0)
{
for (int i = 0; i < count; i++)
{
AndroidJavaObject frame = androidObj.Call <AndroidJavaObject>(GetFrameAtIndexMethod, i);
AndroidJavaObject accelValue = frame.Call <AndroidJavaObject>(GetAccelerationMethod);
AndroidJavaObject angVelValue = frame.Call <AndroidJavaObject>(GetAngularVelocityMethod);
AndroidJavaObject rotValue = frame.Call <AndroidJavaObject>(GetRotationMethod);
byte gesture = frame.Call <byte>(GetInput);
SensorVector3 accel = new SensorVector3();
SensorVector3 gyro = new SensorVector3();
SensorQuaternion rot = new SensorQuaternion();
accel.value = new Vector3(
(float)accelValue.Call <double>(GetXMethod),
(float)accelValue.Call <double>(GetYMethod),
(float)accelValue.Call <double>(GetZMethod)
);
accel.accuracy = (SensorAccuracy)accelValue.Call <byte>(GetAccuracyMethod);
gyro.value = new Vector3(
(float)angVelValue.Call <double>(GetXMethod),
(float)angVelValue.Call <double>(GetYMethod),
(float)angVelValue.Call <double>(GetZMethod)
);
gyro.accuracy = (SensorAccuracy)angVelValue.Call <byte>(GetAccuracyMethod);
rot.value = new Quaternion(
(float)rotValue.Call <double>(GetXMethod),
(float)rotValue.Call <double>(GetYMethod),
(float)rotValue.Call <double>(GetZMethod),
(float)rotValue.Call <double>(GetWMethod)
);
rot.measurementUncertainty = (float)rotValue.Call <double>(GetUncertaintyMethod);
_currentSensorFrames.Add(
new SensorFrame
{
timestamp = WearableConstants.Sensor2UnityTime * frame.Call <int>(GetTimestampMethod),
deltaTime = WearableConstants.Sensor2UnityTime * frame.Call <int>(GetDeltaTimeMethod),
acceleration = accel,
angularVelocity = gyro,
rotation = rot,
gestureId = (GestureId)gesture
}
);
}
_lastSensorFrame = _currentSensorFrames[_currentSensorFrames.Count - 1];
OnSensorsOrGestureUpdated(_lastSensorFrame);
}
#endif
}
