Capricorn|Unity3d利用传感器实现AR应用的SLAM功能(2)

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本帖最后由 zzlple 于 2016-5-20 21:58 编辑

在上次的教程中我们介绍给大家一个基于加速计，陀螺仪等传感器于一体的插件，那么在本次的教程中我们就来阐述，怎么使用这个轮子，接下来我们直接贴上代码：
using UnityEngine;
using System.Collections;
namespace com.arinchina.demo
{

/// <summary>
/// On slam reset.当重置时，恢复物体到原点
/// </summary>
public delegate void OnSlamReset ();

public class SlamManager : MonoBehaviour
{
      public static OnSlamReset OnSlamReset;
      public enum SlamType
      {

         Hardware,
         UserDefine
      }

      /// <summary>
      /// The type of the slam.
      /// </summary>
      public SlamType slamType;

      /// <summary>
      /// The ho.
      /// </summary>
      public float PositionY = 30f;
      public float PositionZ = -150f;
      /// <summary>
      /// The en able debug mode.
      /// </summary>
      public bool enableDebugMode;
      /// <summary>
      /// The initial camera rotation.
      /// </summary>
      private Quaternion initialCameraRotation = Quaternion.identity;
      /// <summary>
      /// The rotation euler angle.android
      /// </summary>
      private Vector3 RotationEulerAngle;
      /// <summary>
      /// The sensor fix.iphone
      /// </summary>
      private Quaternion sensorFix;
      /// <summary>
      /// The enable slam.
      /// </summary>
      public bool enableSlam = false;
      /// <summary>
      /// Start this instance.
      /// </summary>
      private bool isBackCamera = true;

      public static bool rotationFixed = false;

      void Awake ()
      {

         Invoke ("AutoSelect", 0.1f);
         initialCameraRotation = Quaternion.identity;
         SensorHelper.ActivateRotation ();
         if (!rotationFixed) {
            StartCoroutine (FixRotation ());
         }

      }

      // Update is called once per frame
      void LateUpdate ()
      {

         #if UNITY_ANDROID
         RotationEulerAngle = SensorHelper.rotation.eulerAngles;
         if (enableSlam && SensorHelper.gotFirstValue) {
         transform.rotation = initialCameraRotation * SensorHelper.rotation;
         }
         #endif

         #if UNITY_IPHONE

         if (enableSlam) {
            sensorFix = new Quaternion (SensorHelper.rotation.x, SensorHelper.rotation.y, -SensorHelper.rotation.z, -SensorHelper.rotation.w);
            transform.rotation = initialCameraRotation * sensorFix;
         }
         #endif

      }

      public void StartSlam (bool isBackCamera)
      {

         #if UNITY_ANDROID
         switch (slamType) {
         case SlamType.Hardware:
         transform.localPosition = new Vector3 (0, PositionY, PositionZ);
         transform.localEulerAngles = new Vector3 (0f, 0f, 0f);
         if (isBackCamera) {
         transform.localEulerAngles = new Vector3 (0f, 0f, RotationEulerAngle.z);
         transform.RotateAround (Vector3.zero, Vector3.right, Time.timeScale * (RotationEulerAngle.x));
         } else {
         transform.localEulerAngles = new Vector3 (0, 0, RotationEulerAngle.z + 180);
         transform.RotateAround (Vector3.zero, Vector3.right, Time.timeScale * (RotationEulerAngle.x));
         }
         if (isBackCamera) {
         initialCameraRotation = transform.rotation * Quaternion.Inverse (SensorHelper.rotation);
         } else {
         initialCameraRotation = transform.rotation * Quaternion.Inverse (SensorHelper.rotation);
         }

         enableSlam = true;
         break;

         case SlamType.UserDefine:
         enableSlam = false;


         break;
         }

         #endif

         #if UNITY_IPHONE
         switch (slamType) {
         case SlamType.Hardware:
            transform.localPosition = new Vector3 (0, PositionY, PositionZ);
            transform.localEulerAngles = new Vector3 (0f, 0f, 0f);
            sensorFix = new Quaternion (SensorHelper.rotation.x, SensorHelper.rotation.y, -SensorHelper.rotation.z, -SensorHelper.rotation.w);
            float uz = Mathf.Asin (Input.gyro.gravity.x) * Mathf.Rad2Deg;
            float ux = Mathf.Asin (Input.gyro.gravity.z) * Mathf.Rad2Deg;
            transform.localEulerAngles = new Vector3 (0f, 0f, -uz);
            transform.RotateAround (Vector3.zero, Vector3.right, Time.timeScale * (-ux));
            initialCameraRotation = transform.rotation * Quaternion.Inverse (sensorFix);
            enableSlam = true;
            break;

         case SlamType.UserDefine:
            enableSlam = false;

            break;
         }

         #endif

      }

      /// <summary>
      /// Stops the slam.
      /// </summary>
      public void StopSlam ()
      {

         enableSlam = false;
         transform.localPosition = new Vector3 (0, PositionY, PositionZ);
         if (isBackCamera) {
            transform.localEulerAngles = Vector3.zero;
         } else {
            transform.localEulerAngles = Vector3.zero;
         }

         transform.localScale = Vector3.one;

      }

      IEnumerator FixRotation ()
      {
         for (int i = 0; i < 4; i++) {

            if (enableSlam) {
                  #if UNITY_ANDROID
                  initialCameraRotation = transform.rotation * Quaternion.Inverse (SensorHelper.rotation);
                  #endif
                  #if UNITY_IPHONE
                  sensorFix = new Quaternion (SensorHelper.rotation.x, SensorHelper.rotation.y, -SensorHelper.rotation.z, -SensorHelper.rotation.w);
                  initialCameraRotation = transform.rotation * Quaternion.Inverse (sensorFix);
                  #endif

            } else {
                  StopSlam ();
            }
            enableSlam = !enableSlam;
            rotationFixed = false;
            yield return new WaitForFixedUpdate ();
         }
         rotationFixed = true;

      }

      public void AutoSelect ()
      {
         if (Input.gyro.enabled == false && (Input.acceleration.x == 0 && Input.acceleration.y == 0 && Input.acceleration.z == 0)) {
            slamType = SlamType.UserDefine;

               } else {
            slamType = SlamType.Hardware;
      }

      }

      public void reset ()
      {

         StopSlam ();
         StartSlam (isBackCamera);

         if (null != OnSlamReset) {

            OnSlamReset ();
         }
      }

      #if UNITY_IPHONE

      #endif

}

}

好了，今天关于如何使用综合传感器的教程到这里结束，在使用的过程中，如果有什么疑问，欢迎大家踊跃提出来