import notifyCenter from 'global';
var ActionJump = require('jump-0.3');
import { KalmanModel, KalmanObservation } from "../js/kalman/kalman";
import { mVector, mMatrix } from "../js/kalman/sylvester"
cc.Class({
extends: cc.Component,
properties: {
playerContro: {
default: null,
type: cc.Node,
serializable: true,
},
playerControScript: {
default: null,
visible: false,
serializable: true,
},
mass: {
default: 50,
type: cc.Integer,
tooltip: "物体质量/kg",
serializable: true,
},
xLCount: {
default: 0,
type: cc.Float,
tooltip: "x轴负向",
visible: false,
serializable: false,
},
xRCount: {
default: 0,
type: cc.Float,
tooltip: "x轴正向",
visible: false,
serializable: false,
},
yLCount: {
default: 0,
type: cc.Float,
tooltip: "y轴负向",
visible: false,
serializable: false,
},
yRCount: {
default: 0,
type: cc.Float,
tooltip: "y轴正向",
visible: false,
serializable: false,
},
zLCount: {
default: 0,
type: cc.Float,
tooltip: "z轴负向",
visible: false,
serializable: false,
},
zRCount: {
default: 0,
type: cc.Float,
tooltip: "z轴正向",
visible: false,
serializable: false,
},
//记录一次打击，如果通方向就更新最大值
hitFirst: {
default: null,
visible: false,
serializable: true,
},
//锁住hit update 更新情况
bLock: {
default: false,
visible: false,
serializable: false,
},
//定义一个状态字典
hitState: {
default: null,
serializable: false,
visible: false,
},
staticTime: {
default: 1,
type: cc.Float,
serializable: true,
tooltip: "立柱静止的检测时间"
},
bSwing: {
default: false,
serializable: true,
tooltip: "是否摆动"
},
showCalorieLabel: {
default: null,
type: cc.Label,
serializable: true
},
LCount: {
default: 0,
type: cc.Integer,
tooltip: "左勾拳打击次数",
visible: false,
serializable: false,
},
RCount: {
default: 0,
type: cc.Integer,
tooltip: "右勾拳打击次数",
visible: false,
serializable: false,
},
ZCount: {
default: 0,
type: cc.Integer,
tooltip: "直拳打击次数",
visible: false,
serializable: false,
},
AllCalorie: {
default: 0,
type: cc.Integer,
tooltip: "总共的卡路里",
visible: false,
serializable: false,
},
AllPower: {
default: 0,
type: cc.Integer,
tooltip: "三次下来的总力量",
visible: false,
serializable: false,
},
bRAnimation: false,
bLAnimation: false,
bMAnimation: false,
currentLimitValue: {
default: 8,
type: cc.Integer,
tooltip: "限制值",
visible: false,
serializable: false,
},
currentLimitDireValue: {
default: 1,
type: cc.Float,
tooltip: "角度限制值",
visible: false,
serializable: false,
},
drawNodeX: {
default: null,
type: cc.Node,
tooltip: "绘制节点",
},
drawNodeZ: {
default: null,
type: cc.Node,
tooltip: "绘制Z节点",
},
drawNodeY: {
default: null,
type: cc.Node,
tooltip: "绘制Y节点",
},
drawNodeLinearX: {
default: null,
type: cc.Node,
tooltip: "绘制节点",
},
drawNodeLinearZ: {
default: null,
type: cc.Node,
tooltip: "绘制Z节点",
},
drawNodeLinearY: {
default: null,
type: cc.Node,
tooltip: "绘制Y节点",
},
drawNodeSqrt: {
default: null,
type: cc.Node,
tooltip: "绘制开平方的节点",
},
drawNodeLinearSqrt: {
default: null,
type: cc.Node,
tooltip: "绘制开平方的节点",
},
drawNodeOriSqrt: {
default: null,
type: cc.Node,
tooltip: "绘制开平方的节点",
},
drawTip: {
default: null,
type: cc.Node,
tooltip: "提示点",
},
//X轴的变化数组值
xAccArray: [],
xMax: 0,
maxTimeoutId: null,
bMaxPause: false,
xMin: 0,
minTimeoutId: null,
bMinPause: false,
bCalculation: false,
calTimeout: null,
//波动判断打击部分
//记录打击的x 轴数据
xArray: [],
//z轴的变化数组值
zArray: [],
//更新的下标
updateIndex: 0,
//是否正在计算对应的值
bCalX: false,
bCalZ: false,
xDifference: 0,
zDifference: 0,
xMaxDifference: 0,
zMaxDifference: 0,
xMaxAddCount: 0,
xAddDifferenceCount: 0,
zMaxAddCount: 0,
zAddDifferenceCount: 0,
hitCountL: 0,
hitCountZ: 0,
//是否判断
bJudging: false,
//z和x系数转换
ratio: 0.5,
//合力计算
oldResultantDifference: 0,
resultantDifference: 0,
bCalResultant: false,
//最大的差值
resultantMaxDifference: 0,
//最大的加速度
resultantMaxX: 0,
resultantMaxZ: 0,
resultantMaxAddCount: 0,
resultAddDifferenceCount: 0,
//传感器部分
sensorHit: false,
phoneAccIndex: 0,
BLEAccIndex: 0,
oldPhoneIndex: 0,
oldBLEAccIndex: 0,
alpha: 0,
beta: 0,
gamma: 0,
oldOriAlpha: 0,
oldOriBeta: 0,
oldOriGamma: 0,
oldOriCount: 0,
jump: false,//是否是跳
jumpCount: 0,
runCount: 0,
bGyroDraw: true,
bAccDraw: true,
