using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
using MathNet.Numerics.LinearAlgebra;
using UnityEngine.UI;
using MathNet.Numerics;
using System.Runtime.InteropServices;

public class o0Vector3Filter
{
    Vector3 state = default;
    float Variance = 1;
    public Vector3 Update(Vector3 v)
    {
        if (state == default)
            return state = v;
        Variance += 10;

        float mVariance = 1;
        state = Vector3.Lerp(state, v, mVariance/ (Variance + mVariance));

        Variance = Variance * mVariance / (Variance + mVariance);

        return state;
    }
}
public class o0MagneticCalibraterEllipsoidFitting//默认在无磁干扰环境下，有磁干扰则无法保证效果
{
    [JsonIgnore]
    public Vector3 _Center = Vector3.zero;
    [JsonIgnore]
    Matrix<double> _CorrectMatrix = null;

    public float[] Center
    {
        get
        {
            return new float[]{_Center.x, _Center.y, _Center.z};
        }
        set
        {
            _Center = new Vector3(value[0], value[1], value[2]);
        }
    }
    public double[] CorrectMatrix
    {
        get
        {
            if (_CorrectMatrix == null)
                return default;
            var m = new double[9];
            for (var i = 0; i < 3; ++i)
                for (var j = 0; j < 3; ++j)
                    m[j + i * 3] = _CorrectMatrix[i,j];
            return m;
        }
        set
        {
            if (value == default)
            {
                _CorrectMatrix = null;
                return;
            }
            _CorrectMatrix = CreateMatrix.Dense<double>(3,3);
            for (var i = 0; i < 3; ++i)
                for (var j = 0; j < 3; ++j)
                    _CorrectMatrix[i, j] = value[j + i * 3];
        }
    }

    public o0MagneticCalibraterEllipsoidFitting()
    {
        //Calibration = true;
    }
    
    // public o0MagneticCalibraterEllipsoidFitting(o0Project.Vector3f Center, double[] CorrectMatrix)
    public o0MagneticCalibraterEllipsoidFitting(float[] Center, double[] CorrectMatrix)
    {
        this.Center = Center;
        this.CorrectMatrix = CorrectMatrix;
    }

    [JsonIgnore]
    public List<Vector3> records = null;
    [JsonIgnore]
    public Vector3 _Radius = default;
    public float[] Radius
    {
        get
        {
            return new float[]{_Radius.x, _Radius.y, _Radius.z};
        }
        set
        {
            _Radius = new Vector3(value[0], value[1], value[2]);
        }
    }

    public List<Vector3> getRecords() {
        //Debug.LogWarning(records);
        return records;
    }

    [JsonIgnore]
    List<Vector3> BadRecords = null;
    [JsonIgnore]
    public bool Calibration
    {
        get
        {
            return records != null;
        }
        set
        {
            if (value == true)
            {
                records = new List<Vector3>();
            }
            else
            {
                try
                {
                    int mag_data_counter = records.Count;    //mag数据数量

                    double mag_x, mag_y, mag_z;

                    var mat_D = CreateMatrix.Dense<double>(mag_data_counter, 9);

                    //读取mag
                    for (int i = 0; i < mag_data_counter; i++)
                    {
                        //mag_x_y_z赋值
                        mag_x = records[i].x;
                        mag_y = records[i].y;
                        mag_z = records[i].z;

                        mat_D[i, 0] = mag_x * mag_x;
                        mat_D[i, 1] = mag_y * mag_y;
                        mat_D[i, 2] = mag_z * mag_z;
                        mat_D[i, 3] = 2 * mag_x * mag_y;
                        mat_D[i, 4] = 2 * mag_x * mag_z;
                        mat_D[i, 5] = 2 * mag_y * mag_z;
                        mat_D[i, 6] = 2 * mag_x;
                        mat_D[i, 7] = 2 * mag_y;
                        mat_D[i, 8] = 2 * mag_z;

