void MobileVRInterface::set_position_from_sensors() {
_THREAD_SAFE_METHOD_
// this is a helper function that attempts to adjust our transform using our 9dof sensors
// 9dof is a misleading marketing term coming from 3 accelerometer axis + 3 gyro axis + 3 magnetometer axis = 9 axis
// but in reality this only offers 3 dof (yaw, pitch, roll) orientation
uint64_t ticks = OS::get_singleton()->get_ticks_usec();
uint64_t ticks_elapsed = ticks - last_ticks;
float delta_time = (double)ticks_elapsed / 1000000.0;
// few things we need
Input *input = Input::get_singleton();
Vector3 down(0.0, -1.0, 0.0); // Down is Y negative
Vector3 north(0.0, 0.0, 1.0); // North is Z positive
// make copies of our inputs
bool has_grav = false;
Vector3 acc = input->get_accelerometer();
Vector3 gyro = input->get_gyroscope();
Vector3 grav = input->get_gravity();
Vector3 magneto = scale_magneto(input->get_magnetometer()); // this may be overkill on iOS because we're already getting a calibrated magnetometer reading
if (sensor_first) {
sensor_first = false;
} else {
acc = scrub(acc, last_accerometer_data, 2, 0.2);
magneto = scrub(magneto, last_magnetometer_data, 3, 0.3);
};
last_accerometer_data = acc;
last_magnetometer_data = magneto;
if (grav.length() < 0.1) {
// not ideal but use our accelerometer, this will contain shakey shakey user behaviour
// maybe look into some math but I'm guessing that if this isn't available, its because we lack the gyro sensor to actually work out
// what a stable gravity vector is
grav = acc;
if (grav.length() > 0.1) {
has_grav = true;
};
} else {
has_grav = true;
};
bool has_magneto = magneto.length() > 0.1;
if (gyro.length() > 0.1) {
/* this can return to 0.0 if the user doesn't move the phone, so once on, it's on */
has_gyro = true;
};
if (has_gyro) {
// start with applying our gyro (do NOT smooth our gyro!)
Basis rotate;
rotate.rotate(orientation.get_axis(0), gyro.x * delta_time);
rotate.rotate(orientation.get_axis(1), gyro.y * delta_time);
rotate.rotate(orientation.get_axis(2), gyro.z * delta_time);
orientation = rotate * orientation;
tracking_state = ARVRInterface::ARVR_NORMAL_TRACKING;
};
///@TODO improve this, the magnetometer is very fidgity sometimes flipping the axis for no apparent reason (probably a bug on my part)
// if you have a gyro + accelerometer that combo tends to be better then combining all three but without a gyro you need the magnetometer..
if (has_magneto && has_grav && !has_gyro) {
// convert to quaternions, easier to smooth those out
Quat transform_quat(orientation);
Quat acc_mag_quat(combine_acc_mag(grav, magneto));
transform_quat = transform_quat.slerp(acc_mag_quat, 0.1);
orientation = Basis(transform_quat);
tracking_state = ARVRInterface::ARVR_NORMAL_TRACKING;
} else if (has_grav) {
// use gravity vector to make sure down is down...
// transform gravity into our world space
grav.normalize();
Vector3 grav_adj = orientation.xform(grav);
float dot = grav_adj.dot(down);
if ((dot > -1.0) && (dot < 1.0)) {
// axis around which we have this rotation
Vector3 axis = grav_adj.cross(down);
axis.normalize();
Basis drift_compensation(axis, acos(dot) * delta_time * 10);
orientation = drift_compensation * orientation;
};
};
// JIC
orientation.orthonormalize();
last_ticks = ticks;
};
void GridMapEditor::_menu_option(int p_option) {
switch(p_option) {
case MENU_OPTION_CONFIGURE: {
} break;
case MENU_OPTION_LOCK_VIEW: {
int index=options->get_popup()->get_item_index(MENU_OPTION_LOCK_VIEW);
lock_view=!options->get_popup()->is_item_checked(index);
options->get_popup()->set_item_checked(index,lock_view);
} break;
case MENU_OPTION_CLIP_DISABLED:
case MENU_OPTION_CLIP_ABOVE:
case MENU_OPTION_CLIP_BELOW: {
clip_mode=ClipMode(p_option-MENU_OPTION_CLIP_DISABLED);
for(int i=0;i<3;i++) {
int index=options->get_popup()->get_item_index(MENU_OPTION_CLIP_DISABLED+i);