gyroDrawLabel: {
default: null,
type: cc.Label,
serializable: true,
},
accDrawLabel: {
default: null,
type: cc.Label,
serializable: true,
},
bGyroLog: false,
bAccLog: false,
gyroLogLabel: {
default: null,
type: cc.Label,
serializable: true,
},
accLogLabel: {
default: null,
type: cc.Label,
serializable: true,
},
rotate: { default: null, type: cc.Node },
//记录当前数据
currentGameDataArray: [],
currentInterval: null,
currentDataArray: [],
//是否先手原始数据
bShowOri: true,
bShowIndex: 0,
//游戏节点
gameNode: {
default: null,
type: cc.Node,
tooltip: "游戏节点",
},
axisLabel: {
default: null,
type: cc.Label,
serializable: true,
},
isY: true,
LastMS: 0,
LastTime: 0,
/**
* 融合算法部分使用的参数
*/
//记录时间
timestamp: 0,
//ms转s
MS2S: 0.001,
//开始初始化bool
initState: true,
// angular speeds from gyro
gyro: new Array(3),
// rotation matrix from gyro data
gyroMatrix: new Array(9),
// orientation angles from gyro matrix
gyroOrientation: new Array(3),
// magnetic field vector
magnet: new Array(3),
// accelerometer vector
accel: new Array(3),
// orientation angles from accel and magnet
accMagOrientation: new Array(3),
// final orientation angles from sensor fusion
fusedOrientation: new Array(3),
// accelerometer and magnetometer based rotation matrix
rotationMatrix: new Array(9),
/**
* 波形
*/
drawX: {
default: null,
type: cc.Node,
tooltip: "绘制X节点",
},
},
onChangeAxis(event) {
// console.log(event);
this.isY = event.isChecked
this.axisLabel.string = this.isY ? 'y' : 'x';
},
// LIFE-CYCLE CALLBACKS:
onLoad() {
//关闭渲染
// this.bAccDraw = false;
window.webView = this;
this.playerControScript = this.playerContro.getComponent("PlayerController");
//游戏节点
if (this.gameNode != null) {
this.gameScript = this.gameNode.getComponent("game");
}
this.hitState = {
"xLCount": 0,
"xRCount": 0,
"zLCount": 0,
"zRCount": 0
}
this.oldxA = 0;
this.oldzA = 0;
this.bUpdateOnce = false;
this.bDelayOnce = false;
this.lineX = this.drawNodeX.getComponent("line");
this.lineZ = this.drawNodeZ.getComponent("line");
this.lineY = this.drawNodeY.getComponent("line");
this.lineLinearX = this.drawNodeLinearX.getComponent("line");
this.lineLinearZ = this.drawNodeLinearZ.getComponent("line");
this.lineLinearY = this.drawNodeLinearY.getComponent("line");
this.drawXScript = this.drawX.getComponent("heartBeat");
this.lineSqrt = this.drawNodeSqrt.getComponent("line");
this.lineSqrtLinear = this.drawNodeLinearSqrt.getComponent("line");
this.lineOriSqrt = this.drawNodeOriSqrt.getComponent("line");
this.lineDrawTip = this.drawTip.getComponent("line");
//判断左右勾拳 z
this.oldAlpha = 0;
this.oldGamma = 0;
this.oldBeta = 0;
this.xA = 0;
this.yA = 0;
this.zA = 0;
this.bJump = false;
this.linear_acceleration_z = 0;
// this.isY = true;
/**
* 算法初始参数
*/
this.gyroOrientation[0] = 0.0;
this.gyroOrientation[1] = 0.0;
this.gyroOrientation[2] = 0.0;
// initialise gyroMatrix with identity matrix
this.gyroMatrix[0] = 1.0; this.gyroMatrix[1] = 0.0; this.gyroMatrix[2] = 0.0;
this.gyroMatrix[3] = 0.0; this.gyroMatrix[4] = 1.0; this.gyroMatrix[5] = 0.0;
this.gyroMatrix[6] = 0.0; this.gyroMatrix[7] = 0.0; this.gyroMatrix[8] = 1.0;
this.schedule(() => {
this.calculateFusedOrientationTask();
}, 0.03, 0, 1)
},
start() {
// 卡曼尔滤波
this.x_0 = mVector([0]);
this.P_0 = mMatrix([[1]]);
this.F_k = mMatrix([[1]]);
this.Q_k = mMatrix([[0.1]]);
this.KM = new KalmanModel(this.x_0, this.P_0, this.F_k, this.Q_k);
// console.log(this.KM);
this.z_k = mVector([1]);
this.H_k = mMatrix([[1]]);
this.R_k = mMatrix([[4]]);
this.KO = new KalmanObservation(this.z_k, this.H_k, this.R_k);
// for (var i = 0; i < 100; i++) {
// let _temp = 0.5 + Math.random();
// _temp *= 9.8;
// if (i == 30)
// _temp = 60;
// if(i == 31)
// _temp = -70;
// if (i > 50) {
// _temp = -100;
// }
// this.z_k = mVector([_temp]);
// this.KO.z_k = this.z_k;
// this.KM.update(this.KO);
// console.log(this.KM.x_k.elements[0], i, _temp);
// this.lineZ.onUpdateIndex();
// this.lineZ.onUpdateDraw(this.KM.x_k.elements[0]);
// }
this.rotate.angle = 90;
this.actionJump = new ActionJump();
