Brain_Arduino/Assets/Scripts/GameManager.cs

using System.Text;
using System.Threading.Tasks;
using UnityEngine;

public class GameManager : MonoBehaviour
{
    public string startMsg = "START";
    public string stopMsg = "STOP";

    public AudioPlayControl videoControl;
    private bool isCanControlModel = false;

    public Transform brainTrans;
    public float dt = 0.1f;

    public bool isTestInput = false;
    float angleX, angleY, angleZ;

    public KeyCode playMP4KeyCode = KeyCode.Space;
    private bool isGameStart = false;

    public void Awake()
    {
        SampleMessageListener.OnReceivedMSG += OnReceivedMessage;
        brainTrans.gameObject.SetActive(false);
        //videoControl.OnMP4PlayFinished += async () =>
        //{
        //    if (!videoControl.IsCanPlayMP4())
        //    {
        //        await videoControl.PlayEndVideo();
        //        brainTrans.gameObject.SetActive(false);
        //        videoControl.ResetMP4Index();
        //        isGameStart = false;
        //    }
        //};
    }
    private void OnDestroy()
    {
        SampleMessageListener.OnReceivedMSG -= OnReceivedMessage;
    }
    private void OnReceivedMessage(string msgStr)
    {

        if (msgStr == startMsg)
        {
            print($"开始游戏");
            GamePlay();
        }
        else if (msgStr == stopMsg)
        {
            print($"退出游戏");
            Application.Quit();
#if UNITY_EDITOR
            UnityEditor.EditorApplication.isPlaying = false;
#endif
        }
        else
        {
            sb?.AppendLine(msgStr);
            var arr = msgStr.Split(',');
            //加速度
            var ax = float.Parse(arr[0]);
            var ay = float.Parse(arr[1]);
            var az = float.Parse(arr[2]);
            //角速度
            var gx = float.Parse(arr[3]);
            var gy = float.Parse(arr[4]);
            var gz = float.Parse(arr[5]);
            print($"获得加速度:{ax},{ay},{az}");
            print($"获得角速度:{gx},{gy},{gz}");
            //this.GetComponent<Rigidbody>().angularVelocity 
            if (isCanControlModel)
            {
                //ControlModelRotate(new Vector3(filteredRoll, filteredPitch, angleZ)); // 传入过滤后的值
                //brainTrans.rotation = CalculateRotation(brainTrans.rotation, ax, ay, az, gx, gy, gz);
                CalculateRotation(ax, ay, az, gx, gy, gz);
            }
        }
    }
    private void GamePlay()
    {
        isGameStart = true;
        videoControl.PlayStartVideo();
        videoControl.OnPlayFinished += JustGamePlayNoAnim;
    }
    private void JustGamePlayNoAnim()
    {
        videoControl.OnPlayFinished -= JustGamePlayNoAnim;
        isCanControlModel = true;
        brainTrans.gameObject.SetActive(true);
    }
    private void ControlModelRotate(Vector3 angleModify)
    {
        brainTrans.rotation = Quaternion.Euler(angleModify);
    }

    private void CalculateRotation(float ax, float ay, float az, float gx, float gy, float gz)
    {
        // 通过加速度计算姿态（俯仰角和滚转角）
        float roll = Mathf.Atan2(ay, az) * Mathf.Rad2Deg; // 滚转角
        float pitch = Mathf.Atan2(-ax, Mathf.Sqrt(ay * ay + az * az)) * Mathf.Rad2Deg; // 俯仰角

        // 计算角速度的变化（可以设定角速度的阈值或限制其过快变化）
        angleX += gx * dt; // 绕X轴旋转
        angleY += gy * dt; // 绕Y轴旋转
        angleZ += gz * dt; // 绕Z轴旋转

        // 使用互补滤波来平滑姿态估计
        // 这里的系数决定了加速度和陀螺仪的权重，通常设置为0.98
        float alpha = 0.98f; // 互补滤波的权重
        float filteredPitch = alpha * (angleX) + (1 - alpha) * pitch; // 过滤后的俯仰角
        float filteredRoll = alpha * (angleY) + (1 - alpha) * roll; // 过滤后的滚转角
        brainTrans.rotation = Quaternion.Euler(new Vector3(filteredRoll, filteredPitch, angleZ));
    }

    private Quaternion CalculateRotation(Quaternion rotation, float ax, float ay, float az, float gx, float gy, float gz)
    {
        // 假设你已经有初始四元数
        Quaternion q = rotation;

        // 将角速度转换为四元数
        Quaternion gyroQuat = new Quaternion(0, gx * dt, gy * dt, gz * dt);

        // 更新四元数：四元数乘积
        q = q * gyroQuat;

        // 归一化四元数，防止数值误差积累
        q.Normalize();

