/**
* Draws the phone.
*
* @param graphics
*/
protected void paintComponent(Graphics graphics) {
super.paintComponent(graphics);
// g.drawString("This is my custom Panel!",(int)yawDegree,(int)pitch);
Graphics2D g2 = (Graphics2D) graphics;
// draw Line2D.Double
double centerx = 100;
double centery = 100;
double centerz = -150;
for (int i = 0; i < phone.length; i += 2) {
if (i == 0) g2.setColor(Color.RED);
if (i == 24) g2.setColor(Color.BLUE);
Vector v1 = new Vector(phone[i]);
Vector v2 = new Vector(phone[i + 1]);
v1.rollpitchyaw(rollDegree, pitchDegree, yawDegree);
v2.rollpitchyaw(rollDegree, pitchDegree, yawDegree);
g2.draw(
new Line2D.Double(
centerx + (v1.x + movex) * centerz / (centerz - v1.y),
centery - (v1.z + movez) * centerz / (centerz - v1.y),
centerx + (v2.x + movex) * centerz / (centerz - v2.y),
centery - (v2.z + movez) * centerz / (centerz - v2.y)));
}
if (mSensorSimulator.isShowAcceleration()) {
// Now we also draw the acceleration:
g2.setColor(Color.GREEN);
Vector v1 = new Vector(0, 0, 0);
Vector v2 = new Vector(accelx, accely, accelz);
v2.scale(20 * ginverse);
// Vector v2 = new Vector(1, 0, 0);
v1.rollpitchyaw(rollDegree, pitchDegree, yawDegree);
v2.rollpitchyaw(rollDegree, pitchDegree, yawDegree);
g2.draw(
new Line2D.Double(
centerx + (v1.x + movex) * centerz / (centerz - v1.y),
centery - (v1.z + movez) * centerz / (centerz - v1.y),
centerx + (v2.x + movex) * centerz / (centerz - v2.y),
centery - (v2.z + movez) * centerz / (centerz - v2.y)));
}
}
/**
* Updates physical model of all sensors by minimum time-step.
*
* <p>This internal update provides the close-to-continuum description of the sensors. It does not
* yet provide the values that are read out by the Sensors class (which are obtained by further
* time-selection or averaging).
*/
public void updateSensorPhysics() {
Vector vec;
double random;
// Update the timer if necessary:
double newdelay;
newdelay = mSensorSimulator.getUpdateSensors();
if (newdelay > 0) {
mSensorSimulator.setDelay((int) newdelay);
}
dt = 0.001 * mSensorSimulator.getDelay(); // from ms to s
g = mSensorSimulator.getGravityConstant();
if (g != 0) {
ginverse = 1 / g;
}
meterperpixel = 1 / mSensorSimulator.getPixelsPerMeter();
k = mSensorSimulator.getSpringConstant();
gamma = mSensorSimulator.getDampingConstant();
/*
// Calculate velocity induced by mouse:
double f = meterperpixel / g;
vx = f * ((double) (movex - oldx)) / dt;
vz = f * ((double) (movez - oldz)) / dt;
// Calculate acceleration induced by mouse:
ax = (vx - oldvx) / dt;
az = (vz - oldvz) / dt;
*/
// New physical model of acceleration:
// Have accelerometer be steered by string.
// We will treat this 2D only, as the rest is a linear
// transformation, and we assume all three accelerometer
// directions behave the same.
// F = m * a
// F = - k * x
// First calculate the force acting on the
// sensor test particle, assuming that
// the accelerometer is mounted by a string:
// F = - k * x
Fx = +k * (movex - accx);
Fz = +k * (movez - accz);
// a = F / m
ax = Fx / m;
az = Fz / m;
// Calculate velocity by integrating
// the current acceleration.
// Take into account damping
// by damping constant gamma.
// integrate dv/dt = a - v*gamma
// vx += (ax - vx * gamma) * dt;
// vz += (az - vz * gamma) * dt;
vx += (ax) * dt;
vz += (az) * dt;
// Now this is the force that tries to adjust
// the accelerometer back
// integrate dx/dt = v;
accx += vx * dt;
accz += vz * dt;
// We put damping here: We don't want to damp for
// zero motion with respect to the background,
// but with respect to the mobile phone:
accx += gamma * (movex - accx) * dt;
accz += gamma * (movez - accz) * dt;
/*
// Old values:
oldx = movex;
oldz = movez;
oldvx = vx;
oldvz = vz;
*/
// Calculate acceleration by gravity:
double gravityax;
double gravityay;
double gravityaz;
gravityax = mSensorSimulator.getGravityX();
gravityay = mSensorSimulator.getGravityY();
gravityaz = mSensorSimulator.getGravityZ();
////
// Now calculate this into mobile phone acceleration:
// ! Mobile phone's acceleration is just opposite to
// lab frame acceleration !