                    }

                    var mat_DT = mat_D.Transpose();

                    var mat_Ones = CreateMatrix.Dense<double>(mag_data_counter, 1, 1.0);

                    var mat_Result = (mat_DT * mat_D).Inverse() * (mat_DT * mat_Ones);

                    var mat_A_4x4 = CreateMatrix.Dense<double>(4, 4);

                    mat_A_4x4[0, 0] = mat_Result[0, 0];
                    mat_A_4x4[0, 1] = mat_Result[3, 0];
                    mat_A_4x4[0, 2] = mat_Result[4, 0];
                    mat_A_4x4[0, 3] = mat_Result[6, 0];

                    mat_A_4x4[1, 0] = mat_Result[3, 0];
                    mat_A_4x4[1, 1] = mat_Result[1, 0];
                    mat_A_4x4[1, 2] = mat_Result[5, 0];
                    mat_A_4x4[1, 3] = mat_Result[7, 0];

                    mat_A_4x4[2, 0] = mat_Result[4, 0];
                    mat_A_4x4[2, 1] = mat_Result[5, 0];
                    mat_A_4x4[2, 2] = mat_Result[2, 0];
                    mat_A_4x4[2, 3] = mat_Result[8, 0];

                    mat_A_4x4[3, 0] = mat_Result[6, 0];
                    mat_A_4x4[3, 1] = mat_Result[7, 0];
                    mat_A_4x4[3, 2] = mat_Result[8, 0];
                    mat_A_4x4[3, 3] = -1.0;


                    var mat_Center = -((mat_A_4x4.SubMatrix(0, 3, 0, 3)).Inverse() * mat_Result.SubMatrix(6, 3, 0, 1));
                    //椭球圆心					//分块，从0,0开始的3*3的矩阵

                    var mat_T_4x4 = CreateMatrix.DenseIdentity<double>(4, 4);
                    mat_T_4x4.SetSubMatrix(3, 1, 0, 3, mat_Center.Transpose());

                    var mat_R = mat_T_4x4 * mat_A_4x4 * mat_T_4x4.Transpose();

                    var evd = mat_R.SubMatrix(0, 3, 0, 3) / -mat_R[3, 3];
                    var eig = evd.Evd();

                    var mat_Eigval = CreateVector.Dense<double>(3);
                    var mat_Evecs = eig.EigenVectors;


                    mat_Eigval[0] = eig.EigenValues[0].Real;   //特征值的实部
                    mat_Eigval[1] = eig.EigenValues[1].Real;
                    mat_Eigval[2] = eig.EigenValues[2].Real;


                    var mat_Radii = mat_Eigval.Map(delegate (double x)
                    {
                        return 1.0 / Math.Sqrt(Math.Abs(x));
                    });    //椭球半径，特征值倒数后开方

                    var mat_Scale = CreateMatrix.DenseIdentity<double>(3, 3);
                    mat_Scale[0, 0] = mat_Radii[0];
                    mat_Scale[1, 1] = mat_Radii[1];
                    mat_Scale[2, 2] = mat_Radii[2];

                    //double min_Radii = mat_Radii.Minimum();           //返回最小的元素

                    mat_Scale = mat_Scale.Inverse();// * min_Radii;
                    var mat_Correct = mat_Evecs * mat_Scale * mat_Evecs.Transpose();

                    //_Center = new Vector3((float)mat_Center[0], (float)mat_Center[1], (float)mat_Center[2]);

                    Debug.Log("The Ellipsoid center is:" + mat_Center.ToString());
                    Debug.Log("The Ellipsoid radii is:" + mat_Radii.ToString());
                    Debug.Log("The scale matrix is:" + mat_Scale.ToString());
                    Debug.Log("The correct matrix is:" + mat_Correct.ToString());

                    _Center = new Vector3((float)mat_Center[0, 0], (float)mat_Center[1, 0], (float)mat_Center[2, 0]);
                    _Radius = new Vector3((float)mat_Radii[0], (float)mat_Radii[1], (float)mat_Radii[2]);
                    this._CorrectMatrix = mat_Correct;

                    {
                        BadRecords = new List<Vector3>();
                        var AverageDistance = 0f;
                        foreach (var i in records)
                        {
                            var v = i - new Vector3((float)mat_Center[0, 0], (float)mat_Center[1, 0], (float)mat_Center[2, 0]);
                            var MathNetV = CreateVector.Dense<double>(3);
                            MathNetV[0] = v.x;
                            MathNetV[1] = v.y;
                            MathNetV[2] = v.z;
                            //MathNetV = (MathNetV * mat_Scale) * mat_Correct;
                            MathNetV = (MathNetV) * mat_Correct;
                            v = new Vector3((float)MathNetV[0], (float)MathNetV[1], (float)MathNetV[2]);
                            AverageDistance += v.magnitude;
                        }
                        AverageDistance /= records.Count;