        // 使用加速度计数据修正四元数
        Quaternion accelQuat = new Quaternion(ax, ay, az, 0);
        q = Quaternion.Slerp(q, accelQuat, 0.01f);  // 使用球形插值修正四元数
        // 最终得到物体的旋转
        return q;
    }

    private StringBuilder sb;
    private void Update()
    {
        if (isTestInput)
        {
            if (Input.GetKeyDown(KeyCode.Alpha1))
            {
                OnReceivedMessage(startMsg);
            }
            if (Input.GetKey(KeyCode.Alpha2))
            {
                float randomF() => Random.Range(0.0f, 1.0f);
                OnReceivedMessage($"{randomF()},{randomF()},{randomF()},{randomF()},{randomF()},{randomF()}");
            }
            else if (Input.GetKeyDown(KeyCode.Alpha3))
            {
                OnReceivedMessage(stopMsg);
            }
            else if (Input.GetKeyDown(KeyCode.F))
            {
                videoControl.StopPlay();
                JustGamePlayNoAnim();
            }
            if (Input.GetKeyDown(KeyCode.Z))
            {
                Debug.LogWarning("开始录制");
                sb = new StringBuilder();
            }
            if (Input.GetKeyDown(KeyCode.X))
            {
                Debug.LogWarning($"录制结束! 参数:\n{sb}");
                sb = null;
            }
            if (Input.GetKeyDown(KeyCode.C))
            {
                print(sendMsgDataArr);
                SendAsync();
            }
        }

        async void SendAsync()
        {
            var rows = sendMsgDataArr.Split("\r\n");
            int index = 0;
            while (index < rows.Length)
            {
                var row = rows[index];
                OnReceivedMessage(row);
                await Task.Delay(100);
                index++;
            }

        }


        if (videoControl.isPlaying || !isGameStart)
            return;
        if (Input.GetKeyDown(playMP4KeyCode) || Input.GetMouseButtonDown(0))
        {
            if (videoControl.IsCanPlayMP4())
            {
                videoControl.PlayMP4();
                videoControl.OnPlayFinished += TryToPlayEndAnim;
            }
        }
    }
    private void TryToPlayEndAnim()
    {
        videoControl.OnPlayFinished -= TryToPlayEndAnim;
        if (videoControl.IsCanPlayMP4())// 播放到了最后一个视频, 自动播放End动画
            return;
        brainTrans.gameObject.SetActive(false);
        videoControl.PlayEndVideo();
        videoControl.OnPlayFinished += ResetToGameStart;
    }
    private void ResetToGameStart()
    {
        videoControl.OnPlayFinished -= ResetToGameStart;
        videoControl.ResetMP4Index();
        isGameStart = false;
    }

    private string sendMsgDataArr = "0.03,0.00,0.83,-5.42,-3.05,-2.17\r\n0.07,-0.03,0.80,-4.53,-1.27,1.87\r\n0.04,-0.02,0.82,-7.34,-0.99,-1.26\r\n0.04,-0.02,0.82,-1.22,-3.95,3.66\r\n0.03,0.02,0.81,-6.32,-4.70,-3.34\r\n0.05,-0.03,0.82,-6.53,-2.40,-2.28\r\n0.05,-0.00,0.82,-6.65,-3.69,6.26\r\n0.04,-0.01,0.83,-4.22,-4.48,4.00\r\n0.07,-0.03,0.81,-5.82,-2.50,-5.01\r\n0.05,-0.01,0.82,-4.89,-2.97,-1.27\r\n0.04,0.01,0.82,-6.31,-2.71,0.60\r\n0.07,-0.02,0.81,-1.50,-1.15,-7.15\r\n0.04,0.01,0.82,-7.13,3.05,-15.97\r\n0.06,-0.03,0.81,-3.79,1.00,-45.29\r\n-0.03,-0.06,0.87,-6.42,0.47,-123.16\r\n-0.01,0.02,0.78,-10.50,4.44,-90.85\r\n0.06,-0.01,0.81,-6.31,7.85,-80.14\r\n0.05,-0.04,0.82,-14.08,-0.04,-110.42\r\n-0.08,-0.09,0.85,-11.08,-3.77,-86.89\r\n0.02,-0.01,0.82,-9.47,3.86,-72.44\r\n0.03,-0.05,0.82,-12.89,6.39,-133.51\r\n-0.00,-0.10,0.83,-27.43,2.75,-189.82\r\n0.03,-0.09,0.82,-14.63,7.84,-137.10\r\n0.09,-0.10,0.79,-19.21,9.53,-175.67\r\n0.02,-0.14,0.81,-13.94,3.36,-197.25\r\n0.03,-0.10,0.79,-23.36,2.68,-112.65\r\n0.03,-0.11,0.86,-9.88,12.50,-140.66\r\n0.01,-0.22,0.81,-12.49,12.49,-125.18\r\n0.09,-0.06,0.84,-9.07,11.02,-110.91\r\n-0.24,-0.09,0.77,-15.20,43.73,-75.92\r\n0.13,-0.10,0.80,-10.72,17.12,-129.89\r\n0.05,-0.14,0.80,-11.35,4.04,6.60\r\n0.03,-0.17,0.82,-5.33,-3.23,-9.43\r\n0.01,-0.18,0.79,-3.86,-2.73,0.50\r\n0.06,-0.12,0.85,-5.76,-0.42,-9.27\r\n0.07,-0.15,0.81,-4.90,-6.82,2.41\r\n0.04,-0.18,0.80,-3.12,-0.34,19.65\r\n0.06,-0.14,0.82,-4.18,-2.79,-7.72\r\n0.05,-0.14,0.80,-6.60,-2.23,-0.33";
}