this.actionJump.addEventListener('resultant', (e) => {
// console.log(e.type);
if (e.type == 'jump') {
this.jumpCount++;
this.playerControScript.onJumpCount(this.jumpCount);
// this.lineSqrt.onUpdateDrawFromColor(e.value, cc.Color.RED, 5);
this.bJump = true;
} else if (e.type == 'peakOfWave') {
if (this.bAccDraw) {
this.lineSqrt.onUpdateDrawLastValueFromColor(e.oldValue, cc.Color.WHITE, 5, e.lastIndex);
}
} else if (e.type == 'valleyOfWave') {
if (this.bAccDraw) {
this.lineSqrt.onUpdateDrawLastValueFromColor(e.oldValue, cc.Color.BLUE, 5, e.lastIndex);
}
} else if (e.type == 'curAngle') {
// this.playerControScript.onHandleState(e.value);
if (e.value > 0) {
this.rotate.angle = 180;
this.playerControScript.leftJump();
} else {
this.rotate.angle = 0;
this.playerControScript.rightJump();
}
} else if (e.type == 'rotate') {
// if (allOGyroValue > 0) {
// console.log('right:', allOGyroValue);
// } else {
// console.log('left:', allOGyroValue);
// }
} else if (e.type == 'stateDataOfJump') {
console.log('stateDataOfJump:', JSON.stringify(e));
// this.event.trigger('resultant', {
// type: "stateDataOfJump",
// currentMaxValue: _frameMaxValue,
// currentMinValue: _frameMinValue,
// peakOfWaveMaxValue: this.peakOfWaveMaxValue,
// valleyOfWaveMinValue: this.valleyOfWaveMinValue,
// oGyroValue: _frameGyroValue,
// resultant: resultant,
// tempIndex: i, //触发了多少次
// name: "highestCountEnd"
// });
console.log(Math.abs(e.currentMaxValue) > Math.abs(e.currentMinValue) ? "左方向" : "右方向");
console.log(Math.abs(e.oGyroValue) > Math.abs(e.oGyroMinValue) ? "右旋转" : "左旋转");
if (e.oGyroValue > 1000) {
this.rotate.angle = 0;
} else if (e.oGyroMinValue < -1000) {
this.rotate.angle = 180;
}
//发送给game，在game里面处理判断
// if (this.gameScript)
// this.gameScript.listenStateDataOfJump(e, this.isY);
} else if (e.type == 'bUpdateDraw') {
if (this.bAccDraw) {
let { lAccX, lAccY, lAccZ } = e.data.linearAcc;
let { oAccX, oAccY, oAccZ } = e.data.oriAcc;
// if (lAccX > 0)
// this.lineX.onUpdateDraw(lAccX);
// else
// this.lineX.onUpdateDrawFromColor(lAccX, cc.Color.WHITE, 2);
// this.lineLinearX.onUpdateDrawFromColor(oAccX, "#00F0FF", 2);
// this.z_k = mVector([e.linearZ]);
// this.KO.z_k = this.z_k;
// this.KM.update(this.KO);
// // console.log(this.KM.x_k.elements[0], e.linearZ);
// if (this.KM.x_k.elements[0] > 0)
// this.lineZ.onUpdateDraw(this.KM.x_k.elements[0]);
// else
// this.lineZ.onUpdateDrawFromColor(this.KM.x_k.elements[0], cc.Color.WHITE, 2);
// if (lAccZ > 0)
// this.lineZ.onUpdateDraw(lAccZ);
// else
// this.lineZ.onUpdateDrawFromColor(lAccZ, cc.Color.WHITE, 2);
this.lineZ.onUpdateDraw(oAccZ);
this.lineLinearZ.onUpdateDrawFromColor(lAccZ, "#00F0FF", 2);
}
} else if (e.type == 'stop') {
console.log('stop');
this.onSaveData(this.currentGameDataArray);
this.lineX.clear();
this.lineY.clear();
this.lineLinearY.clear();
//
let tempArray = e.tempDataArray[0];
for (let i = 0; i < tempArray.length; i++) {
//绘制读取的数据
this.lineY.onUpdateIndex();
this.lineY.onUpdateDraw(tempArray[i].oriAcc.oAccZ);
this.lineLinearY.onUpdateIndex();
this.lineLinearY.onUpdateDraw(tempArray[i].linearAcc.lAccZ);
if (i < 30) {
this.lineX.onUpdateIndex();
this.lineX.onUpdateDraw(tempArray[i].oriAcc.oAccZ);
}
}
}
})
this.onBind();
setInterval(() => {
let ave = this.phoneAccIndex - this.oldPhoneIndex;
this.playerControScript.onAvePhoneIndex(ave);
this.oldPhoneIndex = this.phoneAccIndex;
let ave2 = this.BLEAccIndex - this.oldBLEAccIndex;
this.playerControScript.onAveBLEIndex(ave2);
this.oldBLEAccIndex = this.BLEAccIndex;
}, 1000)
// for (let i = 0; i < 300; i++) {
// let box = {};
// box["acc"] = {
// ax: -9 * Math.random() + 0.1,
// ay: -9 * Math.random() + 0.1,
// az: 9 * Math.random() + 0.1
// };
// box["gyro"] = {
// gx: -9 * Math.random() + 0.1,
// gy: -9 * Math.random() + 0.1,
// gz: 9 * Math.random() + 0.1
// };
// box["min"] = 0;
// box["s"] = 0;
// box["ms"] = 10 * i + 10;
// this.onBLEBoxUpdate(box);
// }
// let index = 0;
// this.schedule(() => {
// let box = {};
