// Update is called once per frame
void Update()
{
gyro = synthesizer.GetRotation();
Quaternion gyroRot = new Quaternion(gyro.y, -gyro.z, -gyro.x, gyro.w);
Quaternion onlyRot = new Quaternion(0f, -gyro.z, 0f, gyro.w);
if (Input.GetKeyDown(KeyCode.Space))
{
initialRot = onlyRot;
}
target.transform.rotation = Quaternion.Lerp(target.transform.rotation, gyroRot, 0.1f);
float angle = Quaternion.Angle(initialRot, onlyRot);
Debug.Log("Angle : " + angle);
}
// Update is called once per frame
void Update()
{
rotation = synthesizer.GetRotation();
Quaternion rott = new Quaternion(rotation.y, -rotation.z, -rotation.x, rotation.w);
Transform child = controlObject.transform.GetChild(0).GetChild(0);
tracker.transform.rotation = Quaternion.Lerp(tracker.transform.rotation, rott, 0.1f);
Quaternion rot = tracker.transform.rotation * Quaternion.Inverse(child.localRotation);
controlObject.transform.rotation = Quaternion.Lerp(controlObject.transform.rotation, rot, 0.1f);
}
// Update is called once per frame
void Update()
{
if (Input.GetKeyDown(KeyCode.Space))
{
position = new Vector3(0, 0.54f, 0);
ignoreX = false;
}
prevAcceleration = acceleration;
acceleration = synthesizer.GetAcceleration();
rotation = synthesizer.GetRotation();
rotationRate = synthesizer.GetRotationRate();
compass = synthesizer.GetCompass();
// acceleration = -Move(0.6f);
//Invert y readings to reflect device movement correctly
acceleration.x = -acceleration.x;
acceleration.y = -acceleration.y;
//If using calculation
// acceleration.z = -(acceleration.z);
// //If using Android Linear Acceleration
if (synthesizer.isBroadcasterStarted)
{
acceleration.z = -(acceleration.z + 0.15f);
}
else
{
acceleration.z = -acceleration.z;
}
acceleration = LowPassFilter(prevAcceleration, acceleration);
prevHighPassValue = HighPassValue;
HighPassValue = HighPassFilter(prevAcceleration, acceleration);
acceleration = HighPassValue;
prevVelocity = velocity;
// velocity = prevVelocity + acceleration * Time.deltaTime;
// distance = prevVelocity * Time.deltaTime + 0.5f * acceleration * Time.deltaTime * Time.deltaTime;
// Rotation Rate Limit------------------------------------------------------------------
//Rotation Rate Limit
if (Mathf.Abs(rotationRate.y) >= 1f)
{
newX = prevNewX;
xTooMuch = true;
moveRate = 0f;
StartCoroutine(Wait(0f));
xTooMuch = false;
}
if (Mathf.Abs(rotationRate.x) >= 1f)
{
newY = prevNewY;
yTooMuch = true;
moveRate = 0f;
StartCoroutine(Wait(0f));
yTooMuch = false;
// moveRate = maxMoveRate;
}
if (Mathf.Abs(rotationRate.z) >= 1f)
{
newZ = prevNewZ;
zTooMuch = true;
moveRate = 0f;
StartCoroutine(Wait(0f));
zTooMuch = false;
}
//Kalman Filter------------------------------------------------------------------
if (!xTooMuch)
{
prevOriX = oriX;
prevNewX = newX;
oriX = acceleration.x;
newX = kalman[0].GetAngle(acceleration.x, 0f, Time.deltaTime);
}
if (!yTooMuch)
{
prevOriY = oriY;
prevNewY = newY;
oriY = acceleration.y;
newY = kalman[1].GetAngle(acceleration.y, 0f, Time.deltaTime);
}
if (!zTooMuch)
{
prevOriZ = oriZ;
prevNewZ = newZ;
oriZ = acceleration.z;
newZ = kalman[2].GetAngle(acceleration.z, 0f, Time.deltaTime);
}
// //Limit moveRate depending on gradient
