Unity 陀螺仪姿态识别、 控制物体旋转移动

陀螺仪在Unity中最常用的应用就是控制摄像机的旋转

using UnityEngine;
using UnityEngine.UI;
public class NewTest : MonoBehaviour
{
    public Text debug;
    Quaternion quatMap;
    Quaternion quatMult = new Quaternion(0, 0, 1, 0);
    Gyroscope gyro;
    void Start()
    {
        gyro = Input.gyro;
        gyro.enabled = true;
    }
    void Update()
    {
        quatMap = new Quaternion(gyro.attitude.x, gyro.attitude.y, gyro.attitude.z, gyro.attitude.w);
        Quaternion qt = quatMap ;
        transform.localRotation = qt;
    }
}

然而通过把陀螺仪的四元数转换成欧拉角就会出现

X的值从0->90->0=360->270->360，而Y和Z是正常的0-360变化

这应该就是传说中的万向锁的问题了吧！

现在如果我要控制物体移动，那么必须就得利用四元数的相关算法来控制

在网上找了很久都是通过陀螺仪控制旋转的，最后找到一个安卓的VR案例，把算法移植了过来就成功了！

参考案例：简单VR照片 使用陀螺仪、姿态角（Roll、Pitch、Yaw ）、四元数

using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;
public class Siyuanshu : MonoBehaviour
{
    public GameObject img;
    public Text debug;
    float[] QAC = new float[4];
    float[] lastQ = new float[4];
    float[] QBC = new float[4];
    int num = 0;
    Gyroscope gyro;
    void Start()
    {
        gyro = Input.gyro;
        gyro.enabled = true;
    }

    void Update()
    {
        GetData();
    }

    private void GetData()
    {
        QAC[0] = gyro.attitude.x;//获取陀螺仪四元数
        QAC[1] = gyro.attitude.y;
        QAC[2] = gyro.attitude.z;
        QAC[3] = gyro.attitude.w;
        if (num >= 3)
        {
            float[] QBA = new float[4];
            QBA[0] = lastQ[0];
            QBA[1] = -lastQ[1];
            QBA[2] = -lastQ[2];
            QBA[3] = -lastQ[3];
            // QBA = QBA * QAC
            QBC[0] = QAC[0] * QBA[0] - QAC[1] * QBA[1] - QAC[2] * QBA[2] - QAC[3] * QBA[3];
            QBC[1] = QAC[0] * QBA[1] + QAC[1] * QBA[0] + QAC[2] * QBA[3] - QAC[3] * QBA[2];
            QBC[2] = QAC[0] * QBA[2] - QAC[1] * QBA[3] + QAC[2] * QBA[0] + QAC[3] * QBA[1];
            QBC[3] = QAC[0] * QBA[3] + QAC[1] * QBA[2] - QAC[2] * QBA[1] + QAC[3] * QBA[0];

            double z = Math.Atan2(2 * QBC[1] * QBC[2] - 2 * QBC[0] * QBC[3], 2 * QBC[0] * QBC[0] + 2 * QBC[1] * QBC[1] - 1);
            double x = -Math.Asin(2 * QBC[1] * QBC[3] + 2 * QBC[0] * QBC[2]);
            double y = Math.Atan2(2 * QBC[2] * QBC[3] - 2 * QBC[0] * QBC[1]
                       , 2 * QBC[0] * QBC[0] + 2 * QBC[3] * QBC[3] - 1);
            Array.Copy(QAC, lastQ, 4);
            x *= 50;
            y *= 50;
            z *= 50;
            debug.text = "x:" + x.ToString("f2") + " y:" + y.ToString("f2") + " z:" + z.ToString("f2");
            img.GetComponent<RectTransform>().localPosition += new Vector3((float)x * 3, (float)z*3, 0);
        }
        else
        {
            num++;
            Array.Copy(QAC, lastQ, 4);
        }
    }
}

计算出X、Y、Z三个轴的偏移位移量，这样就可以通过陀螺仪来控制图片的移动了。