private void processMagnetometerEvent(SensorEvent event) {
Matrix magneticInWorld =
worldBase.to(
new Matrix(1, 3, new double[] {event.values[0], event.values[1], event.values[2]}));
mMagnetometerVector.setValues(
magneticInWorld.getValue(0, 0),
magneticInWorld.getValue(1, 0),
magneticInWorld.getValue(2, 0));
}
private void processAccelerometerEvent(SensorEvent event) {
for (int i = 0; i < 3; i++) {
mAccMovingAverage[i].push(event.timestamp, event.values[i]);
}
long timestamp = event.timestamp;
if (mLastAccTimeStamp == 0) {
mLastAccTimeStamp = timestamp; // throw away the first event if
// timestamp not set
return;
}
boolean realign = realignCondition();
long now = System.nanoTime();
if (realign && now - lastRealignTimestamp > NANO) {
lastRealignTimestamp = now;
mTouched = false;
// worldBase.realign(new Matrix(1, 3, new double[] {} ), 3);
Vector3d axisZ = worldBase.getAxis(2); // z axis
Vector3d acc =
new Vector3d(
mAccMovingAverage[0].getAverage(),
mAccMovingAverage[1].getAverage(),
mAccMovingAverage[2].getAverage());
Vector3d rotationVector = axisZ.normalize().crossProduct(acc.normalize());
double[] rotationMatrix = Transform.getRotationMatrixSORA(rotationVector.getValues());
worldBase.transform(new Matrix(3, 3, rotationMatrix));
mAccModel.reset();
}
// double deltaT = (double) (timestamp - mLastAccTimeStamp) / NANO;
// Log.d(TAG, "values = (" + values[0] + ", " + values[1] + ", " +
// values[2] + "), deltaT = " + deltaT);
if (timestamp != 0) {
Matrix accelerationInWorld =
worldBase.to(
new Matrix(1, 3, new double[] {event.values[0], event.values[1], event.values[2]}));
mAccModel.processAccelerometerEvent(
timestamp,
(float) accelerationInWorld.getValue(0, 0),
(float) accelerationInWorld.getValue(1, 0),
(float) accelerationInWorld.getValue(2, 0));
mAccelerationVector.setValues(
accelerationInWorld.getValue(0, 0),
accelerationInWorld.getValue(1, 0),
accelerationInWorld.getValue(2, 0));
}
mLastAccTimeStamp = timestamp;
}