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
}
