mirror of https://github.com/axmolengine/axmol.git
268 lines
8.8 KiB
C++
268 lines
8.8 KiB
C++
/****************************************************************************
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Copyright (c) 2016 Google Inc.
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Copyright (c) 2016 Chukong Technologies Inc.
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http://www.cocos2d-x.org
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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****************************************************************************/
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// IMPORTANT
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// For iOS/Mac, this file is treated as an "Objective-C++" file.
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// To change this behvior, use the File Inspector from Xcode
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#include "vr/CCVRGenericHeadTracker.h"
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#include <cmath>
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#include "platform/CCPlatformMacros.h"
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#include "platform/CCDevice.h"
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#if (CC_TARGET_PLATFORM == CC_PLATFORM_IOS)
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#import <CoreMotion/CoreMotion.h>
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#elif (CC_TARGET_PLATFORM == CC_PLATFORM_ANDROID)
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#include <jni.h>
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#include "platform/android/jni/JniHelper.h"
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#endif
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NS_CC_BEGIN
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//////
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#if (CC_TARGET_PLATFORM == CC_PLATFORM_IOS)
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static Mat4 matrixFromRotationMatrix(const CMRotationMatrix& rotationMatrix)
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{
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return Mat4(rotationMatrix.m11,
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rotationMatrix.m21,
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rotationMatrix.m31,
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0.0f,
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rotationMatrix.m12,
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rotationMatrix.m22,
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rotationMatrix.m32,
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0.0f,
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rotationMatrix.m13,
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rotationMatrix.m23,
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rotationMatrix.m33,
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0.0f,
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0.0f,
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0.0f,
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0.0f,
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1.0f);
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}
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#elif (CC_TARGET_PLATFORM == CC_PLATFORM_ANDROID)
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// getRotationMatrix taken from Android's SensorManager.java
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Mat4 getRotationMatrix(const Vec3& gravity, const Vec3& geomagnetic)
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{
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float Ax = gravity.x;
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float Ay = gravity.y;
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float Az = gravity.z;
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const float normsqA = (Ax*Ax + Ay*Ay + Az*Az);
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const float g = 9.81f;
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const float freeFallGravitySquared = 0.01f * g * g;
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if (normsqA < freeFallGravitySquared) {
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// gravity less than 10% of normal value
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return Mat4::IDENTITY;
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}
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const float Ex = geomagnetic.x;
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const float Ey = geomagnetic.y;
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const float Ez = geomagnetic.z;
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float Hx = Ey*Az - Ez*Ay;
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float Hy = Ez*Ax - Ex*Az;
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float Hz = Ex*Ay - Ey*Ax;
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const float normH = std::sqrt(Hx*Hx + Hy*Hy + Hz*Hz);
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if (normH < 0.1f) {
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// device is close to free fall (or in space?), or close to
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// magnetic north pole. Typical values are > 100.
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return Mat4::IDENTITY;
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}
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const float invH = 1.0f / normH;
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Hx *= invH;
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Hy *= invH;
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Hz *= invH;
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const float invA = 1.0f / std::sqrt(Ax*Ax + Ay*Ay + Az*Az);
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Ax *= invA;
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Ay *= invA;
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Az *= invA;
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const float Mx = Ay*Hz - Az*Hy;
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const float My = Az*Hx - Ax*Hz;
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const float Mz = Ax*Hy - Ay*Hx;
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return Mat4( Hx, Mx, Ax, 0,
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Hy, My, Ay, 0,
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Hz, Mz, Az, 0,
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0, 0, 0, 1);
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}
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Vec3 lowPass(const Vec3& input, const Vec3& prev)
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{
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// if ALPHA = 1 OR 0, no filter applies.
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static const float ALPHA = 0.12f;
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return Vec3(prev.x + ALPHA * (input.x - prev.x),
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prev.y + ALPHA * (input.y - prev.y),
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prev.z + ALPHA * (input.z - prev.z));
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}
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#endif // (CC_TARGET_PLATFORM == CC_PLATFORM_ANDROID)
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static Mat4 getRotateEulerMatrix(float x, float y, float z)
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{
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x *= static_cast<float>(M_PI) / 180.0f;
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y *= static_cast<float>(M_PI) / 180.0f;
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z *= static_cast<float>(M_PI) / 180.0f;
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float cx = std::cos(x);
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float sx = std::sin(x);
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float cy = std::cos(y);
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float sy = std::sin(y);
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float cz = std::cos(z);
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float sz = std::sin(z);
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float cxsy = cx * sy;
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float sxsy = sx * sy;
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Mat4 matrix;
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matrix.m[0] = cy * cz;
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matrix.m[1] = -cy * sz;
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matrix.m[2] = sy;
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matrix.m[3] = 0.0f;
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matrix.m[4] = cxsy * cz + cx * sz;
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matrix.m[5] = -cxsy * sz + cx * cz;
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matrix.m[6] = -sx * cy;
