public static bool HasChangedBy(this QuaternionData data, QuaternionData comparison, double rotationThreshold)
{
return((Mathf.Abs(data.x - comparison.x) > rotationThreshold) ||
(Mathf.Abs(data.y - comparison.y) > rotationThreshold) ||
(Mathf.Abs(data.z - comparison.z) > rotationThreshold) ||
(Mathf.Abs(data.w - comparison.w) > rotationThreshold));
}
public void SaveAll()
{
health = player.Health;
stamina = player.Stamina.Value;
position = new Vector3Data(player.transform.position);
rotation = new QuaternionData(player.transform.rotation);
}
private void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
OrientationSensorData reading = e.Reading;
QuaternionData data = Orientation;
data.Value = reading.Orientation;
data.TimeStamp = DateTime.UtcNow;
data.SendNotification();
}
public unsafe OrientationDataPacket(UInt32 velocity, QuaternionData rotation) : this()
{
Velocity = velocity;
Rotation = rotation;
fixed(OrientationDataPacket *pointer = &this)
{
Packet.GenerateHeader((Packet.Header *)pointer, (UInt16)Marshal.SizeOf(this), (byte)CustomPackets.Type.OrientationData);
}
}
public RigidbodyData(Rigidbody body)
{
this.position = new Vector3Data(body.transform.position);
this.rotation = new QuaternionData(body.transform.rotation);
this.sleeping = body.IsSleeping();
if (!sleeping)
{
this.velocity = new Vector3Data(body.velocity);
this.angularVelocity = new Vector3Data(body.angularVelocity);
}
}
public static QuaternionData Serialize(this Quaternion q)
{
QuaternionData quaternionData = new QuaternionData
{
x = q.x,
y = q.y,
z = q.z,
w = q.w
};
return(quaternionData);
}
/// <summary>
/// xIMUserial CalInertialAndMagneticDataReceived event to update algorithm in AHRS mode.
/// </summary>
static void xIMUserial_CalInertialAndMagneticDataReceived_updateAHRS(object sender, x_IMU_API.CalInertialAndMagneticData e)
{
AHRS.Update(Deg2Rad(e.Gyroscope[0]), Deg2Rad(e.Gyroscope[1]), Deg2Rad(e.Gyroscope[2]), e.Accelerometer[0],
e.Accelerometer[1], e.Accelerometer[2], e.Magnetometer[0], e.Magnetometer[1], e.Magnetometer[2]);
var quaternion = new[] { AHRS.Quaternion[0], -AHRS.Quaternion[1], -AHRS.Quaternion[2], 0 };
var quaternionData = new QuaternionData(quaternion);
var conjugate = quaternionData.ConvertToConjugate();
var rotationMatrix = conjugate.ConvertToRotationMatrix();
_form3DcuboidB.RotationMatrix = rotationMatrix;
_stopWatch.Stop();
_stopWatch.Reset();
}
public void ReadFromFile(MemoryStream stream, bool isBigEndian)
{
Unk0 = stream.ReadUInt32(isBigEndian);
NumRotations = stream.ReadUInt32(isBigEndian);
RotationData = new QuaternionData[NumRotations];
for (int i = 0; i < NumRotations; i++)
{
QuaternionData RotationInfo = new QuaternionData();
RotationInfo.KeyFrameStart = stream.ReadUInt32(isBigEndian);
RotationInfo.KeyFrameEnd = stream.ReadUInt32(isBigEndian);
RotationInfo.Unk0 = stream.ReadUInt16(isBigEndian);
RotationInfo.KeyType = stream.ReadUInt16(isBigEndian);
RotationInfo.Unk01 = stream.ReadByte8();
RotationInfo.Rotation = QuaternionExtensions.ReadFromFile(stream, isBigEndian);
RotationInfo.Unk03 = stream.ReadSingle(isBigEndian);
RotationData[i] = RotationInfo;
}
}
/// <summary>
/// constructor
/// </summary>
public OrientationSensorService(IotNode parent) : base("OrientationSensor", parent)
{
Orientation = QuaternionData.CreateZeroData(nameof(Orientation));
}
public static Quaternion Deserialize(this QuaternionData quaternionData)
{
return(new Quaternion(quaternionData.x, quaternionData.y, quaternionData.z, quaternionData.w));
}
public Quaternion Lerp(QuaternionData other, float factor)
{
return(Quaternion.Slerp(this.Regenerate(), other.Regenerate(), factor));
}
public TransformData(Vector3Data pos, QuaternionData rot, Vector3Data scale)
{
this.position = pos;
this.rotation = rot;
this.scale = scale;
}
public TransformData(Vector3 pos, Quaternion rot, Vector3 scale)
{
this.position = new Vector3Data(pos);
this.rotation = new QuaternionData(rot);
this.scale = new Vector3Data(scale);
}
public static Quaternion ToQuaternion(this QuaternionData quaternion)
{
return(new Quaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
}
