private Quaternion calculateChangeForGyro(GyroscopeDataEventArgs prev, GyroscopeDataEventArgs effective)
{
TimeSpan dt = effective.Timestamp.Subtract(prev.Timestamp);
Thalmic.Myo.Vector3 avg = (effective.Gyroscope + prev.Gyroscope) * .5f;
double dts = dt.TotalSeconds;
double rx = avg.X * dts;
double ry = avg.Y * dts;
double rz = avg.Z * dts;
double magnitude = Math.Sqrt(rx * rx + ry * ry + rz * rz);
Vector3 myoAxis = new Vector3((float)(rx / magnitude), (float)(ry / magnitude), (float)(rz / magnitude));
Vector3 axis = new Vector3(-myoAxis.y, myoAxis.z, myoAxis.x);
float angle = (float)magnitude;
// Unity is left handed. therefore the angle should be reversed.
Quaternion dq = Quaternion.AngleAxis(-angle, axis);
return(dq);
}
void myo_OnGyroscopeData(object sender, Thalmic.Myo.GyroscopeDataEventArgs e)
{
lock (_lock) {
_myoGyroscope = e.Gyroscope;
}
}
void myo_OnAccelerometerData(object sender, Thalmic.Myo.AccelerometerDataEventArgs e)
{
lock (_lock) {
_myoAccelerometer = e.Accelerometer;
}
}
static private Vector3 myoToUnity(Thalmic.Myo.Vector3 myo)
{
return(new Vector3(-myo.Y, myo.Z, myo.X));
}