Encapsulation of a mobile device rotation set by the device's IMU sensor. More...

#include <SLDeviceRotation.h>

Public Member Functions
	SLDeviceRotation ()

void	init ()

void	onRotationQUAT (SLfloat quatX, SLfloat quatY, SLfloat quatZ, SLfloat quatW)

void	isUsed (SLbool isUsed)
	Setter that turns on the device rotation sensor. More...

void	hasStarted (SLbool started)

void	zeroYawAtStart (SLbool zeroYaw)

void	numAveraged (SLint numAvg)
	Returns the device rotation averaged over multple frames. More...

void	offsetMode (SLRotOffsetMode rom)

void	updateRPY (SLbool doUpdate)

SLbool	isUsed () const

SLMat3f	rotation () const

SLMat3f	rotationAveraged ()

SLQuat4f	quaternion () const

SLfloat	pitchRAD () const

SLfloat	pitchDEG () const

SLfloat	yawRAD () const

SLfloat	yawDEG () const

SLfloat	rollRAD () const

SLfloat	rollDEG () const

SLbool	zeroYawAtStart () const

SLfloat	startYawRAD () const

SLint	numAveraged ()

SLRotOffsetMode	offsetMode ()

SLstring	offsetModeStr () const
	Returns the rotation offset mode as string. More...

SLbool	updateRPY () const

Private Attributes
SLbool	_isUsed
	Flag if device rotation is used. More...

SLbool	_isFirstSensorValue
	Flag for the first sensor values. More...

SLfloat	_pitchRAD
	Device pitch angle in radians. More...

SLfloat	_yawRAD
	Device yaw angle in radians. More...

SLfloat	_rollRAD
	Device roll angle in radians. More...

SLMat3f	_rotation
	Mobile device rotation as matrix. More...

Averaged< SLMat3f >	_rotationAvg
	Component wise averaged rotation matrix. More...

SLQuat4f	_quaternion

SLbool	_zeroYawAtStart
	Quaternion rotation that is set by IMU. More...

SLfloat	_startYawRAD
	Initial yaw angle after _zeroYawAfterSec in radians. More...

SLRotOffsetMode	_offsetMode
	Rotation offset mode. More...

SLbool	_updateRPY
	Calculate roll pitch yaw in onRotationQUAT. More...

Detailed Description

Encapsulation of a mobile device rotation set by the device's IMU sensor.

This class is only used if SLProject runs on a mobile device. Check out the app-Demo-SLProject/android and app_demo_slproject/ios how the sensor data is generated and passed to this object hold by AppDemo. It stores the devices rotation that it gets from its IMU (inertial measurement unit) sensor. This is a fused orientation that is calculated from the magnetometer, the accelerometer and the gyroscope. The device rotation can be used in the active camera to apply it to the scene camera (s. SLCamera::setView).

Constructor & Destructor Documentation

◆ SLDeviceRotation()

SLDeviceRotation::SLDeviceRotation ( )

Member Function Documentation

◆ hasStarted()

void SLDeviceRotation::hasStarted ( SLbool started )

inline

◆ init()

void SLDeviceRotation::init ( )

◆ isUsed() [1/2]

SLbool SLDeviceRotation::isUsed ( ) const

inline

◆ isUsed() [2/2]

void SLDeviceRotation::isUsed ( SLbool isUsed )

Setter that turns on the device rotation sensor.

◆ numAveraged() [1/2]

SLint SLDeviceRotation::numAveraged ( )

inline

◆ numAveraged() [2/2]

void SLDeviceRotation::numAveraged ( SLint numAvg )

Returns the device rotation averaged over multple frames.

◆ offsetMode() [1/2]

SLRotOffsetMode SLDeviceRotation::offsetMode ( )

inline

◆ offsetMode() [2/2]

void SLDeviceRotation::offsetMode ( SLRotOffsetMode rom )

inline

◆ offsetModeStr()

SLstring SLDeviceRotation::offsetModeStr ( ) const

Returns the rotation offset mode as string.

