/// <summary>
/// センサーデータ設定
/// </summary>
/// <param name="data">センサーデータ</param>
public void SetValue(long[] qt)
{
try
{
qData = new QuatPacket_Bean(qt);
//IMUgetQuaternion(&qData);
if (zenQuat[0] != qData.MlQuaternion[0] || zenQuat[1] != qData.MlQuaternion[1] || zenQuat[2] != qData.MlQuaternion[2] || zenQuat[3] != qData.MlQuaternion[3])
{
teapotShwoWait += 1;
if (teapotShwoWait >= 1)
{
teapotShwoWait = 0;
DrowGraphMain();
zenQuat[0] = qData.MlQuaternion[0];
zenQuat[1] = qData.MlQuaternion[1];
zenQuat[2] = qData.MlQuaternion[2];
zenQuat[3] = qData.MlQuaternion[3];
}
}
}
catch (Exception ex)
{
Tracer.WriteError("センサーデータ設定中にエラー発生 メッセージ {0} \r\n{1}", ex.Message.ToString(), ex.StackTrace.ToString());
}
}
public void SetQuat(long[] qt)
{
qData = new QuatPacket_Bean(qt);
//IMUgetQuaternion(&qData);
if (zenQuat[0] != qData.MlQuaternion[0] || zenQuat[1] != qData.MlQuaternion[1] || zenQuat[2] != qData.MlQuaternion[2] || zenQuat[3] != qData.MlQuaternion[3])
{
teapotShwoWait += 1;
if (teapotShwoWait >= 1)
{
teapotShwoWait = 0;
DemoDisplayMain();
zenQuat[0] = qData.MlQuaternion[0];
zenQuat[1] = qData.MlQuaternion[1];
zenQuat[2] = qData.MlQuaternion[2];
zenQuat[3] = qData.MlQuaternion[3];
}
}
}
public void Main()
{
Glut.glutInit();
Glut.glutInitDisplayMode(Glut.GLUT_DOUBLE | Glut.GLUT_RGBA | Glut.GLUT_DEPTH);
Glut.glutInitWindowSize(480, 480);
Glut.glutInitWindowPosition(500, 0);
Glut.glutCreateWindow("InvenSense Tea Pot Demo");
DemoInit();
qData = new QuatPacket_Bean();
//Glut.glutDisplayFunc(DemoDisplayMain);
//Glut.glutKeyboardUpFunc(DemoKeyboardUpFunc);
Glut.glutReshapeFunc(ReshapeWindowSize);
Glut.glutIdleFunc(DemoDisplayIdle);
Gl.glEnable(Gl.GL_BLEND);
DemoDisplayMain();
Glut.glutMainLoop();
}