// box["acc"] = {
// ax: -9 * Math.random() + 0.1,
// ay: -9 * Math.random() + 0.1,
// az: 9 * Math.random() + 0.1
// };
// box["gyro"] = {
// gx: -9 * Math.random() + 0.1,
// gy: -9 * Math.random() + 0.1,
// gz: 9 * Math.random() + 0.1
// };
// box["min"] = 0;
// box["s"] = 0;
// box["ms"] = 10 * index + 10;
// index ++ ;
// this.onBLEBoxUpdate(box);
// }, 0.03)
},
//重置一下，记录的数据
onResetAccState() {
console.log("重置 onResetAccState");
this.hitFirst = null;
this.bLock = false;
this.hitState = {
"xLCount": 0,
"xRCount": 0,
"zLCount": 0,
"zRCount": 0
}
},
onBind() {
notifyCenter.on('webViewMessage', (data) => {
let name = data.funName;
if (name == "onWatchAccelerometer") {
/**
* 返回加速计的数据
* {
* xAxis
* yAxis
* zAxis
* }
*/
webView.onUpdateAcc(data);
} else if (name == "onWatchOrientation") {
} else if (name == "onDeviceUpdateData") {
webView.sensorHit = true;
let gameData = data.gameData;
// console.log(gameData.data);
if (gameData.dataType == "Box") {
webView.onBLEBoxUpdate(gameData.data, true);
}
} else if (name == "onDeviceUpdateJson") {
let gameData = data.gameData;
if (gameData.dataType == "Json") {
webView.onBLEJsonUpdate(gameData.data);
}
} else if (name == 'saveData') {
let gameData = data.gameData;
// console.log("saveData:", gameData.length);
//停止硬件更新
webView.onSendWriteBLEDataValue(null, 4);
let saveArrayData = gameData;
// for (let i = 0; i < saveArrayData.length; i++) {
// console.log(saveArrayData[i]);
// //绘制读取的数据
// }
if (this.currentInterval) {
this.currentInterval = null;
clearInterval(this.currentInterval);
}
let _index = 60;
let _length = saveArrayData.length - 370;
// this.currentInterval = setInterval(() => {
// webView.onBLEBoxUpdate(saveArrayData[_index]);
// _index++;
// if (_index >= _length) {
// clearInterval(this.currentInterval);
// }
// }, 0, 0.006)
for (let i = _index; i < _length; i++) {
//绘制读取的数据
webView.onBLEBoxUpdate(saveArrayData[i]);
}
this.actionJump.setEndUpdate();
}
});
// 监听蓝牙设备刷新
uni.postMessage({
data: {
funName: "addDeviceUpdateListener",
gameData: {}
}
})
//监听蓝牙设备刷新
uni.postMessage({
data: {
funName: "addDeviceJsonUpdateListener",
gameData: {}
}
})
},
onUnBind() {
notifyCenter.off('webViewMessage');
uni.postMessage({
data: {
funName: "closeAccelerometer",
gameData: {}
}
})
uni.postMessage({
data: {
funName: "closeOrientation",
gameData: {}
}
})
},
//返回一个json对象
onBLEJsonUpdate(gameData) {
// console.log("json:", gameData);
},
//手柄盒子数据处理
/**
* 计算数据不能为 0， gx, gy, gz
* @param {*} gameData
* @returns
*/
onBLEBoxUpdate(gameData, bAdd) {
//记录最近的500帧原始设备数据
if (bAdd) {
if (this.currentGameDataArray.length <= 500) {
this.currentGameDataArray.push(gameData);
} else {
this.currentGameDataArray.shift();
this.currentGameDataArray.push(gameData);
}
}
// console.log(gameData);
//********传感器数值********
let { ax, ay, az } = gameData.acc;
let { gx, gy, gz } = gameData.gyro;
let { min, s, ms } = gameData;
// //更新
// //更新Accl
// this.accel = [ax, ay, az];
// this.calculateAccMagOrientation();
// //更新计算gyro
// this.gyroFunction([gx, gy, gz], ms);
//更新index
if (this.bAccDraw) {
// this.lineX.onUpdateIndex();
this.lineZ.onUpdateIndex();
// this.lineY.onUpdateIndex();
this.lineLinearX.onUpdateIndex();
// this.lineLinearY.onUpdateIndex();
this.lineLinearZ.onUpdateIndex();
this.lineSqrt.onUpdateIndex();
this.lineOriSqrt.onUpdateIndex();
// if (this.bGyroDraw) {
// this.lineX.onUpdateDrawOriBeta(gx);
// this.lineX.onUpdateDrawOriGamma(gy);
// this.lineX.onUpdateDrawOriAlpha(gz);
// this.lineOriSqrt.onUpdateDraw(oriNew);
// }
// this.playerControScript.updateOriSqrt(oriNew);
}
// var msGap = ms - this.LastMS;
// if (msGap < 0) {
// msGap += 1000;
// }
// this.LastMS = ms;
// let _ax = gameData.acc.ax * 10;
// let _ay = gameData.acc.ay * 10;
// let _az = gameData.acc.az * 10;
// //低通滤波分离重力
// let curTime = new Date().getTime();
// let alpha = 1000 / (1000 + msGap); // 0.8;
// this.LastTime = curTime;
// this.xA = alpha * this.xA + (1 - alpha) * _ax;
// this.yA = alpha * this.yA + (1 - alpha) * _ay;