// if (((newY - prevNewY) / Time.deltaTime) > 50f)
// {
// moveRate = 0f;
// newY = prevNewY;
// }
// else if (((newZ - prevNewZ) / Time.deltaTime) > 50f)
// {
// moveRate = 0f;
// newZ = prevNewZ;
// }
// else if (((newX - prevNewX) / Time.deltaTime) > 50f)
// {
// moveRate = 0f;
// newX = prevNewX;
// }
// else
// {
// moveRate = maxMoveRate;
// }
//
//
//Find resultant vector to compensate accel data when device is tilted
//FAILED!!!!//
// if (Mathf.Abs (rotation.x) >= 0.4f)
// {
// float angle = rotation.x * 180f / Mathf.PI;
// newY = newY * Mathf.Cos (angle) - newZ * Mathf.Sin (angle);
// newZ = newY * Mathf.Sin (angle) + newZ * Mathf.Cos (angle);
// }
// if (Mathf.Abs (rotation.y) >= 0.4f)
// {
// float angle = rotation.y * 180f / Mathf.PI;
// newZ = newZ * Mathf.Cos (angle) - newX * Mathf.Sin (angle);
// newX = newZ * Mathf.Sin (angle) + newX * Mathf.Cos (angle);
// }
// if (Mathf.Abs (rotation.z) >= 0.4f)
// {
// float angle = rotation.z * 180f / Mathf.PI;
// newX = newX * Mathf.Cos (angle) - newY * Mathf.Sin (angle);
// newY = newX * Mathf.Sin (angle) + newY * Mathf.Cos (angle);
// }
if (plotter != null)
{
plotter.SetColor(1, Color.red);
plotter.SetColor(2, Color.magenta);
plotter.SetColor(3, Color.green);
plotter.SetColor(4, Color.yellow);
plotter.SetColor(5, Color.blue);
plotter.SetColor(6, Color.cyan);
plotter.SetColor(0, Color.blue);
//X value
plotter.Plot(prevOriX, oriX, 1, showLines[1]);
plotter.Plot(prevNewX, newX, 2, showLines[2]);
//Y value
plotter.Plot(prevOriY, oriY, 3, showLines[3]);
plotter.Plot(prevNewY, newY, 4, showLines[4]);
//Z value
plotter.Plot(prevOriZ, oriZ, 5, showLines[5]);
plotter.Plot(prevNewZ, newZ, 6, showLines[6]);
plotter.Plot(0f, 0f, 0, showLines[0]);
}
if (Mathf.Abs(newX) > threshold && Mathf.Abs(newX) < limit * 2f)
{
velocity.x = prevVelocity.x + newX * Time.deltaTime;
distance.x = prevVelocity.x * Time.deltaTime + 0.5f * newX * Time.deltaTime * Time.deltaTime;
}
else
{
velocity.x = 0f;
distance.x = 0f;
newX = 0f;
}
if (Mathf.Abs(newY) > threshold && Mathf.Abs(newY) < limit)
{
velocity.z = prevVelocity.z + newY * Time.deltaTime;
distance.z = prevVelocity.z * Time.deltaTime + 0.5f * newY * Time.deltaTime * Time.deltaTime;
}
else
{
velocity.z = 0f;
distance.z = 0f;
newY = 0f;
}
if (Mathf.Abs(newZ) > threshold && Mathf.Abs(newZ) < limit)
{
velocity.y = prevVelocity.y + newZ * Time.deltaTime;
distance.y = prevVelocity.y * Time.deltaTime + 0.5f * newZ * Time.deltaTime * Time.deltaTime;
}
else
{
velocity.y = 0f;
distance.y = 0f;
newZ = 0f;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------
if (Input.GetKeyDown(KeyCode.C))
{
plotter.ClearAllList();
}
if (Mathf.Abs(rotation.x) <= threshold && Mathf.Abs(rotation.y) <= threshold)
{
position.x += distance.x * 5f;
position.z += distance.z * 5f;
position.y += distance.y * 5f;
}
float dist = Vector3.Distance(controlObject.transform.position, position);
float distCovered = (Time.time - startTime);
float ratio = dist / distCovered;
////Move parent gameobject according to child axis (Scene AndroidBroadcaster)
// Transform child = controlObject.transform.GetChild (0);
////Move backupCamParent according to headCamera axis (Scene Test)
