public override void Update(PhysicalHeliState startState, PhysicalHeliState endState, JoystickOutput output, TimeSpan startTime, TimeSpan endTime)
{
_accelerometer.Update(startState, endState, output, startTime, endTime);
_gyroscope.Update(startState, endState, output, startTime, endTime);
// Make sure we use orientation at start of timestep to transform to world, since IMU should be able to calculate accumulated position
// by this world acceleration, and according to my physics simulation the position is calculated before rotation is.
AccelerationWorld = _accelerometer.AccelerationWorld;
AccelerationLocal = new ForwardRightUp(_accelerometer.Forward, _accelerometer.Right, _accelerometer.Up);
AngularRateBody = AngularValues.FromRadians(_gyroscope.Rate);
AngularDeltaBody = AngularValues.FromRadians(_gyroscope.Delta);
PitchRollYaw delta = AngularDeltaBody.Radians;
AccumulatedOrientation =
VectorHelper.AddPitchRollYaw(AccumulatedOrientation, delta.Pitch, delta.Roll, delta.Yaw);
}
void Start()
{
playerMovementTouch = GetComponent <PlayerMovementTouch>();
pitchRollYaw = GetComponent <PitchRollYaw>();
}
