[英]Xamarin.Android vs. UrhoSharp camera node rotation based on Android device orientation
在我的Xamarin.Android应用程序中,我具有从设备的地磁旋转矢量复合传感器获取的X,Y,Z轴方向数据,并使用SensorManager.GetOrientation()方法进行了处理。 我想在CameraNode的Rotation属性的UrhoSharp场景中应用此方向数据。 换句话说,我想使用设备的“方向”传感器来控制场景的摄像机。
到目前为止,我在SensorChanged事件处理程序中所做的操作 :
// app -> an instance of Urho.SimpleApplication
public void OnSensorChanged(SensorEvent e) {
if (e.Sensor.Type == SensorType.GeomagneticRotationVector) {
var rm = new float[9];
SensorManager.GetRotationMatrixFromVector(rm, e.Values.ToArray());
var ov = new float[3];
SensorManager.GetOrientation(rm, ov);
app.Pitch = (Urho.MathHelper.RadiansToDegrees(ov[0]) + 360) % 360; // map [-Pi...+Pi] to [0...360]
app.Yaw = (Urho.MathHelper.RadiansToDegrees(ov[1]) + 360) % 360; // map [-Pi/2...+Pi/2] to [0...360]
app.CameraNode.Rotation = new Urho.Quaternion(app.Pitch, app.Yaw, 0);
}
}
但不幸的是,它无法按预期工作,并且相机看起来总是朝错误的方向。 任何想法?
OnSensorChanged
应该是这样的:
if (e.Sensor == mRotationSensor)
{
var rm = new float[9];
SensorManager.GetRotationMatrixFromVector(rm, e.Values.ToArray());
var ov = new float[3];
SensorManager.GetOrientation(rm, ov);
app.pitch = (Urho.MathHelper.RadiansToDegrees(ov[1]) + 360) % 360; // map [-Pi...+Pi] to [0...360]
app.yaw = (Urho.MathHelper.RadiansToDegrees(ov[0]) + 360) % 360;
Log.Error("pitch=",app.pitch+"");
Log.Error("yaw=", app.yaw + "");
// map [-Pi/2...+Pi/2] to [0...360]
app.cameraNode.Rotation = new Urho.Quaternion(app.pitch, app.yaw, 0);
}
并且您需要在OnCreate
方法中为SensorManager
添加这些:
mSensorManager = (SensorManager)GetSystemService(Activity.SensorService);
mRotationSensor = mSensorManager.GetDefaultSensor(SensorType.RotationVector);
mSensorManager.RegisterListener(this, mRotationSensor, SensorDelay.Game);
并添加变量:
private SensorManager mSensorManager;
private Sensor mRotationSensor;
最后,不要忘记为Activity实现ISensorEventListener
接口。
我在github上提供了一个演示
最后我通过@joe的一些研究和帮助解决了它
这是方法的最终版本:
// [app] is an instance of Urho.SimpleApplication
public void OnSensorChanged(SensorEvent e) {
if (e.Sensor.Type == SensorType.GeomagneticRotationVector) {
var inR = new float[9];
SensorManager.GetRotationMatrixFromVector(inR, e.Values.ToArray());
var outR = new float[9];
// we need to remap cooridante system, since the Y and Z axes will be swapped, when we pick up the device
if (SensorManager.RemapCoordinateSystem(inR, Android.Hardware.Axis.X, Android.Hardware.Axis.Z, outR)) {
var ov = new float[3];
SensorManager.GetOrientation(outR, ov);
try {
app.Pitch = (MathHelper.RadiansToDegrees(ov[1]) + 360) % 360;
app.Yaw = (MathHelper.RadiansToDegrees(ov[0]) + 360) % 360;
app.CameraNode.Rotation = new Quaternion(app.Pitch, app.Yaw, 0);
}
catch (System.Exception ex) {
// while Urho.SimpleApplication is not fully started, the [app] properties are not available
System.Diagnostics.Trace.WriteLine(ex.Message);
}
}
}
}
使用四元数的另一种可能的解决方案:
public void OnSensorChanged(SensorEvent e) {
if (e.Sensor.Type == SensorType.GeomagneticRotationVector) {
var qv = new float[4];
SensorManager.GetQuaternionFromVector(qv, e.Values.ToArray());
try {
app.CameraNode.Rotation = new Quaternion(qv[1], -qv[3], qv[2], qv[0]);
app.CameraNode.Pitch(90.0f);
app.CameraNode.Roll(180.0f);
}
catch (System.Exception ex) {
}
}
}
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