Transform child = controlObject.transform.GetChild(0).GetChild(0);
Vector3 tem = child.transform.TransformDirection(distance);
// controlObject.transform.position = Vector3.Lerp (controlObject.transform.position, tem, ratio);
// controlObject.transform.localPosition = Vector3.Lerp (controlObject.transform.localPosition, position, ratio);
// Vector3 a = controlObject.transform.TransformVector (controlObject.transform.localPosition);
// controlObject.transform.position = Vector3.Lerp (controlObject.transform.position, a, ratio);
// controlObject.transform.position = Vector3.Lerp (controlObject.transform.position, position, ratio);
// Debug.Log(child.transform.localPosition + "::" + distance.x + ":" + distance.y + ":" + distance.z);
// Debug.Log (tem.x + ":" + tem.y + ":" + tem.z);
// Debug.Log(distance.x + ":" + distance.y + ":" + distance.z);
// Debug.Log (velocity.x + ":" + velocity.y + ":" + velocity.z);
controlObject.GetComponent <Rigidbody>().velocity = tem * moveRate;
if (controlObject.transform.position.y >= 1.5f)
{
Vector3 newPos = controlObject.transform.position;
newPos.y = 1.5f;
controlObject.transform.position = newPos;
}
//----------------------------------------------------------------------------------------------------
//controlObject.transform.rotation = Quaternion.Lerp (controlObject.transform.rotation, synthesizer.GetRotation(), ratio);
startTime = Time.time;
}
private void OnNewPoses(TrackedDevicePose_t[] poses)
{
SteamVR_TrackedObject.EIndex trackerIndex = (SteamVR_TrackedObject.EIndex)SteamVR_Controller.GetDeviceIndex(SteamVR_Controller.DeviceRelation.First, ETrackedDeviceClass.GenericTracker);
SteamVR_TrackedObject[] index = GameObject.FindObjectsOfType <SteamVR_TrackedObject> ();
if (trackerIndex == SteamVR_TrackedObject.EIndex.None)
{
// Debug.Log ("Couldn't find tracker.Please turn on the tracker.");
}
foreach (SteamVR_TrackedObject obj in index)
{
if (obj.index == trackerIndex)
{
tracker = obj.gameObject;
}
}
// SteamVR.instance.hmd.GetDeviceToAbsoluteTrackingPose()
if (mainCam == null || backupCam == null)
{
Debug.Log("VR Cam is null");
}
//****For Testing purpose******
if (!lostTrack)
//Check whether hmd pose is valid (hmd is trackable)
// if(poses[0].bPoseIsValid)
{
hmdTracking = true;
aligned = false;
//headCamera.transform.SetParent (mainSteamVRObject.transform);
if (backupCamera.activeSelf)
{
backupCamera.GetComponent <Camera> ().depth = -1;
headCamera.GetComponent <Camera> ().depth = 1;
backupCamera.GetComponent <Camera> ().enabled = true;
backupCamera.SetActive(true);
headCamera.gameObject.SetActive(false);
backupCamera.tag = "BackupCamera";
mainCam.enabled = false;
}
prevCamRot = headCamera.transform.rotation;
prevCamPos = headCamera.transform.position;
Vector3 v1 = Vector3.zero - prevCamPos;
Vector3 unitVector = v1 / v1.magnitude;
Vector3 v2 = new Vector3(-unitVector.x, 0f, -unitVector.z);
alignVector = 4f * v2;
Debug.DrawLine(Vector3.zero, backupCamParent.transform.position, Color.red);
Debug.DrawLine(Vector3.zero, alignVector, Color.green);
Debug.DrawLine(backupCamParent.transform.position, alignVector, Color.blue);
