//-----------------------------------------------------------------------
void SampleVuzixTracker()
{
int previous_yaw = YawSample;
VuzixAPI.IWRGet6DTracking(out YawSample, out PitchSample, out RollSample, out XSample, out YSample, out ZSample);
int delta = YawSample - previous_yaw;
int HALF_CIRCLE = 32768;
if (Math.Abs(delta) > HALF_CIRCLE)
{
// We turned across the discontinuity at 180 degrees so modify the delta to
// reflect the probable angular motion
if (delta > 0)
{
delta -= (2 * HALF_CIRCLE);
}
else
{
delta += (2 * HALF_CIRCLE);
}
}
ContinuousYaw += delta;
Sampled = true;
}
//-----------------------------------------------------------------------
public override Action Start()
{
// This method is called just before script starts
int err = VuzixAPI.IWROpenTracker();
if (err == 0)
{
// Turn on Vuzix signal filtering
// TODO: Expose this to allow scripts to do their own filtering
VuzixAPI.IWRSetFilterState(true);
// Grab a single test sample just to make sure everything is linked up properly
SampleVuzixTracker();
OnStarted(this, new EventArgs());
}
else
{
throw new Exception("Failed to connect to Vuzix Tracker");
}
return(null);
}
//-----------------------------------------------------------------------
public override void Stop()
{
VuzixAPI.IWRCloseTracker();
}
