238 lines
8.9 KiB
C#
238 lines
8.9 KiB
C#
using System.Text;
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using System.Threading.Tasks;
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using UnityEngine;
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public class GameManager : MonoBehaviour
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{
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public string startMsg = "START";
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public string stopMsg = "STOP";
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public AudioPlayControl videoControl;
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private bool isCanControlModel = false;
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public Transform brainTrans;
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public float dt = 0.1f;
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public bool isTestInput = false;
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float angleX, angleY, angleZ;
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public KeyCode playMP4KeyCode = KeyCode.Space;
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private bool isGameStart = false;
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public AxisArr mapAxis = AxisArr.XZY;
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public void Awake()
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{
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SampleMessageListener.OnReceivedMSG += OnReceivedMessage;
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brainTrans.gameObject.SetActive(false);
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//videoControl.OnMP4PlayFinished += async () =>
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//{
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// if (!videoControl.IsCanPlayMP4())
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// {
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// await videoControl.PlayEndVideo();
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// brainTrans.gameObject.SetActive(false);
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// videoControl.ResetMP4Index();
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// isGameStart = false;
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// }
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//};
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}
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private void OnDestroy()
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{
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SampleMessageListener.OnReceivedMSG -= OnReceivedMessage;
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}
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private void OnReceivedMessage(string msgStr)
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{
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if (msgStr == startMsg)
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{
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print($"开始游戏");
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GamePlay();
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}
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else if (msgStr == stopMsg)
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{
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print($"退出游戏");
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Application.Quit();
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#if UNITY_EDITOR
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UnityEditor.EditorApplication.isPlaying = false;
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#endif
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}
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else
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{
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sb?.AppendLine(msgStr);
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var arr = msgStr.Split(',');
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//加速度
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var ax = float.Parse(arr[0]);
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var ay = float.Parse(arr[1]);
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var az = float.Parse(arr[2]);
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//角速度
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var gx = float.Parse(arr[3]);
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var gy = float.Parse(arr[4]);
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var gz = float.Parse(arr[5]);
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print($"获得加速度:{ax},{ay},{az}");
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print($"获得角速度:{gx},{gy},{gz}");
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//this.GetComponent<Rigidbody>().angularVelocity
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if (isCanControlModel)
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{
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//ControlModelRotate(new Vector3(filteredRoll, filteredPitch, angleZ)); // 传入过滤后的值
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//brainTrans.rotation = CalculateRotation(brainTrans.rotation, ax, ay, az, gx, gy, gz);
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CalculateRotation(ax, ay, az, gx, gy, gz);
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}
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}
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}
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private void GamePlay()
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{
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isGameStart = true;
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videoControl.PlayStartVideo();
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videoControl.OnPlayFinished += JustGamePlayNoAnim;
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}
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private void JustGamePlayNoAnim()
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{
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videoControl.OnPlayFinished -= JustGamePlayNoAnim;
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isCanControlModel = true;
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brainTrans.gameObject.SetActive(true);
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}
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private void ControlModelRotate(Vector3 angleModify)
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{
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brainTrans.rotation = Quaternion.Euler(angleModify);
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}
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private void CalculateRotation(float ax, float ay, float az, float gx, float gy, float gz)
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{
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// 通过加速度计算姿态（俯仰角和滚转角）
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float roll = Mathf.Atan2(ay, az) * Mathf.Rad2Deg; // 滚转角
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float pitch = Mathf.Atan2(-ax, Mathf.Sqrt(ay * ay + az * az)) * Mathf.Rad2Deg; // 俯仰角
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// 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）
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angleX += gx * dt; // 绕X轴旋转
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angleY += gy * dt; // 绕Y轴旋转
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angleZ -= gz * dt; // 绕Z轴旋转
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// 使用互补滤波来平滑姿态估计
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// 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
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float alpha = 0.98f; // 互补滤波的权重
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float filteredPitch = alpha * (angleX) + (1 - alpha) * pitch; // 过滤后的俯仰角
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float filteredRoll = alpha * (angleY) + (1 - alpha) * roll; // 过滤后的滚转角