// this.zA = alpha * this.zA + (1 - alpha) * _az;
//高通滤波获取线性速度
// let linear_acceleration_x = _ax - this.xA;
// let linear_acceleration_y = _ay - this.yA;
// let linear_acceleration_z = _az - this.zA;
// let _temp = {
// oriAcc: {
// oAccX: _ax,
// oAccY: _ay,
// oAccZ: _az
// },
// linearAcc: {
// lAccX: linear_acceleration_x,
// lAccY: linear_acceleration_y,
// lAccZ: linear_acceleration_z
// },
// gravityAcc: {
// gravityX: this.xA,
// gravityY: this.yA,
// gravityZ: this.zA
// },
// bLimitRebound: false,
// resultant: Math.sqrt(_ax * _ax
// + _ay * _ay + _az * _az),
// runIndex: this.BLEAccIndex,
// //陀螺仪
// oriGyro: {
// oGyroX: gx,
// oGyroY: gy,
// oGyroZ: gz
// },
// //输入当前轴
// bYAxis: this.isY,
// };
gameData.BLEAccIndex = this.BLEAccIndex;
gameData.bYAxis = this.isY;
this.actionJump.updateJump(gameData);
// this.currentDataArray.push(_temp);
// this.drawXScript.addPoint(_temp.oriAcc.oAccX);
if (this.bAccDraw) {
//显示
// this.playerControScript.updateAcc({ xAxis: _ax, yAxis: _ay, zAxis: _az });
// this.playerControScript.updateAcc({ xAxis: deltaVector[0], yAxis: deltaVector[1], zAxis: deltaVector[2] });
// this.playerControScript.updateStr(deltaVector[3]);
// this.playerControScript.updateAcc({ xAxis: this.gyroOrientation[0], yAxis: this.gyroOrientation[1], zAxis: this.gyroOrientation[2] });
// this.playerControScript.updateSqrt(_temp.resultant);
this.lineOriSqrt.onUpdateDraw(gy);
}
// if (this.bAccDraw) {
// this.lineSqrt.onUpdateDraw(_temp.resultant);
// }
// if (this.bAccLog) {
// console.log("acc:" + JSON.stringify(gameData.acc));
// }
this.playerControScript.updateBLEIndex(this.BLEAccIndex);
if (this.BLEAccIndex > 150) {
this.onClear();
this.bJump = false;
}
this.BLEAccIndex++;
this.oldxA = this.xA;
},
onClear() {
// this.lineX.clear();
this.lineZ.clear();
// this.lineY.clear();
this.lineLinearX.clear();
// this.lineLinearY.clear();
this.lineLinearZ.clear();
this.lineSqrt.clear();
this.lineOriSqrt.clear();
this.BLEAccIndex = 0;
this.oldBLEAccIndex = 0;
this.currentDataArray = [];
this.rotate.angle = 90;
},
onSendWriteBLEData() {
uni.postMessage({
data: {
funName: "writeBLEConnectionValue",
gameData: {
value: this.playerControScript.writeValue
}
}
})
},
onSendWriteBLEDataValue(event, data) {
console.log(data);
this.onClear();
this.bJump = false;
uni.postMessage({
data: {
funName: "writeBLEConnectionValue",
gameData: {
value: data
}
}
})
console.log(this.gyroMatrix);
console.log(this.gyroMatrix.length);
},
onSaveData(data) {
uni.postMessage({
data: {
funName: "saveData",
gameData: {
value: data
}
}
})
},
onGetData() {
uni.postMessage({
data: {
funName: "getData",
gameData: {}
}
})
},
onOnlySendWriteBLEDataValue(event, data) {
console.log(data);
uni.postMessage({
data: {
funName: "writeBLEConnectionValue",
gameData: {
value: data
}
}
})
},
//在app 端输出log
onLog(str) {
uni.postMessage({
data: {
funName: "log",
gameData: str
}
})
},
onChangeAccDraw() {
console.log("this.bAccDraw", this.bAccDraw);
this.bAccDraw = !this.bAccDraw;
this.accDrawLabel.string = this.bAccDraw ? "关闭渲染加速计" : "开启渲染加速计";
},
onChangeGyroDraw() {
this.bGyroDraw = !this.bGyroDraw;
this.gyroDrawLabel.string = this.bGyroDraw ? "关闭渲染陀螺仪" : "开启渲染陀螺仪";
},
onShowAccLog() {
this.bAccLog = !this.bAccLog;
this.accLogLabel.string = this.bAccLog ? "关闭加速计日志" : "开启加速计日志";
},
onShowGyroLog() {
this.bGyroLog = !this.bGyroLog;
this.gyroLogLabel.string = this.bGyroLog ? "关闭陀螺仪日志" : "开启陀螺仪日志";
},
onSlideEvent(data) {
this.bShowIndex = data.progress;
this.onUpdateShowData(this.bShowIndex);
},
onSwitchData(data) {
// console.log(data.node);
this.bShowOri = data.isChecked;
data.node.getChildByName('label').getComponent(cc.Label).string = this.bShowOri ? '原始数据' : '线性加速度';
this.onUpdateShowData(this.bShowIndex);
},
onUpdateShowData(_progress) {
let _length = this.currentDataArray.length;
let index = Math.ceil(_progress * _length);
let _data = this.currentDataArray[index - 1 < 0 ? 0 : index - 1];
let currentX = _data.oriAcc.x;