if (Input.GetKeyDown(KeyCode.Space) && synthesizer.isBroadcasterStarted)
{
Quaternion gyro = synthesizer.GetRotation();
Quaternion gyroRot = new Quaternion(gyro.y, -gyro.z, -gyro.x, gyro.w);
// Quaternion onlyRot = new Quaternion (0f, -gyro.z, 0f, gyro.w);
Quaternion onlyRot = new Quaternion(0f, backupCamera.transform.rotation.z, 0f, backupCamera.transform.rotation.w);
initialRot = onlyRot;
Vector3 compass = synthesizer.GetCompass();
compassHeading = compass.x;
Debug.Log("Initial Rotation : " + initialRot + " ~ Compass Heading : " + compassHeading);
}
}
else
{
Vector3 acc = synthesizer.GetAcceleration();
Quaternion gyro = synthesizer.GetRotation();
Vector3 compass = synthesizer.GetCompass();
GetRotatingDirection();
hmdTracking = false;
backupCamera.SetActive(true);
if (headCamera.activeSelf)
{
backupCamera.GetComponent <Camera> ().depth = 1;
headCamera.GetComponent <Camera> ().depth = -1;
backupCamera.GetComponent <Camera> ().enabled = true;
headCamera.gameObject.SetActive(false);
}
// tracker.transform.position = Vector3.Lerp (tracker.transform.position, prevCamPos, 1.0f);
if (useGyroscope)
{
Quaternion newRot = new Quaternion();
//
newRot = new Quaternion(gyro.y, -gyro.z, -gyro.x, gyro.w) * Quaternion.Euler(euler);
tracker.transform.rotation = Quaternion.Lerp(tracker.transform.rotation, newRot, 0.1f);
}
else
{
Quaternion newRot = new Quaternion(acc.x, acc.y, -acc.z, 0.4f);
tracker.transform.rotation = Quaternion.Lerp(tracker.transform.rotation, newRot, 0.1f);
}
//Use intermediary (parent) to compensate misaligned camera localposition & localrotation
Transform parent = backupCamParent.transform.GetChild(0);
Quaternion compensate = Quaternion.Inverse(backupCam.transform.localRotation);
parent.transform.localRotation = Quaternion.Lerp(parent.transform.localRotation, compensate, 0.1f);
parent.transform.localPosition = -backupCam.transform.localPosition;
// Quaternion r = tracker.transform.rotation * Quaternion.Inverse (prevCamRot) ;
Quaternion r = tracker.transform.rotation;
backupCamParent.transform.rotation = Quaternion.Lerp(backupCamParent.transform.rotation, r, 0.1f);
if (!aligned)
{
// AlignCamera ();
aligned = true;
Quaternion onlyRot = new Quaternion(0f, -gyro.z, 0f, gyro.w);
// Quaternion onlyRot = new Quaternion(0f, -backupCamera.transform.rotation.z, 0f, backupCamera.transform.rotation.w);
float angle = Quaternion.Angle(initialRot, onlyRot);
if (compass.x - compassHeading < 0f)
{
//anti-clockwise
if (angle > 0f)
{
angle = -angle;
}
}
else
{
//clockwise
if (angle < 0f)
{
angle = -angle;
}
}
environment.transform.rotation = Quaternion.AngleAxis(-angle, environment.transform.up);
mainSteamVRObject.transform.rotation = Quaternion.AngleAxis(-angle, mainSteamVRObject.transform.up);
mainSteamVRObject.transform.position = GameObject.Find("CameraRig Marker 1").transform.position;
Debug.Log("Angle : " + (-angle));
}
Debug.DrawRay(initialEnvironmentPosition, Vector3.forward * 10f + initialEnvironmentPosition, Color.red);
Debug.DrawRay(environment.transform.position, environment.transform.forward * 10f, Color.blue);
// Vector3 newPos = backupCam.transform.position;
// newPos.y = height;
// backupCamParent.transform.position = newPos;
}
}