private float w, x, y, z; // for Vector3 and Quaternion components
#endregion Fields
#region Constructors
public PSMoveController(int index, PSMoveTracker tracker)
{
this.Index = index;
this.tracker = tracker;
this.Connect();
this.position = new Vector3();
this.rawPosition = new Vector3();
this.centerPosition = new Vector3();
this.rotation = new Quaternion();
this.gyroscope = new Vector3();
this.accelerometer = new Vector3();
this.led = new RGB_Color();
this.rumble = (char)0;
this.buttons = 0;
this.buttonsPressed = 0;
this.buttonsReleased = 0;
Global = new PSMoveGlobal(this);
}
public static TssError UpdateQuaternion(int deviceId, Quaternion quaternion)
{
uint timestamp;
var quat = new float[4];
TssStreamPacket packet;
TssError error;
if (isStreaming)
{
error = tss_getLastStreamData(deviceId, out packet, 16, out timestamp);
quat[0] = packet.quat[0];
quat[1] = packet.quat[1];
quat[2] = packet.quat[2];
quat[3] = packet.quat[3];
}
else
{
error = tss_getTaredOrientationAsQuaternion((uint)deviceId, quat, out timestamp); //xyzw
}
quaternion.Update(quat[3], quat[0], quat[1], quat[2], false);
return error;
}
public static TssError UpdateSensor(uint deviceId, Quaternion quaternion, out byte button_state)
{
uint timestamp;
var quat = new float[4];
TssError error;
if (stream_button_state)
{
TssStreamPacketQuatButton packet;
error = tss_getLastStreamData(deviceId, out packet, 17, out timestamp);
quat[0] = packet.quat[0];
quat[1] = packet.quat[1];
quat[2] = packet.quat[2];
quat[3] = packet.quat[3];
button_state = packet.button_state;
}
else
{
TssStreamPacketQuat packet;
error = tss_getLastStreamData(deviceId, out packet, 16, out timestamp);
quat[0] = packet.quat[0];
quat[1] = packet.quat[1];
quat[2] = packet.quat[2];
quat[3] = packet.quat[3];
button_state = 0;
}
quaternion.Update(quat[3], quat[0], quat[1], quat[2], false);
return error;
}