let currentZ = _data.oriAcc.z;
let currentY = _data.oriAcc.y;
if (!this.bShowOri) {
currentX = _data.linearAcc.ax;
currentZ = _data.linearAcc.az;
currentY = _data.linearAcc.ay;
}
//显示
this.playerControScript.updateAcc({ xAxis: currentX, yAxis: currentY, zAxis: currentZ });
this.playerControScript.updateSqrt(_data.resultant);
this.lineDrawTip.drawCicleFromIndex(index);
},
/**
*
* 处理陀螺仪数据
*
*/
getRotationVectorFromGyro(gyroValues, deltaRotationVector, timeFactor) {
// console.log("gyroValues:", gyroValues);
let EPSILON = 0.001;
let normValues = new Array(3);;
// Calculate the angular speed of the sample
let omegaMagnitude = Math.sqrt(gyroValues[0] * gyroValues[0] +
gyroValues[1] * gyroValues[1] +
gyroValues[2] * gyroValues[2]);
// Normalize the rotation vector if it's big enough to get the axis
if (omegaMagnitude > EPSILON) {
normValues[0] = gyroValues[0] / omegaMagnitude;
normValues[1] = gyroValues[1] / omegaMagnitude;
normValues[2] = gyroValues[2] / omegaMagnitude;
}
// Integrate around this axis with the angular speed by the timestep
// in order to get a delta rotation from this sample over the timestep
// We will convert this axis-angle representation of the delta rotation
// into a quaternion before turning it into the rotation matrix.
let thetaOverTwo = omegaMagnitude * timeFactor;
let sinThetaOverTwo = Math.sin(thetaOverTwo);
let cosThetaOverTwo = Math.cos(thetaOverTwo);
// console.log(sinThetaOverTwo, "==", normValues[0]);
deltaRotationVector[0] = sinThetaOverTwo * normValues[0];
deltaRotationVector[1] = sinThetaOverTwo * normValues[1];
deltaRotationVector[2] = sinThetaOverTwo * normValues[2];
deltaRotationVector[3] = cosThetaOverTwo;
},
/** Helper function to convert a rotation vector to a rotation matrix.
* Given a rotation vector (presumably from a ROTATION_VECTOR sensor), returns a
* 9 or 16 element rotation matrix in the array R. R must have length 9 or 16.
* If R.length == 9, the following matrix is returned:
*
* / R[ 0] R[ 1] R[ 2] \
* | R[ 3] R[ 4] R[ 5] |
* \ R[ 6] R[ 7] R[ 8] /
*
* If R.length == 16, the following matrix is returned:
*
* / R[ 0] R[ 1] R[ 2] 0 \
* | R[ 4] R[ 5] R[ 6] 0 |
* | R[ 8] R[ 9] R[10] 0 |
* \ 0 0 0 1 /
*
* @param rotationVector the rotation vector to convert
* @param R an array of floats in which to store the rotation matrix
*/
getRotationMatrixFromVector(R, rotationVector) {
let q0;
let q1 = rotationVector[0];
let q2 = rotationVector[1];
let q3 = rotationVector[2];
if (rotationVector.length >= 4) {
q0 = rotationVector[3];
} else {
q0 = 1 - q1 * q1 - q2 * q2 - q3 * q3;
q0 = (q0 > 0) ? Math.sqrt(q0) : 0;
}
let sq_q1 = 2 * q1 * q1;
let sq_q2 = 2 * q2 * q2;
let sq_q3 = 2 * q3 * q3;
let q1_q2 = 2 * q1 * q2;
let q3_q0 = 2 * q3 * q0;
let q1_q3 = 2 * q1 * q3;
let q2_q0 = 2 * q2 * q0;
let q2_q3 = 2 * q2 * q3;
let q1_q0 = 2 * q1 * q0;
if (R.length == 9) {
R[0] = 1 - sq_q2 - sq_q3;
R[1] = q1_q2 - q3_q0;
R[2] = q1_q3 + q2_q0;
R[3] = q1_q2 + q3_q0;
R[4] = 1 - sq_q1 - sq_q3;
R[5] = q2_q3 - q1_q0;
R[6] = q1_q3 - q2_q0;
R[7] = q2_q3 + q1_q0;
R[8] = 1 - sq_q1 - sq_q2;
} else if (R.length == 16) {
R[0] = 1 - sq_q2 - sq_q3;
R[1] = q1_q2 - q3_q0;
R[2] = q1_q3 + q2_q0;
R[3] = 0.0;
R[4] = q1_q2 + q3_q0;
R[5] = 1 - sq_q1 - sq_q3;
R[6] = q2_q3 - q1_q0;
R[7] = 0.0;
R[8] = q1_q3 - q2_q0;
R[9] = q2_q3 + q1_q0;
R[10] = 1 - sq_q1 - sq_q2;
R[11] = 0.0;
R[12] = R[13] = R[14] = 0.0;
R[15] = 1.0;
}
},
matrixMultiplication(A, B) {
let result = new Array(9);
result[0] = A[0] * B[0] + A[1] * B[3] + A[2] * B[6];
result[1] = A[0] * B[1] + A[1] * B[4] + A[2] * B[7];
result[2] = A[0] * B[2] + A[1] * B[5] + A[2] * B[8];
result[3] = A[3] * B[0] + A[4] * B[3] + A[5] * B[6];
result[4] = A[3] * B[1] + A[4] * B[4] + A[5] * B[7];
result[5] = A[3] * B[2] + A[4] * B[5] + A[5] * B[8];
result[6] = A[6] * B[0] + A[7] * B[3] + A[8] * B[6];
result[7] = A[6] * B[1] + A[7] * B[4] + A[8] * B[7];
result[8] = A[6] * B[2] + A[7] * B[5] + A[8] * B[8];
return result;
},
/**
* Computes the device's orientation based on the rotation matrix.
