refactored pos to euler for clarity

raytsang · Oct 12, 2017 · 53a372a · 53a372a
1 parent 97138a6
commit 53a372a
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Showing 3 changed files with 26 additions and 20 deletions.
diff --git a/Assets/JoyconDemo.cs b/Assets/JoyconDemo.cs
@@ -10,13 +10,13 @@ public class JoyconDemo : MonoBehaviour {
     public float[] stick;
     public Vector3 gyro;
     public Vector3 accel;
-    public Vector3 pos;
+    public Vector3 euler;
 
     void Start ()
     {
         gyro = new Vector3(0, 0, 0);
         accel = new Vector3(0, 0, 0);
-        pos = new Vector3(0, 0, 0);
+        euler = new Vector3(0, 0, 0);
         // get the public Joycon object attached to the JoyconManager in scene
         j = JoyconManager.Instance.j;	
     }
@@ -72,8 +72,8 @@ void Update () {
 
             // GetVector function is currently experimental! If you want to use raw IMU data without
             // having to trawl through my crappy broken sensor fusion, make sure EnableLocalize is false in JoyconManager.
-            pos = j.GetVector();
-            gameObject.transform.eulerAngles = pos;
+            euler = j.GetVector();
+            gameObject.transform.eulerAngles = euler;
 
         }
     }

diff --git a/Assets/JoyconLib_scripts/Joycon.cs b/Assets/JoyconLib_scripts/Joycon.cs
@@ -84,7 +84,7 @@ public enum Button : int
     private float yaw;
     private float gyr_z_prev;
     private bool do_localize;
-    private Vector3 pos;
+    private Vector3 euler;
     private float filterweight;
 
     private const uint report_len = 49;
@@ -241,9 +241,9 @@ public Vector3 GetVector(int type = 0)
             case 2:
                 return (new Vector3(gyr_est.x, gyr_est.z, -gyr_est.y)) * 90f;
             case 3:
-                return (new Vector3(pos.x, pos.z, -pos.y)) * 90f;
+                return (new Vector3(euler.x, euler.z, -euler.y)) * 90f;
             default:
-				return (new Vector3(pos.x * (isLeft ? -1f : 1f), yaw, -pos.y * (isLeft ? -1f : 1f))) * 90f;
+				return (new Vector3(euler.x * (isLeft ? -1f : 1f), yaw, -euler.y * (isLeft ? -1f : 1f))) * 90f;
         }
     }
     public int Attach(byte leds_ = 0x0, bool imu = true, float alpha = 10f, bool localize = false)
@@ -517,22 +517,22 @@ private int ProcessIMU(byte[] report_buf)
             acc_g = acc_g.normalized;
             if (first_imu_packet)
             {
-                pos = acc_g;
+                euler = acc_g;
                 yaw = 0;
                 first_imu_packet = false;
             }
             else
             {
-                yaw += ((gyr_g.z * Mathf.Cos(pos.y * Mathf.PI / 2) - gyr_g.y * Mathf.Sin(pos.y * Mathf.PI / 2)) * 0.005f * dt);
-                if (Mathf.Abs(pos.x) < 0.1f)
+                yaw += ((gyr_g.z * Mathf.Cos(euler.y * Mathf.PI / 2) - gyr_g.y * Mathf.Sin(euler.y * Mathf.PI / 2)) * 0.005f * dt);
+                if (Mathf.Abs(euler.x) < 0.1f)
                 {
-                    gyr_est = pos;
+                    gyr_est = euler;
                 }
                 else
                 {
                     // Euler: Ayz, Axz. In radians
-                    Ayz = Mathf.Atan2(pos.y, pos.z) + gyr_g.y * .005f * dt;
-                    Axz = Mathf.Atan2(pos.x, pos.z) + gyr_g.x * .005f * dt;
+                    Ayz = Mathf.Atan2(euler.y, euler.z) + gyr_g.y * .005f * dt;
+                    Axz = Mathf.Atan2(euler.x, euler.z) + gyr_g.x * .005f * dt;
 
                     int sign = (Mathf.Cos(Ayz) >= 0) ? 1 : -1;
                     gyr_est.x = Mathf.Sin(Axz) / Mathf.Sqrt(1 + Mathf.Pow(Mathf.Tan(Ayz), 2) * Mathf.Pow(Mathf.Cos(Axz), 2));
@@ -541,9 +541,9 @@ private int ProcessIMU(byte[] report_buf)
 
                     gyr_est = gyr_est.normalized;
                 }
-                pos = (acc_g + gyr_est * filterweight) / (1 + filterweight);
+                euler = (acc_g + gyr_est * filterweight) / (1 + filterweight);
             }
-            pos = pos.normalized;
+            euler = euler.normalized;
 
             dt = 1;
         }
@@ -560,9 +560,9 @@ public void Begin()
     }
     public void Recenter()
     {
-        pos[0] = 0;
-        pos[1] = 0;
-        pos[2] = 0;
+        euler[0] = 0;
+        euler[1] = 0;
+        euler[2] = 0;
         first_imu_packet = true;
     }
     private float[] CenterSticks(UInt16[] vals)

diff --git a/Assets/Scenes/Scene1.unity b/Assets/Scenes/Scene1.unity
@@ -135,7 +135,9 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 405bad29b2b998c408059182c189d9e9, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  stick: []
+  EnableIMU: 0
+  EnableLocalize: 1
+  LEDs: 255
 --- !u!4 &175246628
 Transform:
   m_ObjectHideFlags: 0
@@ -176,9 +178,13 @@ MonoBehaviour:
   m_GameObject: {fileID: 798593168}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 475ab625ec280bf409835dd3929597de, type: 3}
+  m_Script: {fileID: 11500000, guid: b9b5c154d920d754db92ed07a735dbc4, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+  stick: []
+  gyro: {x: 0, y: 0, z: 0}
+  accel: {x: 0, y: 0, z: 0}
+  pos: {x: 0, y: 0, z: 0}
 --- !u!23 &798593170
 MeshRenderer:
   m_ObjectHideFlags: 0