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matrix.m[7] = 0.0f;
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matrix.m[8] = -sxsy * cz + sx * sz;
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matrix.m[9] = sxsy * sz + sx * cz;
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matrix.m[10] = cx * cy;
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matrix.m[11] = 0.0f;
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matrix.m[12] = 0.0f;
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matrix.m[13] = 0.0f;
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matrix.m[14] = 0.0f;
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matrix.m[15] = 1.0f;
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return matrix;
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}
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VRGenericHeadTracker::VRGenericHeadTracker()
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: _localPosition(Vec3::ZERO)
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{
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#if (CC_TARGET_PLATFORM == CC_PLATFORM_IOS)
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_motionMgr = [[CMMotionManager alloc] init];
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#endif
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#if (CC_TARGET_PLATFORM == CC_PLATFORM_IOS) || (CC_TARGET_PLATFORM == CC_PLATFORM_ANDROID)
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startTracking();
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#endif
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}
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VRGenericHeadTracker::~VRGenericHeadTracker()
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{
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#if (CC_TARGET_PLATFORM == CC_PLATFORM_IOS) || (CC_TARGET_PLATFORM == CC_PLATFORM_ANDROID)
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stopTracking();
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#endif
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#if (CC_TARGET_PLATFORM == CC_PLATFORM_IOS)
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[(CMMotionManager*)_motionMgr release];
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#endif
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}
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void VRGenericHeadTracker::startTracking()
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{
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#if (CC_TARGET_PLATFORM == CC_PLATFORM_IOS)
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CMMotionManager* motionMgr = (CMMotionManager*)_motionMgr;
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if (motionMgr.isDeviceMotionAvailable && !motionMgr.isDeviceMotionActive)
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{
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[motionMgr startDeviceMotionUpdatesUsingReferenceFrame:CMAttitudeReferenceFrameXArbitraryZVertical];
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}
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UIInterfaceOrientation orientation = [UIApplication sharedApplication].statusBarOrientation;
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if (orientation == UIInterfaceOrientationLandscapeLeft)
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{
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_deviceToDisplay = getRotateEulerMatrix(0.f, 0.f, 90.f);
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}
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else if (orientation == UIInterfaceOrientationLandscapeRight)
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{
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_deviceToDisplay = getRotateEulerMatrix(0.f, 0.f, -90.f);
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}
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// the inertial reference frame has z up and x forward, while the world has z out and x right
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_worldToInertialReferenceFrame = getRotateEulerMatrix(-90.f, 0.f, 90.f);
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#elif (CC_TARGET_PLATFORM == CC_PLATFORM_ANDROID)
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_deviceToDisplay = getRotateEulerMatrix(0.f, 0.f, -90.f);
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_worldToInertialReferenceFrame = getRotateEulerMatrix(-90.f, 0.f, 90.f);
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JniHelper::callStaticVoidMethod("org/cocos2dx/lib/Cocos2dxHelper", "enableAccelerometer");
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JniHelper::callStaticVoidMethod("org/cocos2dx/lib/Cocos2dxHelper", "enableCompass");
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#endif
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}
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void VRGenericHeadTracker::stopTracking()
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{
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#if (CC_TARGET_PLATFORM == CC_PLATFORM_IOS)
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[(CMMotionManager*)_motionMgr stopDeviceMotionUpdates];
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#elif (CC_TARGET_PLATFORM == CC_PLATFORM_ANDROID)
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Device::setAccelerometerEnabled(false);
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#endif
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}
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Vec3 VRGenericHeadTracker::getLocalPosition()
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{
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return _localPosition;
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}
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Mat4 VRGenericHeadTracker::getLocalRotation()
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{
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#if (CC_TARGET_PLATFORM == CC_PLATFORM_IOS)
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CMMotionManager* motionMgr = (CMMotionManager*)_motionMgr;
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CMDeviceMotion* motion = motionMgr.deviceMotion;
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if (motion) {
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CMRotationMatrix rotationMatrix = motion.attitude.rotationMatrix;
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Mat4 inertialReferenceFrameToDevice0 = matrixFromRotationMatrix(rotationMatrix); // note the matrix inversion
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Mat4 inertialReferenceFrameToDevice = inertialReferenceFrameToDevice0.getTransposed();
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Mat4 worldToDevice = inertialReferenceFrameToDevice * _worldToInertialReferenceFrame;
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return _deviceToDisplay * worldToDevice;
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}
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// bug!
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return Mat4::IDENTITY;
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#elif (CC_TARGET_PLATFORM == CC_PLATFORM_ANDROID)
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static Vec3 prevAccel = Vec3(0,0,0);
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static Vec3 prevCompass = Vec3(0,0,0);
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Vec3 accel = JniHelper::callStaticVec3Method("org/cocos2dx/lib/Cocos2dxHelper", "getAccelValue");
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Vec3 compass = JniHelper::callStaticVec3Method("org/cocos2dx/lib/Cocos2dxHelper", "getCompassValue");
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// CCLOG("accel: %f, %f, %f.... compass: %f, %f, %f", accel.x, accel.y, accel.z, compass.x, compass.y, compass.z);
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prevAccel = lowPass(accel, prevAccel);
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prevCompass = lowPass(compass, prevCompass);
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// CCLOG("low pass accel: %f, %f, %f.... compass: %f, %f, %f", prevAccel.x, prevAccel.y, prevAccel.z, prevCompass.x, prevCompass.y, prevCompass.z);
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Mat4 rotMatrix = getRotationMatrix(prevAccel, prevCompass);
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Mat4 inertialReferenceFrameToDevice(rotMatrix);
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Mat4 worldToDevice = inertialReferenceFrameToDevice * _worldToInertialReferenceFrame;
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return _deviceToDisplay * worldToDevice;
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#else
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return Mat4::IDENTITY;
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#endif
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}
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NS_CC_END
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