                        foreach (var i in records)
                        {
                            var v = i - new Vector3((float)mat_Center[0, 0], (float)mat_Center[1, 0], (float)mat_Center[2, 0]);
                            var MathNetV = CreateVector.Dense<double>(3);
                            MathNetV[0] = v.x;
                            MathNetV[1] = v.y;
                            MathNetV[2] = v.z;
                            //MathNetV = (MathNetV * mat_Scale) * mat_Correct;
                            MathNetV = (MathNetV) * mat_Correct;
                            v = new Vector3((float)MathNetV[0], (float)MathNetV[1], (float)MathNetV[2]);
                            if (Math.Abs(v.magnitude - AverageDistance) > 0.1 * AverageDistance)
                            {
                                BadRecords.Add(i);
                            }
                        }
                        Debug.Log("BadRecords: "+ BadRecords.Count);
                    }
                }
                catch(NonConvergenceException)
                {
                    Debug.Log("数据错误无法拟合");
                }

                records = null;
            }
        }
    }
    public Vector3 Update(Vector3 v)
    {
        // if (v.magnitude > 30)
        //     Debug.Log(v);
        if (Calibration)
        {
            records.Add(v);
            return v;
        }
        if(_CorrectMatrix != null)
        {
            v -= _Center;

            var MathNetV = CreateVector.Dense<double>(3);
            MathNetV[0] = v.x;
            MathNetV[1] = v.y;
            MathNetV[2] = v.z;
            //MathNetV = (MathNetV * mat_Scale) * mat_Correct;
            MathNetV = (MathNetV) * _CorrectMatrix;

            v = new Vector3((float)MathNetV[0], (float)MathNetV[1], (float)MathNetV[2]);
            //Debug.Log(v.magnitude);
            return v;
        }
        return v;
    }
    public float CalibratCompletionPercentage()
    {
        return 0;
    }
}
public class o0MagneticCalibraterSimple//默认在无磁干扰环境下，有磁干扰则无法保证效果
{

    [JsonIgnore]
    public Vector3 _Center = Vector3.zero;
    //Vector3 Center = new Vector3(0,0,0);
    [JsonIgnore]
    public Vector3 _Radius = new Vector3(2, 2, 2);

    public o0Project.Vector3f Center
    {
        get
        {
            return new o0Project.Vector3f(_Center.x, _Center.y, _Center.z);
        }
        set
        {
            _Center = new Vector3(value.x, value.y, value.z);
        }
    }
    public o0Project.Vector3f Radius
    {
        get
        {
            return new o0Project.Vector3f(_Radius.x, _Radius.y, _Radius.z);
        }
        set
        {
            _Radius = new Vector3(value.x, value.y, value.z);
        }
    }

    public o0MagneticCalibraterSimple()
    {
        //Calibration = true;
    }
   
    public o0MagneticCalibraterSimple(o0Project.Vector3f Center, o0Project.Vector3f Radius)
    {
        this.Center = Center;
        this.Radius = Radius;
    }

    [JsonIgnore]
    Vector3 Min = new Vector3(float.MinValue, float.MinValue, float.MinValue);
    [JsonIgnore]
    Vector3 Max = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue);
    [JsonIgnore]
    public bool Calibration
    {
        get
        {
            return !(Min == new Vector3(float.MinValue, float.MinValue, float.MinValue) && Max == new Vector3(float.MaxValue, float.MaxValue, float.MaxValue));
        }
        set
        {
            if (value == true)
            {
                Min = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue);
                Max = new Vector3(float.MinValue, float.MinValue, float.MinValue);
            }
            else
            {
                Min = new Vector3(float.MinValue, float.MinValue, float.MinValue);
                Max = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue);
            }
        }
    }
    public Vector3 Update(Vector3 v)
    {
        if (v.magnitude > 30)
            Debug.Log(v);
        if (Calibration)
        {
            if (Min.x > v.x)
                Min.x = v.x;
            if (Min.y > v.y)
                Min.y = v.y;
            if (Min.z > v.z)
                Min.z = v.z;
            if (Max.x < v.x)
                Max.x = v.x;
            if (Max.y < v.y)
                Max.y = v.y;
            if (Max.z < v.z)
                Max.z = v.z;
            _Center = (Max + Min) / 2;
            _Radius = (Max - Min) / 2;
            return v;
        }
        v -= _Center;
        v = new Vector3(v.x / _Radius.x, v.y / _Radius.y, v.z / _Radius.z);
        return v;
    }
    public float CalibratCompletionPercentage()
    {
        return 0;
    }
}
public class o0MagneticCalibrater//默认在无磁干扰环境下，有磁干扰则无法保证效果
{