*
* When it returns, the array values are as follows:
*
* - values[0]: Azimuth, angle of rotation about the -z axis.
* This value represents the angle between the device's y
* axis and the magnetic north pole. When facing north, this
* angle is 0, when facing south, this angle is π.
* Likewise, when facing east, this angle is π/2, and
* when facing west, this angle is -π/2. The range of
* values is -π to π.
* - values[1]: Pitch, angle of rotation about the x axis.
* This value represents the angle between a plane parallel
* to the device's screen and a plane parallel to the ground.
* Assuming that the bottom edge of the device faces the
* user and that the screen is face-up, tilting the top edge
* of the device toward the ground creates a positive pitch
* angle. The range of values is -π to π.
* - values[2]: Roll, angle of rotation about the y axis. This
* value represents the angle between a plane perpendicular
* to the device's screen and a plane perpendicular to the
* ground. Assuming that the bottom edge of the device faces
* the user and that the screen is face-up, tilting the left
* edge of the device toward the ground creates a positive
* roll angle. The range of values is -π/2 to π/2.
*
*
* Applying these three rotations in the azimuth, pitch, roll order
* transforms an identity matrix to the rotation matrix passed into this
* method. Also, note that all three orientation angles are expressed in
* radians.
*
* @param R
* rotation matrix see {@link #getRotationMatrix}.
*
* @param values
* an array of 3 floats to hold the result.
*
* @return The array values passed as argument.
*
* @see #getRotationMatrix(float[], float[], float[], float[])
* @see GeomagneticField
*/
getOrientation(R, values) {
/*
* 4x4 (length=16) case:
* / R[ 0] R[ 1] R[ 2] 0 \
* | R[ 4] R[ 5] R[ 6] 0 |
* | R[ 8] R[ 9] R[10] 0 |
* \ 0 0 0 1 /
*
* 3x3 (length=9) case:
* / R[ 0] R[ 1] R[ 2] \
* | R[ 3] R[ 4] R[ 5] |
* \ R[ 6] R[ 7] R[ 8] /
*
*/
if (R.length == 9) {
values[0] = Math.atan2(R[1], R[4]);
values[1] = Math.asin(-R[7]);
values[2] = Math.atan2(-R[6], R[8]);
} else {
values[0] = Math.atan2(R[1], R[5]);
values[1] = Math.asin(-R[9]);
values[2] = Math.atan2(-R[8], R[10]);
}
return values;
},
getRotationMatrixFromOrientation(o) {
let xM = new Array(9);
let yM = new Array(9);
let zM = new Array(9);
let sinX = Math.sin(o[1]);
let cosX = Math.cos(o[1]);
let sinY = Math.sin(o[2]);
let cosY = Math.cos(o[2]);
let sinZ = Math.sin(o[0]);
let cosZ = Math.cos(o[0]);
// rotation about x-axis (pitch)
xM[0] = 1.0; xM[1] = 0.0; xM[2] = 0.0;
xM[3] = 0.0; xM[4] = cosX; xM[5] = sinX;
xM[6] = 0.0; xM[7] = -sinX; xM[8] = cosX;
// rotation about y-axis (roll)
yM[0] = cosY; yM[1] = 0.0; yM[2] = sinY;
yM[3] = 0.0; yM[4] = 1.0; yM[5] = 0.0;
yM[6] = -sinY; yM[7] = 0.0; yM[8] = cosY;
// rotation about z-axis (azimuth)
zM[0] = cosZ; zM[1] = sinZ; zM[2] = 0.0;
zM[3] = -sinZ; zM[4] = cosZ; zM[5] = 0.0;
zM[6] = 0.0; zM[7] = 0.0; zM[8] = 1.0;
// rotation order is y, x, z (roll, pitch, azimuth)
let resultMatrix = this.matrixMultiplication(xM, yM);
resultMatrix = this.matrixMultiplication(zM, resultMatrix);
return resultMatrix;
},
calculateAccMagOrientation() {
// magnet
if (this.getRotationMatrix(this.rotationMatrix, null, this.accel, [1, 1, 1])) {
this.getOrientation(this.rotationMatrix, this.accMagOrientation);
}
// this.getOrientation(this.rotationMatrix, this.accel);
},
getRotationMatrix(R, I, gravity, geomagnetic) {
// TODO: move this to native code for efficiency
let Ax = gravity[0];
let Ay = gravity[1];
let Az = gravity[2];
let normsqA = (Ax * Ax + Ay * Ay + Az * Az);
let g = 9.81;
let freeFallGravitySquared = 0.01 * g * g;
if (normsqA < freeFallGravitySquared) {
// gravity less than 10% of normal value
return false;
}
let Ex = geomagnetic[0];
let Ey = geomagnetic[1];
let Ez = geomagnetic[2];
let Hx = Ey * Az - Ez * Ay;
let Hy = Ez * Ax - Ex * Az;
let Hz = Ex * Ay - Ey * Ax;
let normH = Math.sqrt(Hx * Hx + Hy * Hy + Hz * Hz);
if (normH < 0.1) {
// device is close to free fall (or in space?), or close to
// magnetic north pole. Typical values are > 100.
