diff options
Diffstat (limited to 'src/plugins/sensors/android/androidrotation.cpp')
| -rw-r--r-- | src/plugins/sensors/android/androidrotation.cpp | 81 |
1 files changed, 37 insertions, 44 deletions
diff --git a/src/plugins/sensors/android/androidrotation.cpp b/src/plugins/sensors/android/androidrotation.cpp index c1d141a0..43586a0f 100644 --- a/src/plugins/sensors/android/androidrotation.cpp +++ b/src/plugins/sensors/android/androidrotation.cpp @@ -1,41 +1,5 @@ -/**************************************************************************** -** -** Copyright (C) 2019 BogDan Vatra <bogdan@kde.org> -** Contact: https://www.qt.io/licensing/ -** -** This file is part of the QtSensors module of the Qt Toolkit. -** -** $QT_BEGIN_LICENSE:LGPL$ -** Commercial License Usage -** Licensees holding valid commercial Qt licenses may use this file in -** accordance with the commercial license agreement provided with the -** Software or, alternatively, in accordance with the terms contained in -** a written agreement between you and The Qt Company. For licensing terms -** and conditions see https://www.qt.io/terms-conditions. For further -** information use the contact form at https://www.qt.io/contact-us. -** -** GNU Lesser General Public License Usage -** Alternatively, this file may be used under the terms of the GNU Lesser -** General Public License version 3 as published by the Free Software -** Foundation and appearing in the file LICENSE.LGPL3 included in the -** packaging of this file. Please review the following information to -** ensure the GNU Lesser General Public License version 3 requirements -** will be met: https://www.gnu.org/licenses/lgpl-3.0.html. -** -** GNU General Public License Usage -** Alternatively, this file may be used under the terms of the GNU -** General Public License version 2.0 or (at your option) the GNU General -** Public license version 3 or any later version approved by the KDE Free -** Qt Foundation. The licenses are as published by the Free Software -** Foundation and appearing in the file LICENSE.GPL2 and LICENSE.GPL3 -** included in the packaging of this file. Please review the following -** information to ensure the GNU General Public License requirements will -** be met: https://www.gnu.org/licenses/gpl-2.0.html and -** https://www.gnu.org/licenses/gpl-3.0.html. -** -** $QT_END_LICENSE$ -** -****************************************************************************/ +// Copyright (C) 2019 BogDan Vatra <bogdan@kde.org> +// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only #include "androidrotation.h" @@ -48,12 +12,41 @@ AndroidRotation::AndroidRotation(int type, QSensor *sensor, QObject *parent) void AndroidRotation::dataReceived(const ASensorEvent &event) { - // ### Check me, at first look it seems wrong, - // here https://developer.android.com/reference/android/hardware/SensorEvent.html#sensor.type_rotation_vector: - // are the Android values - qreal rz = -qRadiansToDegrees(qreal(event.data[0])); // event.data[0] corresponds to x - qreal rx = -qRadiansToDegrees(qreal(event.data[1])); // event.data[1] corresponds to y - qreal ry = qRadiansToDegrees(qreal(event.data[2])); // event.data[2] corresponds to z + // From android documentation, the rotation sensor values are: + // values[0]: x*sin(θ/2) + // values[1]: y*sin(θ/2) + // values[2]: z*sin(θ/2) + // values[3]: cos(θ/2) + + // The mathematics below is adapted from + // https://android.googlesource.com/platform/frameworks/base/+/master/core/java/android/hardware/SensorManager.java#1644 + // and + // https://android.googlesource.com/platform/frameworks/base/+/master/core/java/android/hardware/SensorManager.java#1469 + // (getRotationMatrixFromVector() followed by getOrientation()) + qreal angles[3]; + qreal q1 = qreal(event.data[0]); + qreal q2 = qreal(event.data[1]); + qreal q3 = qreal(event.data[2]); + qreal q0 = qreal(event.data[3]); + + qreal sq_q1 = 2 * q1 * q1; + qreal sq_q2 = 2 * q2 * q2; + qreal sq_q3 = 2 * q3 * q3; + qreal q1_q2 = 2 * q1 * q2; + qreal q3_q0 = 2 * q3 * q0; + qreal q1_q3 = 2 * q1 * q3; + qreal q2_q0 = 2 * q2 * q0; + qreal q2_q3 = 2 * q2 * q3; + qreal q1_q0 = 2 * q1 * q0; + + angles[0] = std::atan2((q1_q2 - q3_q0), (1 - sq_q1 - sq_q3)); + angles[1] = std::asin(-(q2_q3 + q1_q0)); + angles[2] = std::atan2(-(q1_q3 - q2_q0), (1 - sq_q1 - sq_q2)); + + qreal rz = -qRadiansToDegrees(angles[0]); + qreal rx = -qRadiansToDegrees(angles[1]); + qreal ry = qRadiansToDegrees(angles[2]); + if (sensor()->skipDuplicates() && qFuzzyCompare(m_reader.x(), rx) && qFuzzyCompare(m_reader.y(), ry) && qFuzzyCompare(m_reader.z(), rz)) { |