public override void Update()
{
base.Update();
// Enable/disable supported sensors and update enabled sensors
if (accelerometerSensor != null)
{
bool enable = accelerometerSensor.IsEnabled;
if (enable != motionManager.AccelerometerActive)
{
if (accelerometerSensor.IsEnabled)
{
motionManager.StartAccelerometerUpdates();
}
else
{
motionManager.StopAccelerometerUpdates();
}
}
if (enable)
{
var accelerometerData = motionManager.AccelerometerData;
accelerometerSensor.Acceleration = accelerometerData != null?CmAccelerationToVector3(accelerometerData.Acceleration) : Vector3.Zero;
}
}
if (compassSensor != null)
{
bool enable = compassSensor.IsEnabled;
if (enable != locationManagerActivated)
{
if (compassSensor.IsEnabled)
{
locationManager.StartUpdatingHeading();
}
else
{
locationManager.StopUpdatingHeading();
}
locationManagerActivated = compassSensor.IsEnabled;
}
if (enable)
{
compassSensor.Heading = GetNorthInRadian(locationManager);
}
}
if (gyroscopeSensor != null)
{
bool enable = gyroscopeSensor.IsEnabled;
if (enable != motionManager.GyroActive)
{
if (gyroscopeSensor.IsEnabled)
{
motionManager.StartGyroUpdates();
}
else
{
motionManager.StopGyroUpdates();
}
}
if (enable)
{
var gyroData = motionManager.GyroData;
gyroscopeSensor.RotationRate = gyroData != null?CmRotationRateToVector3(gyroData.RotationRate) : Vector3.Zero;
}
}
if (userAccelerationSensor != null)
{
bool enable = userAccelerationSensor.IsEnabled || gravitySensor.IsEnabled || orientationSensor.IsEnabled;
if (enable != motionManager.DeviceMotionActive)
{
if (enable)
{
motionManager.StartDeviceMotionUpdates();
}
else
{
motionManager.StopDeviceMotionUpdates();
}
}
if (enable)
{
var motion = motionManager.DeviceMotion;
// Update orientation sensor
if (motion != null && motion.Attitude != null)
{
var q = motionManager.DeviceMotion.Attitude.Quaternion;
var quaternion = new Quaternion((float)q.x, (float)q.z, -(float)q.y, (float)q.w);
if (compassSensor != null)
{
// re-adjust the orientation to align with the north (common behavior on other platforms) TODO current implementation only takes in account the first value.
if (firstNorthValue <= 0)
{
firstNorthValue = GetNorthInRadian(locationManager);
}
quaternion = Quaternion.RotationY(-firstNorthValue) * quaternion;
}
orientationSensor.FromQuaternion(quaternion);
}
else
{
orientationSensor.Reset();
}
// Update gravity sensor
gravitySensor.Vector = motion != null?CmAccelerationToVector3(motion.Gravity) : Vector3.Zero;
// Update user acceleration
userAccelerationSensor.Acceleration = motion != null?CmAccelerationToVector3(motion.Gravity) : Vector3.Zero;
}
}
}
public override void Update()
{
base.Update();
// Enable/disable supported sensors and update enabled sensors
if (accelerometer != null)
{
bool enable = accelerometer.IsEnabled || (userAcceleration?.IsEnabled ?? false) || (gravity?.IsEnabled ?? false);
bool isEnabled = windowsAccelerometer.ReportInterval != 0;
if (enable != isEnabled)
{
windowsAccelerometer.ReportInterval = enable ? Math.Max(DesiredSensorUpdateIntervalMs, windowsAccelerometer.MinimumReportInterval) : 0;
}
if (enable)
{
accelerometer.Acceleration = GetAcceleration(windowsAccelerometer);
}
}
if (compass != null)
{
bool enable = compass.IsEnabled;
bool isEnabled = windowsCompass.ReportInterval != 0;
if (enable != isEnabled)
{
windowsCompass.ReportInterval = enable ? Math.Max(DesiredSensorUpdateIntervalMs, windowsCompass.MinimumReportInterval) : 0;