options->get_popup()->set_item_checked(index,i==clip_mode);
}
_update_clip();
} break;
case MENU_OPTION_X_AXIS:
case MENU_OPTION_Y_AXIS:
case MENU_OPTION_Z_AXIS: {
int new_axis = p_option-MENU_OPTION_X_AXIS;
for(int i=0;i<3;i++) {
int idx=options->get_popup()->get_item_index(MENU_OPTION_X_AXIS+i);
options->get_popup()->set_item_checked(idx,i==new_axis);
}
edit_axis=Vector3::Axis(new_axis);
update_grid();
_update_clip();
} break;
case MENU_OPTION_CURSOR_ROTATE_Y: {
Basis r;
if (input_action==INPUT_DUPLICATE) {
r.set_orthogonal_index(selection.duplicate_rot);
r.rotate(Vector3(0,1,0),-Math_PI/2.0);
selection.duplicate_rot=r.get_orthogonal_index();
_update_duplicate_indicator();
break;
}
r.set_orthogonal_index(cursor_rot);
r.rotate(Vector3(0,1,0),-Math_PI/2.0);
cursor_rot=r.get_orthogonal_index();
_update_cursor_transform();
} break;
case MENU_OPTION_CURSOR_ROTATE_X: {
Basis r;
if (input_action==INPUT_DUPLICATE) {
r.set_orthogonal_index(selection.duplicate_rot);
r.rotate(Vector3(1,0,0),-Math_PI/2.0);
selection.duplicate_rot=r.get_orthogonal_index();
_update_duplicate_indicator();
break;
}
r.set_orthogonal_index(cursor_rot);
r.rotate(Vector3(1,0,0),-Math_PI/2.0);
cursor_rot=r.get_orthogonal_index();
_update_cursor_transform();
} break;
case MENU_OPTION_CURSOR_ROTATE_Z: {
Basis r;
if (input_action==INPUT_DUPLICATE) {
r.set_orthogonal_index(selection.duplicate_rot);
r.rotate(Vector3(0,0,1),-Math_PI/2.0);
selection.duplicate_rot=r.get_orthogonal_index();
_update_duplicate_indicator();
break;
}
r.set_orthogonal_index(cursor_rot);
r.rotate(Vector3(0,0,1),-Math_PI/2.0);
cursor_rot=r.get_orthogonal_index();
_update_cursor_transform();
} break;
case MENU_OPTION_CURSOR_BACK_ROTATE_Y: {
Basis r;
r.set_orthogonal_index(cursor_rot);
r.rotate(Vector3(0,1,0),Math_PI/2.0);
cursor_rot=r.get_orthogonal_index();
_update_cursor_transform();
} break;
case MENU_OPTION_CURSOR_BACK_ROTATE_X: {
Basis r;
r.set_orthogonal_index(cursor_rot);
r.rotate(Vector3(1,0,0),Math_PI/2.0);
cursor_rot=r.get_orthogonal_index();
_update_cursor_transform();
} break;
case MENU_OPTION_CURSOR_BACK_ROTATE_Z: {
Basis r;
r.set_orthogonal_index(cursor_rot);
r.rotate(Vector3(0,0,1),Math_PI/2.0);
cursor_rot=r.get_orthogonal_index();
_update_cursor_transform();
} break;
case MENU_OPTION_CURSOR_CLEAR_ROTATION: {
if (input_action==INPUT_DUPLICATE) {
selection.duplicate_rot=0;
_update_duplicate_indicator();
break;
}
cursor_rot=0;
_update_cursor_transform();
} break;
case MENU_OPTION_DUPLICATE_SELECTS: {
int idx = options->get_popup()->get_item_index(MENU_OPTION_DUPLICATE_SELECTS);
options->get_popup()->set_item_checked( idx, !options->get_popup()->is_item_checked( idx ) );
} break;
case MENU_OPTION_SELECTION_MAKE_AREA:
case MENU_OPTION_SELECTION_MAKE_EXTERIOR_CONNECTOR: {
if (!selection.active)
break;
int area = node->get_unused_area_id();
Error err = node->create_area(area,Rect3(selection.begin,selection.end-selection.begin+Vector3(1,1,1)));
if (err!=OK) {
}
if (p_option==MENU_OPTION_SELECTION_MAKE_EXTERIOR_CONNECTOR) {
node->area_set_exterior_portal(area,true);
}
_update_areas_display();
update_areas();
} break;
case MENU_OPTION_REMOVE_AREA: {
if (selected_area<1)
return;
node->erase_area(selected_area);
_update_areas_display();
update_areas();
} break;
case MENU_OPTION_SELECTION_DUPLICATE:
if (!(selection.active && input_action==INPUT_NONE))
return;
if (last_mouseover==Vector3(-1,-1,-1)) //nono mouseovering anythin
break;
input_action=INPUT_DUPLICATE;
selection.click=last_mouseover;
selection.current=last_mouseover;
selection.duplicate_rot=0;
_update_duplicate_indicator();
break;
case MENU_OPTION_SELECTION_CLEAR: {
if (!selection.active)
return;
_delete_selection();
} break;
case MENU_OPTION_GRIDMAP_SETTINGS: {
settings_dialog->popup_centered(settings_vbc->get_combined_minimum_size() + Size2(50, 50));
} break;
}
}
