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Brain_Arduino
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debug video error

main
Yogi 2024-12-04 17:21:36 +08:00
parent 01449764af
commit 11e215f7da
5 changed files with 103 additions and 64 deletions
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46
Assets/Scripts/AudioPlayControl.cs
View File

@ -1,5 +1,5 @@
using System;
using System.Threading.Tasks;
using System.Collections;
using UnityEngine;
using UnityEngine.Video;
@ -14,7 +14,7 @@ public class AudioPlayControl : MonoBehaviour
public VideoClip[] mp4Clips;
private int currentMP4Index = -1;
public bool isPlaying = false;
public Action OnMP4PlayFinished;
public Action OnPlayFinished;
private void Awake()
{
@ -22,11 +22,16 @@ public class AudioPlayControl : MonoBehaviour
player.playOnAwake = false;
this.gameObject.SetActive(false);
}
private void OnDisable()
{
this.StopAllCoroutines();
}
public void ResetMP4Index()
{
this.currentMP4Index = -1;
}
private async Task PlayClipThenStop(VideoClip clip)
Coroutine stopCoroutine;
private void PlayClipThenStop(VideoClip clip)
{
if (this == null || this.gameObject == null)
return;
@ -34,19 +39,22 @@ public class AudioPlayControl : MonoBehaviour
this.gameObject.SetActive(true);
player.Play();
isPlaying = true;
await Task.Delay((int)(1000 * player.clip.length));
StopPlay();
isPlaying = false;
}
public async Task PlayStartVideo()
{
await PlayClipThenStop(startAudio);
}
public async Task PlayEndVideo()
{
await PlayClipThenStop(endAudio);
}
stopCoroutine = StartCoroutine(WaitForSeconedToStop());
}
IEnumerator WaitForSeconedToStop()
{
yield return new WaitForSeconds((float)player.clip.length);
StopPlay();
}
public void PlayStartVideo()
{
PlayClipThenStop(startAudio);
}
public void PlayEndVideo()
{
PlayClipThenStop(endAudio);
}
public void StopPlay()
{
if (this == null || this.gameObject == null)
@ -54,19 +62,19 @@ public class AudioPlayControl : MonoBehaviour
isPlaying = false;
player.Stop();
this.gameObject.SetActive(false);
OnPlayFinished?.Invoke();
this.StopAllCoroutines();
}
public bool IsCanPlayMP4()
{
if (currentMP4Index + 1 == mp4Clips.Length)
return false;
return true;
}
public async void PlayMP4()
public void PlayMP4()
{
currentMP4Index++;
var needPlayClip = mp4Clips[currentMP4Index];
await PlayClipThenStop(needPlayClip);
OnMP4PlayFinished?.Invoke();
PlayClipThenStop(needPlayClip);
}
}

98
Assets/Scripts/GameManager.cs
View File

@ -23,16 +23,16 @@ public class GameManager : MonoBehaviour
{
SampleMessageListener.OnReceivedMSG += OnReceivedMessage;
brainTrans.gameObject.SetActive(false);
videoControl.OnMP4PlayFinished += async () =>
{
if (!videoControl.IsCanPlayMP4())
{
await videoControl.PlayEndVideo();
brainTrans.gameObject.SetActive(false);
videoControl.ResetMP4Index();
isGameStart = false;
}
};
//videoControl.OnMP4PlayFinished += async () =>
//{
// if (!videoControl.IsCanPlayMP4())
// {
// await videoControl.PlayEndVideo();
// brainTrans.gameObject.SetActive(false);
// videoControl.ResetMP4Index();
// isGameStart = false;
// }
//};
}
private void OnDestroy()
{
@ -43,12 +43,12 @@ public class GameManager : MonoBehaviour
if (msgStr == startMsg)
{
print($"开始游戏");
print($"开始游戏");
GamePlay();
}
else if (msgStr == stopMsg)
{
print($"退出游戏");
print($"退出游戏");
Application.Quit();
#if UNITY_EDITOR
UnityEditor.EditorApplication.isPlaying = false;
@ -58,33 +58,34 @@ public class GameManager : MonoBehaviour
{
sb?.AppendLine(msgStr);
var arr = msgStr.Split(',');
//加速度
//加速度
var ax = float.Parse(arr[0]);
var ay = float.Parse(arr[1]);
var az = float.Parse(arr[2]);
//角速度
//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}");
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
//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 async void GamePlay()
private void GamePlay()
{
isGameStart = true;
await videoControl.PlayStartVideo();
JustGamePlayNoAnim();
videoControl.PlayStartVideo();
videoControl.OnPlayFinished += JustGamePlayNoAnim;
}
private void JustGamePlayNoAnim()
{
videoControl.OnPlayFinished -= JustGamePlayNoAnim;
isCanControlModel = true;
brainTrans.gameObject.SetActive(true);
}
@ -95,46 +96,46 @@ public class GameManager : MonoBehaviour
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
// 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
// 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
// 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
// 假设你已经有初始四元数
Quaternion q = rotation;
// 将角速度转换为四元数
// 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
// 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
// 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
// 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
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 async void Update()
private void Update()
{
if (isTestInput)
{
@ -156,15 +157,14 @@ public class GameManager : MonoBehaviour
videoControl.StopPlay();
JustGamePlayNoAnim();
}
if (Input.GetKeyDown(KeyCode.Z))
{
Debug.LogWarning("开始录制");
Debug.LogWarning("开始录制");
sb = new StringBuilder();
}
if (Input.GetKeyDown(KeyCode.X))
{
Debug.LogWarning($"录制结束! 参数:\n{sb}");
Debug.LogWarning($"录制结束! 参数:\n{sb}");
sb = null;
}
if (Input.GetKeyDown(KeyCode.C))
@ -196,9 +196,21 @@ public class GameManager : MonoBehaviour
if (videoControl.IsCanPlayMP4())
{
videoControl.PlayMP4();
if (!videoControl.IsCanPlayMP4())// 播放到了最后一个视频, 自动播放End动画
{
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";
}

5
ProjectSettings/EditorBuildSettings.asset
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@ -4,5 +4,8 @@
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serializedVersion: 2
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m_Scenes:
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path: Assets/Scenes/MainScene.unity
guid: a17c0053f1e7b1f48a3a247da8346886
m_configObjects: {}

16
ProjectSettings/TimelineSettings.asset Normal file
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@ -0,0 +1,16 @@
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2
ProjectSettings/UnityConnectSettings.asset
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@ -4,7 +4,7 @@
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m_TestMode: 0
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