RokidXRUnity/Runtime/Scripts/NativeInterface/NativeInterface_IMU.cs

using System;
using System.Runtime.InteropServices;
using AOT;
using Rokid.UXR.Utility;
//using Google.XR.Cardboard;

namespace Rokid.UXR.Native
{
    public partial class NativeInterface
    {
        public partial class NativeAPI
        {
            /// <summary>
            /// Glasses IMU update
            /// Acc Gyt Gnt timeStamp
            /// </summary>
            public static event Action<float[], float[], float[], long> OnGlassIMUSensorUpdate;
            /// <summary>
            /// Glasses IMU rotation callback
            /// Input Value  GameRotation Rotation timeStamp
            /// </summary>
            public static event Action<float[], float[], long> OnGlassIMURotationUpdate;
            /// <summary>
            /// Register glasses IMU rotation
            /// </summary>
            public static void RegisterRotationEvent()
            {
                if (!Utils.IsAndroidPlatfrom())
                {
                    return;
                }
                setOnRotationUpdate(OnRotationUpdateCallByC);//注册
            }

            /// <summary>
            /// Unregister glasses IMU rotation
            /// </summary>
            public static void UnregisterRotationEvent()
            {
                if (!Utils.IsAndroidPlatfrom())
                {
                    return;
                }
                clearOnRotationUpdate();
            }

            /// <summary>
            /// Open phone IMU tracking
            /// </summary>
            public static void OpenPhoneTracker()
            {
                if (Utils.IsAndroidPlatfrom())
                    Api.openPhoneTracker();
            }

            /// <summary>
            /// Close phone IMU tracking 
            /// </summary>
            public static void ClosePhoneTracker()
            {
                if (Utils.IsAndroidPlatfrom())
                    Api.closePhoneTracker();
            }

            /// <summary>
            /// Get phone IMU pose
            /// </summary>
            /// <param name="oritation"></param>
            public static void GetPhonePose(float[] oritation)
            {
                if (Utils.IsAndroidPlatfrom())
                    Api.getPhonePose(oritation);
            }

            /// <summary>
            /// Reset the y-axis of the phone's IMU
            /// </summary>
            public static void RecenterPhonePose()
            {
                if (Utils.IsAndroidPlatfrom())
                    Api.recenterPhonePose();
            }

            /// <summary>
            /// Reset the three axes of the phone's IMU
            /// </summary>
            public static void RecenterPhonePoseYPR()
            {
                if (Utils.IsAndroidPlatfrom())
                    Api.recenterPhonePoseYPR();
            }
            /// <summary>
            /// Register glasses imu sensor events
            /// </summary>
            public static void RegisterGlassSensorEvent()
            {
                if (!Utils.IsAndroidPlatfrom())
                {
                    return;
                }
                setOnSensorUpdate(OnSensorUpdateCallByC);//注册
            }
            /// <summary>
            /// Unregister glasses imu sensor events
            /// </summary>
            public static void UnregisterGlassSensorEvent()
            {
                if (!Utils.IsAndroidPlatfrom())
                {
                    return;
                }
                clearOnSensorUpdate();//注销
            }


            #region NativeInterface

            [DllImport(ApiConstants.UXR_GFX_PLUGIN)]
            static extern void setOnSensorUpdate(OnSensorUpdate cb);
            [DllImport(ApiConstants.UXR_GFX_PLUGIN)]
            static extern void clearOnSensorUpdate();
            delegate void OnSensorUpdate(IntPtr ptrAcc, IntPtr ptrGyt, IntPtr ptrGnt, long timestamp);
            static float[] resultAcc = new float[3];
            static float[] resultGyt = new float[3];
            static float[] resultGnt = new float[3];

            [MonoPInvokeCallback(typeof(OnSensorUpdate))]
            static void OnSensorUpdateCallByC(IntPtr ptrAcc, IntPtr ptrGyr, IntPtr ptrGnt, long timestamp)
            {
                RKLog.Debug("OnSensorUpdateCallByC " + timestamp);
                Marshal.Copy(ptrAcc, resultAcc, 0, 3);
                Marshal.Copy(ptrGyr, resultGyt, 0, 3);
                Marshal.Copy(ptrGnt, resultGnt, 0, 3);
                OnGlassIMUSensorUpdate?.Invoke(resultAcc, resultGyt, resultGnt, timestamp);
            }
            [DllImport(ApiConstants.UXR_GFX_PLUGIN)]
            static extern void clearOnRotationUpdate();

            [DllImport(ApiConstants.UXR_GFX_PLUGIN)]
            static extern void setOnRotationUpdate(OnRotationUpdate cb);
            delegate void OnRotationUpdate(IntPtr ptrGameRotation, IntPtr ptrRotation, long timestamp);
            static float[] resultGameRotation = new float[4];
            static float[] resultRotation = new float[5];

            [MonoPInvokeCallback(typeof(OnRotationUpdate))]
            static void OnRotationUpdateCallByC(IntPtr ptrGameRotation, IntPtr ptrRotation, long timestamp)
            {
                RKLog.Debug("OnRotationUpdateCallByC: " + timestamp);
                Marshal.Copy(ptrGameRotation, resultGameRotation, 0, 4);
                Marshal.Copy(ptrRotation, resultRotation, 0, 5);
                OnGlassIMURotationUpdate?.Invoke(resultGameRotation, resultRotation, timestamp);
            }
        }
        #endregion

    }
}