    [JsonIgnore]
    public Vector3 _Center = Vector3.zero;
    //Vector3 Center = new Vector3(0,0,0);
    [JsonIgnore]
    public Vector3 _Radius = new Vector3(2, 2, 2);

    public o0Project.Vector3f Center
    {
        get
        {
            return new o0Project.Vector3f(_Center.x, _Center.y, _Center.z);
        }
        set
        {
            _Center = new Vector3(value.x, value.y, value.z);
        }
    }
    public o0Project.Vector3f Radius
    {
        get
        {
            return new o0Project.Vector3f(_Radius.x, _Radius.y, _Radius.z);
        }
        set
        {
            _Radius = new Vector3(value.x, value.y, value.z);
        }
    }

    public o0MagneticCalibrater()
    {
        //Calibration = true;
    }
    
    public o0MagneticCalibrater(o0Project.Vector3f Center, o0Project.Vector3f Radius)
    {
        this.Center = Center;
        this.Radius = Radius;
    }

    [JsonIgnore]
    HashSet<Vector3> Point = default;
    [JsonIgnore]
    int PointMaxCount = 50;
    [JsonIgnore]
    Dictionary<(Vector3, Vector3), float> Distance = default;
    public void AddPoint(Vector3 v)
    {
        if (Point.Contains(v))
            return;
        foreach (var i in Point)
            Distance.Add((i, v), Vector3.Distance(v, i));
        Point.Add(v);
    }
    public void RemovePoint(Vector3 v)
    {
        Point.Remove(v);
        foreach (var i in Point)
        {
            Distance.Remove((v, i));
            Distance.Remove((i, v));
        }
    }
    public float TotalDistance(Vector3 v)
    {
        float t = 0;
        foreach (var i in Point)
        {
            if (Distance.ContainsKey((i, v)))
            {
                t += Distance[(i, v)];
                continue;
            }
            else if (Distance.ContainsKey((v, i)))
            {
                t += Distance[(v, i)];
                continue;
            }
        }
        return t;
    }
    public Vector3 MinDistancePoint()
    {
        Vector3 minV = default;
        float minD = float.MaxValue;
        foreach (var i in Point)
        {
            float d = TotalDistance(i);
            if (minV == default || minD > d)
            {
                minD = d;
                minV = i;
            }
        }
        return minV;
    }
    public Vector3 RadiusScale()
    {
        Vector3 min = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue);
        Vector3 max = new Vector3(float.MinValue, float.MinValue, float.MinValue);
        foreach (var i in Point)
        {
            if (min.x > i.x)
                min.x = i.x;
            if (min.y > i.y)
                min.y = i.y;
            if (min.z > i.z)
                min.z = i.z;
            if (max.x < i.x)
                max.x = i.x;
            if (max.y < i.y)
                max.y = i.y;
            if (max.z < i.z)
                max.z = i.z;
        }
        return (max - min) / 2;
    }
    [JsonIgnore]
    public bool Calibration
    {
        get
        {
            return Distance != null;
        }
        set
        {
            if (value == true)
            {
                Point = new HashSet<Vector3>();
                Distance = new Dictionary<(Vector3, Vector3), float>();
            }
            else
            {
                Distance = null;
            }
        }
    }
    [JsonIgnore]
    public System.Random r = new System.Random();
    public Vector3 Update(Vector3 v)
    {
        if (v.magnitude > 30)
            Debug.Log(v);
        if (Calibration)
        {
            AddPoint(v);
            if (Point.Count > PointMaxCount)
            {
                RemovePoint(MinDistancePoint());
                _Radius = RadiusScale();
            }


            Vector3 randomV = Point.ElementAt(r.Next(Point.Count));
            var scaledCenter = new Vector3(_Center.x / _Radius.x, _Center.y / _Radius.y, _Center.z / _Radius.z);
            var scaledV = new Vector3(randomV.x / _Radius.x, randomV.y / _Radius.y, randomV.z / _Radius.z);
            float diff = Vector3.Distance(scaledCenter, scaledV) - 1;
            scaledCenter += (scaledV - scaledCenter).normalized * diff * 0.1f;
            _Center = new Vector3(scaledCenter.x * _Radius.x, scaledCenter.y * _Radius.y, scaledCenter.z * _Radius.z);
        }

        /*
        if (diff > 0)
        {
            Center -= v * diff;
        }
        else
        {