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switch (mapAxis)
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{
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case AxisArr.XYZ:
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brainTrans.rotation = Quaternion.Euler(new Vector3(filteredRoll, filteredPitch, angleZ));
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break;
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case AxisArr.XZY:
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brainTrans.rotation = Quaternion.Euler(new Vector3(filteredRoll, angleZ, filteredPitch));
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break;
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default:
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break;
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}
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}
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private Quaternion CalculateRotation(Quaternion rotation, float ax, float ay, float az, float gx, float gy, float gz)
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{
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// 假设你已经有初始四元数
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Quaternion q = rotation;
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// 将角速度转换为四元数
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Quaternion gyroQuat = new Quaternion(0, gx * dt, gy * dt, gz * dt);
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// 更新四元数：四元数乘积
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q = q * gyroQuat;
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// 归一化四元数，防止数值误差积累
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q.Normalize();
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// 使用加速度计数据修正四元数
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Quaternion accelQuat = new Quaternion(ax, ay, az, 0);
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q = Quaternion.Slerp(q, accelQuat, 0.01f); // 使用球形插值修正四元数
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// 最终得到物体的旋转
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return q;
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}
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private StringBuilder sb;
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private void Update()
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{
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if (isTestInput)
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{
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if (Input.GetKeyDown(KeyCode.Alpha1))
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{
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OnReceivedMessage(startMsg);
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}
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if (Input.GetKey(KeyCode.Alpha2))
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{
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float randomF() => Random.Range(0.0f, 1.0f);
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OnReceivedMessage($"{randomF()},{randomF()},{randomF()},{randomF()},{randomF()},{randomF()}");
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}
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else if (Input.GetKeyDown(KeyCode.Alpha3))
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{
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OnReceivedMessage(stopMsg);
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}
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else if (Input.GetKeyDown(KeyCode.F))
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{
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videoControl.StopPlay();
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JustGamePlayNoAnim();
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}
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if (Input.GetKeyDown(KeyCode.Z))
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{
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Debug.LogWarning("开始录制");
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sb = new StringBuilder();
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}
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if (Input.GetKeyDown(KeyCode.X))
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{
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Debug.LogWarning($"录制结束! 参数:\n{sb}");
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sb = null;
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}
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if (Input.GetKeyDown(KeyCode.C))
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{
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print(sendMsgDataArr);
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SendAsync();
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}
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}
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async void SendAsync()
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{
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var rows = sendMsgDataArr.Split("\r\n");
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int index = 0;
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while (index < rows.Length)
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{
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var row = rows[index];
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OnReceivedMessage(row);
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await Task.Delay(100);
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index++;
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}
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}
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if (videoControl.isPlaying || !isGameStart)
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return;
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if (Input.GetKeyDown(playMP4KeyCode) || Input.GetMouseButtonDown(0))
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{
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if (videoControl.IsCanPlayMP4())
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{
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videoControl.PlayMP4();
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videoControl.OnPlayFinished += TryToPlayEndAnim;
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}
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}
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}
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private void TryToPlayEndAnim()
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{
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videoControl.OnPlayFinished -= TryToPlayEndAnim;
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if (videoControl.IsCanPlayMP4())// 播放到了最后一个视频, 自动播放End动画
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return;
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brainTrans.gameObject.SetActive(false);
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videoControl.PlayEndVideo();
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videoControl.OnPlayFinished += ResetToGameStart;
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}
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private void ResetToGameStart()
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{
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videoControl.OnPlayFinished -= ResetToGameStart;
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videoControl.ResetMP4Index();
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isGameStart = false;
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}
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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";
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}
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public enum AxisArr
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{
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XYZ,
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XZY,
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} |