public XsDataPacket(XsDataPacket pack) : this(xsensdeviceapiPINVOKE.new_XsDataPacket__SWIG_2(XsDataPacket.getCPtr(pack)), true)
{
if (xsensdeviceapiPINVOKE.SWIGPendingException.Pending)
{
throw xsensdeviceapiPINVOKE.SWIGPendingException.Retrieve();
}
}
/// <summary>
/// Callback function when data is available.
/// </summary>
/// <param name="packet"></param>
public void OnDataAvailable(XsDataPacket packet)
{
_eulerOrientation = packet.orientationEuler();
_rotMatrix = packet.orientationMatrix();
_rotQuat = packet.orientationQuaternion();
_accXs = packet.calibratedAcceleration();
_freeAccXs = packet.freeAcceleration();
// store rotation and acceleration in Unity friendly format
_quat = new Quaternion((float)_rotQuat.x(), (float)_rotQuat.y(), (float)_rotQuat.z(), (float)_rotQuat.w());
_acc = new Vector3((float)_accXs.value(0), (float)_accXs.value(1), (float)_accXs.value(2));
_freeAcc = new Vector3((float)_freeAccXs.value(0), (float)_freeAccXs.value(1), (float)_freeAccXs.value(2));
int currentPacketId = packet.packetCounter();
if (_lastPacketId == -1)
{
// this is the first frame
_lastPacketId = currentPacketId;
}
int packetDiff = currentPacketId - _lastPacketId;
if (packetDiff > 10)
{
Debug.Log("packet loss " + packetDiff);
}
_lastPacketId = currentPacketId;
}
public void swap(XsDataPacket other)
{
xsensdeviceapiPINVOKE.XsDataPacket_swap(swigCPtr, XsDataPacket.getCPtr(other));
if (xsensdeviceapiPINVOKE.SWIGPendingException.Pending)
{
throw xsensdeviceapiPINVOKE.SWIGPendingException.Retrieve();
}
}
protected override void onLiveDataAvailable(SWIGTYPE_p_XsDevice dev, XsDataPacket packet)
{
XsDevice device = new XsDevice(dev);
XsDataPacket pack = new XsDataPacket(packet);
if (DataAvailable != null)
{
DataAvailable(this, new DataAvailableArgs(device, pack));
}
}
public XsDataPacket merge(XsDataPacket other)
{
XsDataPacket ret = new XsDataPacket(xsensdeviceapiPINVOKE.XsDataPacket_merge__SWIG_1(swigCPtr, XsDataPacket.getCPtr(other)), false);
if (xsensdeviceapiPINVOKE.SWIGPendingException.Pending)
{
throw xsensdeviceapiPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
protected virtual void onLiveDataAvailable(SWIGTYPE_p_XsDevice dev, XsDataPacket packet)
{
if (SwigDerivedClassHasMethod("onLiveDataAvailable", swigMethodTypes1))
{
xsensdeviceapiPINVOKE.XsCallback_onLiveDataAvailableSwigExplicitXsCallback(swigCPtr, SWIGTYPE_p_XsDevice.getCPtr(dev), XsDataPacket.getCPtr(packet));
}
else
{
xsensdeviceapiPINVOKE.XsCallback_onLiveDataAvailable(swigCPtr, SWIGTYPE_p_XsDevice.getCPtr(dev), XsDataPacket.getCPtr(packet));
}
}
public XsDataPacket takeFirstDataPacketInQueue()
{
XsDataPacket ret = new XsDataPacket(xsensdeviceapiPINVOKE.XsDevice_takeFirstDataPacketInQueue(swigCPtr), true);
return(ret);
}
public XsDataPacket lastAvailableLiveData()
{
XsDataPacket ret = new XsDataPacket(xsensdeviceapiPINVOKE.XsDevice_lastAvailableLiveData(swigCPtr), true);
return(ret);
}
public XsDataPacket getDataPacketByIndex(uint index)
{
XsDataPacket ret = new XsDataPacket(xsensdeviceapiPINVOKE.XsDevice_getDataPacketByIndex(swigCPtr, index), true);
return(ret);
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(XsDataPacket obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
public DataAvailableArgs(XsDevice device, XsDataPacket packet)
{
Device = device;
Packet = packet;
}