        }/**/

        //Point.Add(v);
        //Debug.Log(v.magnitude);
        v -= _Center;
        v = new Vector3(v.x / _Radius.x, v.y / _Radius.y, v.z / _Radius.z);
        return v;
    }
    public float CalibratCompletionPercentage()
    {
        if (Point == null)
            return 0;
        List<float> ScaleDistance = new List<float>();
        foreach (var i in Point)
        {
            var v = i - _Center;
            ScaleDistance.Add(new Vector3(v.x / _Radius.x, v.y / _Radius.y, v.z / _Radius.z).magnitude);
        }
        while (ScaleDistance.Count < PointMaxCount)
            ScaleDistance.Add(0);
        float average = 0;
        foreach (var i in ScaleDistance)
            average += i;
        average /= ScaleDistance.Count;
        float variance = 0;
        foreach (var i in ScaleDistance)
            variance += Mathf.Pow(average - i, 2);
        variance /= ScaleDistance.Count;
        return Mathf.Pow((1 - variance / average), 10) * 100;
        //return variance;
    }
}

public class o0GyrCalibrater
{
    [JsonIgnore]
    public Vector3 _Average = Vector3.zero;
    [JsonIgnore]
    public long Count = -1;
    [JsonIgnore]
    public bool Calibration
    {
        get
        {
            return Count != -1;
        }
        set
        {
            if (value)
                Count = 0;
            else
                Count = -1;
        }
    }
     public float[] Average
    {
        get
        {
            return new float[]{_Average.x, _Average.y, _Average.z};
        }
        set
        {
            _Average = new Vector3(value[0], value[1], value[2]);
        }
    }
    public o0GyrCalibrater()
    {

    }
    //[JsonConstructor, o0.BinarySerialization.Constructor]
    // public o0GyrCalibrater(o0Project.Vector3f Average)
    public o0GyrCalibrater(float[] Average)
    {
        this.Average = Average;
    }
    public Vector3 Update(Vector3 v)
    {
        if (Calibration)
            _Average += (v - _Average) / ++Count;
        v -= _Average;
        if (v.magnitude < 0.0003)
            return Vector3.zero;
        return v;
    }
}
public class o09Axis
{
    public List<o0UIRawImageTester> Tester = new List<o0UIRawImageTester>();
    public List<Text> TextTester = new List<Text>();

    public GameObject AccMesh;
    public GameObject GryMesh;
    public GameObject MagMesh;

    public struct State 
    {
        public Int32 TimeGap;
        public Vector3 Acc;
        public Vector3 AccSmooth;
        public float AccVariance;
        public Vector3 Gyr;
        public Vector3 Mag;
        public Vector3 MagSmooth;
        public Quaternion Qua;
        public Quaternion QuaSmooth;
        public float Variance;

    }

    public void SetIdentityAndSave()
    {
        setIdentity();
        TextTester[0].text = "AccIdentity:" + getAccIdentity();
        AccMesh.transform.localRotation = default;
        MagMesh.transform.localRotation = default;
        GryMesh.transform.localRotation = default;
        SaveIdentity();
    }

    public void LoadIdentity() 
    {
        try {
            string magIdentityStr = PlayerPrefs.GetString("MagIdentity", "");
            if (magIdentityStr.Length > 0) {
                float[] arr = JsonConvert.DeserializeObject<float[]>(magIdentityStr);
                setMagIdentity(new Vector3(arr[0], arr[1], arr[2]));
            }
            string accIdentityStr = PlayerPrefs.GetString("AccIdentity", "");
            if (accIdentityStr.Length > 0) {
                float[] arr = JsonConvert.DeserializeObject<float[]>(accIdentityStr);
                setAccIdentity(new Vector3(arr[0], arr[1], arr[2]));
            }
        }
        catch (System.Exception e) { Debug.LogError(e.Message); }
    }
    
    private void SaveIdentity() {
        Vector3 m = getMagIdentity();
        Vector3 a = getAccIdentity();
        PlayerPrefs.SetString("MagIdentity",JsonConvert.SerializeObject(new float[]{
            m.x, m.y, m.z
        }));
        PlayerPrefs.SetString("AccIdentity", JsonConvert.SerializeObject(new float[]{
            a.x, a.y, a.z
        }));
    }

    int platformID = -1;

    void SetPlatformID() 
    {
        if (Application.platform == RuntimePlatform.WindowsEditor) platformID = 1;
        else platformID = 2;
    }

