CoreMotion的实际使用，主要获得加速度或者手机朝向

以前在iphone中要得到加速度时，只能使用Accelerometer模块得到重力加速度分量，然后通过滤波得到加速度值。其实在ios中有一个陀螺仪模块，CoreMotion，使用更方便。

deviceMotion.m  外部引用 原始文档

//初始化CoreMotion  
#import  
CMMotionManager   * motionManager   =   [[ CMMotionManager   alloc ] init ];
//1. Accelerometer 获取手机加速度数据  
CMAccelerometerData   * newestAccel   =   motionManager . accelerometerData ;
double   accelerationX   =   newestAccel . acceleration . x ;  
double   accelerationY   =   newestAccel . acceleration . y ;  
double   accelerationZ   =   newestAccel . acceleration . z ;  
//2. Gravity 获取手机的重力值在各个方向上的分量，根据这个就可以获得手机的空间位置，倾斜角度等   double gravityX   =   motionManager . deviceMotion . gravity . x ;
double   gravityY   =   motionManager . deviceMotion . gravity . y ;
double   gravityZ   =   motionManager . deviceMotion . gravity . z ;  
//获取手机的倾斜角度：
double   zTheta   =   atan2 ( gravityZ , sqrtf ( gravityX * gravityX + gravityY * gravityY )) / M_PI * 180.0 ;
double   xyTheta   =   atan2 ( gravityX , gravityY ) / M_PI * 180.0 ;  
//zTheta是手机与水平面的夹角， xyTheta是手机绕自身旋转的角度  
//3. DeviceMotion 获取陀螺仪的数据 包括角速度，空间位置等  
//旋转角速度：  
CMRotationRate   rotationRate   =   motionManager . deviceMotion . rotationRate ;  
double   rotationX   =   rotationRate . x ;  
double   rotationY   =   rotationRate . y ;  
double   rotationZ   =   rotationRate . z ;
//空间位置的欧拉角（通过欧拉角可以算得手机两个时刻之间的夹角，比用角速度计算精确地多）
double   roll   =   motionManager . deviceMotion . attitude . roll ;  
double   pitch   =   motionManager . deviceMotion . attitude . pitch ;
double   yaw   =   motionManager . deviceMotion . attitude . yaw ;
//空间位置的四元数（与欧拉角类似，但解决了万向结死锁问题）
double   w   =   motionManager . deviceMotion . attitude . quaternion . w ;
double   wx   =   motionManager . deviceMotion . attitude . quaternion . x ;
double   wy   =   motionManager . deviceMotion . attitude . quaternion . y ;  
double   wz   =   motionManager . deviceMotion . attitude . quaternion . z ;

//通过陀螺仪模块可以实现模拟赛车，模拟射击等。

DEMO

#import "GravityInduction.h"

@interface GravityInduction ()
{
    NSTimeInterval updateInterval;
}
@property (nonatomic,strong) CMMotionManager *mManager;

@end

@implementation GravityInduction

- (CMMotionManager *)mManager
{
    if (!_mManager) {
        updateInterval = 1.0;
        _mManager = [[CMMotionManager alloc] init];
    }
    return _mManager;
}

- (void)startDeviceMotionUpdatesResult:(void (^)(CMDeviceMotion *))result {
    __weak typeof(self) weakSelf = self;
    if ([weakSelf.mManager isDeviceMotionAvailable] == YES) {
        [weakSelf.mManager setDeviceMotionUpdateInterval:updateInterval];
        [weakSelf.mManager startDeviceMotionUpdatesToQueue:[NSOperationQueue currentQueue] withHandler:^(CMDeviceMotion * _Nullable motion, NSError * _Nullable error) {
            result(motion);
        }];
    }
}

- (void)stopUpdate
{
    if ([self.mManager isDeviceMotionAvailable] == YES)
    {
        [self.mManager stopDeviceMotionUpdates];
    }
}

- (void)dealloc
{
    _mManager = nil;
}

@end