vec = new Vector(-ax * meterperpixel + gravityax, gravityay, -az * meterperpixel + gravityaz);
// we reverse roll, pitch, and yawDegree,
// as this is how the mobile phone sees the coordinate system.
vec.reverserollpitchyaw(rollDegree, pitchDegree, yawDegree);
if (mSensorSimulator.isEnabledAccelerometer()) {
if (mSensorSimulator.useRealDeviceWiimtoe()) {
accelx = mSensorSimulator.getWiiMoteData().getX() * g;
accely = mSensorSimulator.getWiiMoteData().getY() * g;
accelz = mSensorSimulator.getWiiMoteData().getZ() * g;
} else {
accelx = vec.x;
accely = vec.y;
accelz = vec.z;
if (mSensorSimulator.useRealDeviceThinkpad()) {
// We will use data directly from sensor instead:
// Read data from file
String line = "";
try {
// FileReader always assumes default encoding is OK!
BufferedReader input =
new BufferedReader(new FileReader(mSensorSimulator.getRealDevicePath()));
try {
line = input.readLine();
} finally {
input.close();
// mSensorSimulator.mRealDeviceThinkpadOutputLabel.setBackground(Color.WHITE);
}
} catch (IOException ex) {
ex.printStackTrace();
// mSensorSimulator.mRealDeviceThinkpadOutputLabel.setBackground(Color.RED);
line = "Error reading file!";
}
// Show the line content:
mSensorSimulator.setRealDeviceOutput(line);
// Assign values
// Create z-component (optional)
}
// Add random component:
random = mSensorSimulator.getRandomAccelerometer();
if (random > 0) {
accelx += getRandom(random);
accely += getRandom(random);
accelz += getRandom(random);
}
// Add accelerometer limit:
double limit = g * mSensorSimulator.getAccelerometerLimit();
if (limit > 0) {
// limit on each component separately, as each is
// a separate sensor.
if (accelx > limit) accelx = limit;
if (accelx < -limit) accelx = -limit;
if (accely > limit) accely = limit;
if (accely < -limit) accely = -limit;
if (accelz > limit) accelz = limit;
if (accelz < -limit) accelz = -limit;
}
}
} else {
accelx = 0;
accely = 0;
accelz = 0;
}
// Calculate magnetic field:
// Calculate acceleration by gravity:
double magneticnorth;
double magneticeast;
double magneticvertical;
if (mSensorSimulator.isEnabledMagneticField()) {
magneticnorth = mSensorSimulator.getMagneticFieldNorth();
magneticeast = mSensorSimulator.getMagneticFieldEast();
magneticvertical = mSensorSimulator.getMagneticFieldVertical();
// Add random component:
random = mSensorSimulator.getRandomMagneticField();
if (random > 0) {
magneticnorth += getRandom(random);
magneticeast += getRandom(random);
magneticvertical += getRandom(random);
}
// Magnetic vector in phone coordinates:
vec = new Vector(magneticeast, magneticnorth, -magneticvertical);
vec.scale(0.001); // convert from nT (nano-Tesla) to �T (micro-Tesla)
// we reverse roll, pitch, and yawDegree,
// as this is how the mobile phone sees the coordinate system.
vec.reverserollpitchyaw(rollDegree, pitchDegree, yawDegree);
compassx = vec.x;
compassy = vec.y;
compassz = vec.z;
} else {
compassx = 0;
compassy = 0;
compassz = 0;
}
// Orientation is currently not affected:
if (mSensorSimulator.isEnabledOrientation()) {
// yaw = Math.toRadians(yawDegree);
// pitch = Math.toRadians(pitchDegree);
// roll = Math.toRadians(rollDegree);
// Since OpenGL uses degree as input,
// and it seems also more user-friendly,
// let us stick to degree.
// (it seems, professional sensors also use
// degree output.)
yaw = yawDegree;
pitch = pitchDegree;
roll = rollDegree;
// Add random component:
random = mSensorSimulator.getRandomOrientation();
if (random > 0) {
yaw += getRandom(random);
pitch += getRandom(random);
roll += getRandom(random);
}
} else {
yaw = 0;
pitch = 0;
roll = 0;
}
// Thermometer
if (mSensorSimulator.isEnabledTemperature()) {
temperature = mSensorSimulator.getTemperature();
// Add random component:
random = mSensorSimulator.getRandomTemperature();
if (random > 0) {
temperature += getRandom(random);
}
} else {
temperature = 0;
}
// Barcode
if (mSensorSimulator.isEnabledBarcodeReader()) {
barcode = mSensorSimulator.getBarcode();
}
if (mSensorSimulator.isShowAcceleration()) {
// We only have to repaint if we show the acceleration,
// otherwise the phone does not change as long as there is
// no user interaction.
repaint();
}
;
}