◆ onRotationQUAT()

void SLDeviceRotation::onRotationQUAT	(	SLfloat	quatX,
		SLfloat	quatY,
		SLfloat	quatZ,
		SLfloat	quatW
	)

onRotationQUAT: Event handler for rotation change of a mobile device from a rotation quaternion. This function will only be called in an Android or iOS project. See e.g. onSensorChanged in GLES3Activity.java in the Android project. This handler is only called if the flag SLScene::_usesRotation is true. If so the mobile device turns on it's IMU sensor system. The device rotation is so far only used in SLCamera::setView if the cameras animation is on CA_deciveRotYUp. If _zeroYawAfterStart is true the start yaw value is subtracted. This means that the magnetic north will be ignored. The angles should be:
Roll from -halfpi (ccw) to zero (horizontal) to +halfpi (clockwise)
Pitch from -halfpi (down) to zero (horizontal) to +halfpi (up)
Yaw from -pi (south) to zero (north) to +pi (south)

◆ pitchDEG()

SLfloat SLDeviceRotation::pitchDEG ( ) const

inline

◆ pitchRAD()

SLfloat SLDeviceRotation::pitchRAD ( ) const

inline

◆ quaternion()

SLQuat4f SLDeviceRotation::quaternion ( ) const

inline

◆ rollDEG()

SLfloat SLDeviceRotation::rollDEG ( ) const

inline

◆ rollRAD()

SLfloat SLDeviceRotation::rollRAD ( ) const

inline

◆ rotation()

SLMat3f SLDeviceRotation::rotation ( ) const

inline

◆ rotationAveraged()

SLMat3f SLDeviceRotation::rotationAveraged ( )

inline

◆ startYawRAD()

SLfloat SLDeviceRotation::startYawRAD ( ) const

inline

◆ updateRPY() [1/2]

SLbool SLDeviceRotation::updateRPY ( ) const

inline

◆ updateRPY() [2/2]

void SLDeviceRotation::updateRPY ( SLbool doUpdate )

inline

◆ yawDEG()

SLfloat SLDeviceRotation::yawDEG ( ) const

inline

◆ yawRAD()

SLfloat SLDeviceRotation::yawRAD ( ) const

inline

◆ zeroYawAtStart() [1/2]

SLbool SLDeviceRotation::zeroYawAtStart ( ) const

inline

◆ zeroYawAtStart() [2/2]

void SLDeviceRotation::zeroYawAtStart ( SLbool zeroYaw )

inline

Member Data Documentation

◆ _isFirstSensorValue

SLbool SLDeviceRotation::_isFirstSensorValue

private

Flag for the first sensor values.

◆ _isUsed

SLbool SLDeviceRotation::_isUsed

private

Flag if device rotation is used.

◆ _offsetMode

SLRotOffsetMode SLDeviceRotation::_offsetMode

private

Rotation offset mode.

◆ _pitchRAD

SLfloat SLDeviceRotation::_pitchRAD

private

Device pitch angle in radians.

◆ _quaternion

SLQuat4f SLDeviceRotation::_quaternion

private

◆ _rollRAD

SLfloat SLDeviceRotation::_rollRAD

private

Device roll angle in radians.

◆ _rotation

SLMat3f SLDeviceRotation::_rotation

private

Mobile device rotation as matrix.

◆ _rotationAvg

Averaged<SLMat3f> SLDeviceRotation::_rotationAvg

private

Component wise averaged rotation matrix.

◆ _startYawRAD

SLfloat SLDeviceRotation::_startYawRAD

private

Initial yaw angle after _zeroYawAfterSec in radians.

◆ _updateRPY

SLbool SLDeviceRotation::_updateRPY

private

Calculate roll pitch yaw in onRotationQUAT.

◆ _yawRAD

SLfloat SLDeviceRotation::_yawRAD

private

Device yaw angle in radians.

◆ _zeroYawAtStart

SLbool SLDeviceRotation::_zeroYawAtStart

private

Quaternion rotation that is set by IMU.

Flag if yaw angle should be zeroed at sensor start

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SLDeviceRotation()

Member Function Documentation

◆ hasStarted()

◆ init()

◆ isUsed() [1/2]

◆ isUsed() [2/2]

◆ numAveraged() [1/2]

◆ numAveraged() [2/2]

◆ offsetMode() [1/2]

◆ offsetMode() [2/2]

◆ offsetModeStr()

◆ onRotationQUAT()

◆ pitchDEG()

◆ pitchRAD()

◆ quaternion()

◆ rollDEG()

◆ rollRAD()

◆ rotation()

◆ rotationAveraged()

◆ startYawRAD()

◆ updateRPY() [1/2]

◆ updateRPY() [2/2]

◆ yawDEG()

◆ yawRAD()

◆ zeroYawAtStart() [1/2]

◆ zeroYawAtStart() [2/2]

Member Data Documentation

◆ _isFirstSensorValue

◆ _isUsed

◆ _offsetMode

◆ _pitchRAD

◆ _quaternion

◆ _rollRAD

◆ _rotation

◆ _rotationAvg

◆ _startYawRAD

◆ _updateRPY

◆ _yawRAD

◆ _zeroYawAtStart