Merge pull request #122 from cnlohr/imu

Imu

1 files changed, 33 insertions, 0 deletions

diff --git a/src/poser_imu.c b/src/poser_imu.c
new file mode 100644
index 0000000..7615170
--- /dev/null
+++ b/src/poser_imu.c
@@ -0,0 +1,33 @@
+#include <survive.h>
+#include <survive_imu.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+
+int PoserIMU(SurviveObject *so, PoserData *pd) {
+	PoserType pt = pd->pt;
+	SurviveContext *ctx = so->ctx;
+	SurviveIMUTracker *dd = so->PoserData;
+
+	if (!dd) {
+		so->PoserData = dd = malloc(sizeof(SurviveIMUTracker));
+		*dd = (SurviveIMUTracker){};
+	}
+
+	switch (pt) {
+	case POSERDATA_IMU: {
+		PoserDataIMU *imu = (PoserDataIMU *)pd;
+
+		survive_imu_tracker_integrate(so, dd, imu);
+
+		PoserData_poser_pose_func(pd, so, &dd->pose);
+
+		// if(magnitude3d(dd->pose.Pos) > 1)
+		// SV_ERROR("IMU drift");
+		return 0;
+	}
+	}
+	return -1;
+}
+
+REGISTER_LINKTIME(PoserIMU);