From f60bed509a7e416c155bcd35d5151bca65eaa190 Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Wed, 21 Mar 2018 11:20:34 -0600
Subject: IMU research

---
 src/poser_imu.c | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)
 create mode 100644 src/poser_imu.c

(limited to 'src/poser_imu.c')

diff --git a/src/poser_imu.c b/src/poser_imu.c
new file mode 100644
index 0000000..8ca716b
--- /dev/null
+++ b/src/poser_imu.c
@@ -0,0 +1,31 @@
+#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_raw_pose_func(pd, so, -1, &dd->pose);
+
+		return 0;
+	}
+	}
+	return -1;
+}
+
+REGISTER_LINKTIME(PoserIMU);
-- 
cgit v1.2.3


From dcf5d7a482e022e762a656253017ebbc721d8a83 Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Thu, 22 Mar 2018 12:06:41 -0600
Subject: Progress on IMU tracking

---
 src/poser_imu.c | 2 ++
 1 file changed, 2 insertions(+)

(limited to 'src/poser_imu.c')

diff --git a/src/poser_imu.c b/src/poser_imu.c
index 8ca716b..02ff8e9 100644
--- a/src/poser_imu.c
+++ b/src/poser_imu.c
@@ -22,6 +22,8 @@ int PoserIMU(SurviveObject *so, PoserData *pd) {
 
 		PoserData_poser_raw_pose_func(pd, so, -1, &dd->pose);
 
+		// if(magnitude3d(dd->pose.Pos) > 1)
+		// SV_ERROR("IMU drift");
 		return 0;
 	}
 	}
-- 
cgit v1.2.3