    bool IsWindows() 
    {
        if (platformID == -1) SetPlatformID();
        return platformID == 1;
    }

    public o09AxisCSBridge axisCSBridge = new o09AxisCSBridge();

    public Quaternion update(Vector3 AccOld, Vector3 GyrOld, Vector3 MagOld, long TimeGapOld) {
        if (axisCSBridge != null) {
            return axisCSBridge.Update_f(AccOld, GyrOld, MagOld, TimeGapOld);
        }
        if (IsWindows()) return Update_f(AccOld, GyrOld, MagOld, TimeGapOld);
        else return SO_Update_f(AccOld, GyrOld, MagOld, TimeGapOld);
    }

    private void setIdentity() {
        if (axisCSBridge != null) {
            axisCSBridge.SetIdentity(); 
            return;
        }
        if (IsWindows()) SetIdentity();
        else SO_SetIdentity();
    }

    public Vector3 getGyrOld() {
        if (axisCSBridge != null) {
            return axisCSBridge.GetGyrOld_f();
        }
        if (IsWindows()) return GetGyrOld_f();
        else return SO_GetGyrOld_f();
    }

    public State getLastState() {
        if (axisCSBridge != null) {
            return axisCSBridge.GetLastState_f();
        }
        if (IsWindows()) return GetLastState_f();
        else return SO_GetLastState_f();
    }


    private Vector3 getAccIdentity() {
        if (axisCSBridge != null) {
            return axisCSBridge.GetAccIdentity_f();
        }
        if (IsWindows()) return GetAccIdentity_f();
        else return SO_GetAccIdentity_f();
    }

    private Vector3 getMagIdentity() {
        if (axisCSBridge != null) {
            return axisCSBridge.GetMagIdentity_f();
        }
        if (IsWindows()) return GetMagIdentity_f();
        else return SO_GetMagIdentity_f();
    }

    private void setAccIdentity(Vector3 value) {
        if (axisCSBridge != null) {
            axisCSBridge.SetAccIdentity(new Vector3D(value)); 
            return;
        }
        if (IsWindows()) SetAccIdentity(new Vector3D(value));
        else SO_SetAccIdentity(new Vector3D(value));
    }

    private  void setMagIdentity(Vector3 value) {
        if (axisCSBridge != null) {
            axisCSBridge.SetMagIdentity(new Vector3D(value)); 
            return;
        }
        if (IsWindows()) SetMagIdentity(new Vector3D(value));
        else SO_SetMagIdentity(new Vector3D(value));
    }

    [DllImport("o09Axis")]
    extern static Quaternion Update_f(Vector3 AccOld, Vector3 GyrOld, Vector3 MagOld, long TimeGapOld);
    [DllImport("o09Axis")]
    extern static void SetIdentity();
    [DllImport("o09Axis")]
    extern static Vector3 GetGyrOld_f();
    [DllImport("o09Axis")]
    extern static State GetLastState_f();
    [DllImport("o09Axis")]
    extern static Vector3 GetAccIdentity_f();
    [DllImport("o09Axis")]
    extern static Vector3 GetMagIdentity_f();
    [DllImport("o09Axis")]
    extern static void SetAccIdentity(Vector3D value);
    [DllImport("o09Axis")]
    extern static void SetMagIdentity(Vector3D value);


    [DllImport("libSharedObjectAxis")]
    extern static Quaternion SO_Update_f(Vector3 AccOld, Vector3 GyrOld, Vector3 MagOld, long TimeGapOld);
    [DllImport("libSharedObjectAxis")]
    extern static void SO_SetIdentity();
    [DllImport("libSharedObjectAxis")]
    extern static Vector3 SO_GetGyrOld_f();
    [DllImport("libSharedObjectAxis")]
    extern static State SO_GetLastState_f();
    [DllImport("libSharedObjectAxis")]
    extern static Vector3 SO_GetAccIdentity_f();
    [DllImport("libSharedObjectAxis")]
    extern static Vector3 SO_GetMagIdentity_f();
    [DllImport("libSharedObjectAxis")]
    extern static void SO_SetAccIdentity(Vector3D value);
    [DllImport("libSharedObjectAxis")]
    extern static void SO_SetMagIdentity(Vector3D value);

    public struct Vector3D {
        public double x;
        public double y;
        public double z;
        public Vector3D(Vector3 v) {
            this.x = v.x;
            this.y = v.y;
            this.z = v.z;
        }
    }
}