public MathUtilsError GetUpdatedOrientation(double Time,
Quat HMDOrientation,
double HMDOrientationV,
Quat ViconOrientation,
bool ViconDataValid,
out Quat Output)
{
Type cType = typeof(Quat);
IntPtr ptr = Marshal.AllocHGlobal(Marshal.SizeOf(cType));
try
{
MathUtilsError Result = UpdateOrientation2(m_Impl,
Time,
HMDOrientation,
HMDOrientationV,
ViconOrientation,
ViconDataValid,
ptr);
Output = (Quat)Marshal.PtrToStructure(ptr, cType);
return(Result);
}
finally
{
Marshal.FreeHGlobal(ptr);
}
}
public MathUtilsError GetUpdatedOrientationWindowed(double Time,
Quat HMDOrientation,
bool HMDDataValid,
Quat ViconOrientation,
uint ViconFrameNumber,
bool ViconDataValid,
out Quat Output)
{
Type cType = typeof(Quat);
IntPtr ptr = Marshal.AllocHGlobal(Marshal.SizeOf(cType));
try
{
MathUtilsError Result = UpdateOrientation3(m_Impl,
Time,
HMDOrientation,
HMDDataValid,
ViconOrientation,
ViconFrameNumber,
ViconDataValid,
1.0f,
20,
ptr);
Output = (Quat)Marshal.PtrToStructure(ptr, cType);
return(Result);
}
finally
{
Marshal.FreeHGlobal(ptr);
}
}
public MathUtilsError GetVelocity(Quat HMDRotation, double i_T, out double o_V)
{
MathUtilsError Result = CalculateAngularVelocity(m_Impl,
HMDRotation,
i_T,
out o_V);
return(Result);
}
public static string StateInString(MathUtilsError FusionState, bool bRequiredVelocityCalculation)
{
string FusionError = "";
switch (FusionState)
{
case MathUtilsError.ESuccess:
if (bRequiredVelocityCalculation)
{
FusionError = "Success - Calculated Velocity";
}
else
{
FusionError = "Success";
}
break;
case MathUtilsError.EQuaternionWasNan:
FusionError = "Quaternion is Nan";
break;
case MathUtilsError.EZeroTimeDelta:
FusionError = "Zero Time Delta";
break;
case MathUtilsError.EInputIsIdentity:
FusionError = "Input Is Identity";
break;
case MathUtilsError.ELastRotationIdentity:
FusionError = "Last Rotation Is Identity";
break;
case MathUtilsError.ENoVelocity:
FusionError = "No Velocity";
break;
case MathUtilsError.EUninitialized:
FusionError = "Uninitialized";
break;
}
return(FusionError);
}