return false;
}
let invH = 1.0 / normH;
Hx *= invH;
Hy *= invH;
Hz *= invH;
let invA = 1.0 / Math.sqrt(Ax * Ax + Ay * Ay + Az * Az);
Ax *= invA;
Ay *= invA;
Az *= invA;
let Mx = Ay * Hz - Az * Hy;
let My = Az * Hx - Ax * Hz;
let Mz = Ax * Hy - Ay * Hx;
if (R != null) {
if (R.length == 9) {
R[0] = Hx; R[1] = Hy; R[2] = Hz;
R[3] = Mx; R[4] = My; R[5] = Mz;
R[6] = Ax; R[7] = Ay; R[8] = Az;
} else if (R.length == 16) {
R[0] = Hx; R[1] = Hy; R[2] = Hz; R[3] = 0;
R[4] = Mx; R[5] = My; R[6] = Mz; R[7] = 0;
R[8] = Ax; R[9] = Ay; R[10] = Az; R[11] = 0;
R[12] = 0; R[13] = 0; R[14] = 0; R[15] = 1;
}
}
if (I != null) {
// compute the inclination matrix by projecting the geomagnetic
// vector onto the Z (gravity) and X (horizontal component
// of geomagnetic vector) axes.
let invE = 1.0 / Math.sqrt(Ex * Ex + Ey * Ey + Ez * Ez);
let c = (Ex * Mx + Ey * My + Ez * Mz) * invE;
let s = (Ex * Ax + Ey * Ay + Ez * Az) * invE;
if (I.length == 9) {
I[0] = 1; I[1] = 0; I[2] = 0;
I[3] = 0; I[4] = c; I[5] = s;
I[6] = 0; I[7] = -s; I[8] = c;
} else if (I.length == 16) {
I[0] = 1; I[1] = 0; I[2] = 0;
I[4] = 0; I[5] = c; I[6] = s;
I[8] = 0; I[9] = -s; I[10] = c;
I[3] = I[7] = I[11] = I[12] = I[13] = I[14] = 0;
I[15] = 1;
}
}
return true;
},
gyroFunction(gyroValues, timeMs) {
// don't start until first accelerometer/magnetometer orientation has been acquired
if (this.accMagOrientation == null)
return;
// initialisation of the gyroscope based rotation matrix
if (this.initState) {
let initMatrix = new Array(9);
initMatrix = this.getRotationMatrixFromOrientation(this.accMagOrientation);
let test = new Array(3);
this.getOrientation(initMatrix, test);
this.gyroMatrix = this.matrixMultiplication(this.gyroMatrix, initMatrix);
this.initState = false;
}
// copy the new gyro values into the gyro array
// convert the raw gyro data into a rotation vector
let deltaVector = new Array(4);
// if (this.timestamp != 0) {
// }
let dT = (timeMs - this.timestamp) * this.MS2S;
this.gyro = [];
gyroValues.forEach((item) => this.gyro.push(item));
this.getRotationVectorFromGyro(this.gyro, deltaVector, dT / 2.0);
// measurement done, save current time for next interval
this.timestamp = timeMs;
// convert rotation vector into rotation matrix
let deltaMatrix = new Array(9);
// console.log("deltaVector1:" + deltaVector);
// console.log("deltaMatrix1:" + deltaMatrix);
this.getRotationMatrixFromVector(deltaMatrix, deltaVector);
// console.log("deltaVector2:" + deltaVector);
// console.log("deltaMatrix2:" + deltaMatrix);
// apply the new rotation interval on the gyroscope based rotation matrix
this.gyroMatrix = this.matrixMultiplication(this.gyroMatrix, deltaMatrix);
// console.log(this.gyroMatrix);
// console.log(this.gyroMatrix.length);
// get the gyroscope based orientation from the rotation matrix
this.getOrientation(this.gyroMatrix, this.gyroOrientation);
},
/**
* 主要计算
*/
calculateFusedOrientationTask() {
let FILTER_COEFFICIENT = 0.98;
let oneMinusCoeff = 1.0 - FILTER_COEFFICIENT;
this.fusedOrientation[0] =
FILTER_COEFFICIENT * this.gyroOrientation[0]
+ oneMinusCoeff * this.accMagOrientation[0];
this.fusedOrientation[1] =
FILTER_COEFFICIENT * this.gyroOrientation[1]
+ oneMinusCoeff * this.accMagOrientation[1];
this.fusedOrientation[2] =
FILTER_COEFFICIENT * this.gyroOrientation[2]
+ oneMinusCoeff * this.accMagOrientation[2];
// overwrite gyro matrix and orientation with fused orientation
// to comensate gyro drift
this.gyroMatrix = this.getRotationMatrixFromOrientation(this.fusedOrientation);
// System.arraycopy(fusedOrientation, 0, gyroOrientation, 0, 3);
this.gyroOrientation = [];
this.fusedOrientation.forEach((item) => this.gyroOrientation.push(item));
}
});