}
if (enable)
{
compass.Heading = GetNorth(windowsCompass);
}
}
if (gyroscope != null)
{
bool enable = gyroscope.IsEnabled;
bool isEnabled = windowsGyroscope.ReportInterval != 0;
if (enable != isEnabled)
{
windowsGyroscope.ReportInterval = enable ? Math.Max(DesiredSensorUpdateIntervalMs, windowsGyroscope.MinimumReportInterval) : 0;
}
if (enable)
{
var reading = windowsGyroscope.GetCurrentReading();
gyroscope.RotationRate = reading != null ? new Vector3((float)reading.AngularVelocityX, (float)reading.AngularVelocityZ, -(float)reading.AngularVelocityY) : Vector3.Zero;
}
}
if (orientation != null)
{
bool enable = orientation.IsEnabled || (userAcceleration?.IsEnabled ?? false) || (gravity?.IsEnabled ?? false);
bool isEnabled = windowsOrientation.ReportInterval != 0;
if (enable != isEnabled)
{
windowsOrientation.ReportInterval = enable ? Math.Max(DesiredSensorUpdateIntervalMs, windowsOrientation.MinimumReportInterval) : 0;
}
if (enable)
{
var quaternion = GetOrientation(windowsOrientation);
orientation.FromQuaternion(quaternion);
if (userAcceleration.IsEnabled || gravity.IsEnabled)
{
// calculate the gravity direction
var acceleration = GetAcceleration(windowsAccelerometer);
var gravityDirection = Vector3.Transform(-Vector3.UnitY, Quaternion.Invert(quaternion));
var gravity = InputManager.G * gravityDirection;
this.gravity.Vector = gravity;
userAcceleration.Acceleration = acceleration - gravity;
}
}
}
}
public override void Update()
{
base.Update();
var quaternionArray = new float[4];
var rotationMatrixArray = new float[9];
var yawPitchRollArray = new float[3];
// Update sensors
// Enable/disable supported sensors and update enabled sensors
UpdateSensorPair(accelerometerListener, accelerometerSensor,
(sensor, listener) => sensor.Acceleration = listener.GetCurrentValuesAsVector());
UpdateSensorPair(gyroscopeListener, gyroscopeSensor,
(sensor, listener) => sensor.RotationRate = -listener.GetCurrentValuesAsVector());
UpdateSensorPair(linearAccelerationListener, userAccelerationSensor,
(sensor, listener) => sensor.Acceleration = listener.GetCurrentValuesAsVector());
UpdateSensorPair(gravityListener, gravitySensor,
(sensor, listener) => sensor.Vector = listener.GetCurrentValuesAsVector());
// Enabled/Disable/Update Orientation
if (orientationListener != null)
{
bool enable = orientationSensor.IsEnabled || compassSensor.IsEnabled; // Orientation is used for compass as well
if (enable != orientationListener.Enabled)
{
if (enable)
{
orientationListener.Enable();
}
else
{
orientationListener.Disable();
}
}
if (enable)
{
// Update orientation
base.Update();
var rotationVector = orientationListener.GetValues()?.ToArray() ?? new [] { 0.0f, 0.0f, 0.0f };
if (rotationVector.Length < 3)
{
return;
}
SensorManager.GetQuaternionFromVector(quaternionArray, rotationVector);
SensorManager.GetRotationMatrixFromVector(rotationMatrixArray, rotationVector);
SensorManager.GetOrientation(rotationMatrixArray, yawPitchRollArray);
var quaternion = Quaternion.Identity;
quaternion.W = +quaternionArray[0];
quaternion.X = +quaternionArray[1];
quaternion.Y = +quaternionArray[3];
quaternion.Z = -quaternionArray[2];
quaternion = Quaternion.RotationY(MathUtil.Pi) * quaternion; // align the orientation with north.
orientationSensor.FromQuaternion(quaternion);
// Update compass
compassSensor.Heading = yawPitchRollArray[0] + MathUtil.Pi;
}
}
}