Progress on IMU tracking

1 files changed, 33 insertions, 5 deletions

diff --git a/src/survive_imu.c b/src/survive_imu.c
index 6fb3076..6667d2f 100644
--- a/src/survive_imu.c
+++ b/src/survive_imu.c
@@ -3,15 +3,23 @@
 #include "survive_internal.h"
 #include <survive_imu.h>
 
-void survive_imu_tracker_set_pose(SurviveIMUTracker *tracker, SurvivePose *pose) { tracker->pose = *pose; }
+void survive_imu_tracker_set_pose(SurviveIMUTracker *tracker, uint32_t timecode, SurvivePose *pose) {
+	tracker->pose = *pose;
+
+	for (int i = 0; i < 3; i++)
+		tracker->current_velocity[i] = pose->Pos[i] - tracker->lastGT.Pos[i];
+
+	tracker->lastGTTime = timecode;
+	tracker->lastGT = *pose;
+}
 
 static const int imu_calibration_iterations = 100;
 
 static void RotateAccel(LinmathVec3d rAcc, const SurvivePose *pose, const LinmathVec3d accel) {
 	quatrotatevector(rAcc, pose->Rot, accel);
-	scale3d(rAcc, rAcc, 2.);
 	LinmathVec3d G = {0, 0, -1};
 	add3d(rAcc, rAcc, G);
+	scale3d(rAcc, rAcc, 9.8);
 }
 static SurvivePose iterate_position(const SurvivePose *pose, const LinmathVec3d vel, double time_diff,
 									const PoserDataIMU *pIMU) {
@@ -20,12 +28,16 @@ static SurvivePose iterate_position(const SurvivePose *pose, const LinmathVec3d
 	FLT acc_mul = time_diff * time_diff / 2;
 	LinmathVec3d rAcc = {0};
 	RotateAccel(rAcc, pose, pIMU->accel);
+
+	fprintf(stderr, "r %f %f %f %f\n", pIMU->accel[0], pIMU->accel[1], pIMU->accel[2], quatmagnitude(pIMU->accel));
+	fprintf(stderr, "i %f %f %f %f\n", rAcc[0], rAcc[1], rAcc[2], quatmagnitude(rAcc));
+
 	scale3d(rAcc, rAcc, acc_mul);
 
 	LinmathVec3d gyro;
 
 	for (int i = 0; i < 3; i++) {
-		result.Pos[i] += time_diff * vel[i] + rAcc[i] * 9.8;
+		result.Pos[i] += time_diff * vel[i] + rAcc[i];
 		gyro[i] = time_diff / 2 * pIMU->gyro[i];
 	}
 
@@ -39,7 +51,7 @@ static SurvivePose iterate_position(const SurvivePose *pose, const LinmathVec3d
 
 static void iterate_velocity(LinmathVec3d result, const SurvivePose *pose, const LinmathVec3d vel, double time_diff,
 							 PoserDataIMU *pIMU) {
-	scale3d(result, vel, .99999);
+	scale3d(result, vel, 1.);
 	LinmathVec3d rAcc = {0};
 	RotateAccel(rAcc, pose, pIMU->accel);
 	scale3d(rAcc, rAcc, time_diff);
@@ -50,6 +62,10 @@ void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker
 	if (tracker->last_data.timecode == 0) {
 		if (tracker->last_data.datamask == imu_calibration_iterations) {
 			tracker->last_data = *data;
+			tracker->pose.Rot[0] = 1.;
+
+			const FLT up[3] = {0, 0, 1};
+			quatfrom2vectors(tracker->pose.Rot, tracker->updir, up);
 			return;
 		}
 
@@ -65,7 +81,15 @@ void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker
 		tracker->updir[i] = data->accel[i] * .10 + tracker->updir[i] * .90;
 	}
 
-	FLT up[3] = {0, 0, 1};
+	const FLT up[3] = {0, 0, 1};
+	LinmathQuat upRot, wouldbeUp;
+	LinmathVec3d rup;
+	quatrotatevector(rup, tracker->pose.Rot, up);
+	quatfrom2vectors(upRot, rup, data->accel);
+
+	quatrotateabout(wouldbeUp, upRot, tracker->pose.Rot);
+	quatslerp(tracker->pose.Rot, tracker->pose.Rot, wouldbeUp, .1);
+
 	FLT pose_up[3] = {0, 0, 1};
 	quatrotatevector(pose_up, tracker->pose.Rot, tracker->updir);
 
@@ -77,6 +101,10 @@ void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker
 	iterate_velocity(v_next, &tracker->pose, tracker->current_velocity, time_diff, data);
 
 	tracker->pose = t_next;
+
+	fprintf(stderr, "%f %f %f\n", tracker->current_velocity[0], tracker->current_velocity[1],
+			tracker->current_velocity[2]);
+
 	scale3d(tracker->current_velocity, v_next, 1);
 
 	tracker->last_data = *data;