public override void SensorChangedProcess(SensorEvent e)
{
// Check if we even want to read this sensor
switch (e.Sensor.Type)
{
case SensorType.Accelerometer:
_accelerometer = e.Values.ToArray();
break;
case SensorType.MagneticField:
_geomagnetic = e.Values.ToArray();
break;
case SensorType.Gravity:
_gravity = e.Values.ToArray();
break;
}
if (_gravity != null && _geomagnetic != null && _accelerometer != null)
{
var R = new float[16];
var I = new float[16];
SensorManager.GetRotationMatrix(R, I, _gravity, _geomagnetic);
var relativacc = new float[4];
var inv = new float[16];
relativacc[0] = _accelerometer[0];
relativacc[1] = _accelerometer[1];
relativacc[2] = _accelerometer[2];
relativacc[3] = 0;
var A_W = new float[4];
Matrix.InvertM(inv, 0, R, 0);
Matrix.MultiplyMV(A_W, 0, inv, 0, relativacc, 0);
Value = new Vector3(A_W);
// Value = new Vector3(_accelerometer);
ValueHistory.Enqueue(Value);
if (OnValueChanged != null)
{
OnValueChanged(Value);
}
}
}
public override void SensorChangedProcess(SensorEvent e)
{
switch (e.Sensor.Type)
{
case SensorType.MagneticField:
mMagnetic = e.Values.ToArray();
break;
case SensorType.Gravity:
mGravity = e.Values.ToArray();
break;
}
if (mGravity != null && mMagnetic != null)
{
var success = SensorManager.GetRotationMatrix(mRotationMatrix, null, mGravity, mMagnetic);
if (success)
{
// inclination is the degree of tilt by the device independent of orientation (portrait or landscape)
// if less than 25 or more than 155 degrees the device is considered lying flat
float inclination = (float)Math.Acos(mRotationMatrix[8]);
if (inclination < TWENTY_FIVE_DEGREE_IN_RADIAN ||
inclination > ONE_FIFTY_FIVE_DEGREE_IN_RADIAN)
{
// mFacing is undefined, so we need to clear the history
ClearRotHist();
mFacing = float.NaN;
}
else
{
SetRotHist();
// mFacing = azimuth is in radian
mFacing = FindFacing();
}
Value = mFacing;
ValueHistory.Enqueue(Value);
if (OnValueChanged != null)
{
OnValueChanged(Value);
}
}
}
}