初始化CoreMotion
#import <CoreMotion/CoreMotion.h>
CMMotionManager *motionManager = [[CMMotionManager alloc]init];
1. Accelerometer 獲取手機加速度數據
CMAccelerometerData *newestAccel = motionManager.accelerometerData;
double accelerationX = newestAccel.acceleration.x;
double accelerationY = newestAccel.acceleration.y;
double accelerationZ = newestAccel.acceleration.z;
2. Gravity 獲取手機的重力值在各個方向上的分量,根據這個就可以獲得手機的空間位置,傾斜角度等
double gravityX = motionManager.deviceMotion.gravity.x;
double gravityY = motionManager.deviceMotion.gravity.y;
double gravityZ = motionManager.deviceMotion.gravity.z;
3.獲取手機的傾斜角度:
double zTheta = atan2(gravityZ,sqrtf(gravityX*gravityX+gravityY*gravityY))/M_PI*180.0;
double xyTheta = atan2(gravityX,gravityY)/M_PI*180.0;
zTheta是手機與水平面的夾角,
xyTheta是手機繞自身旋轉的角度//旋轉角速度:
CMRotationRate rotationRate = motionManager.deviceMotion.rotationRate;
double rotationX = rotationRate.x;
double rotationY = rotationRate.y;
double rotationZ = rotationRate.z;
5.空間位置的歐拉角(通過歐拉角可以算得手機兩個時刻之間的夾角,比用角速度計算精確地多)
double roll = motionManager.deviceMotion.attitude.roll;
double pitch = motionManager.deviceMotion.attitude.pitch;
double yaw = motionManager.deviceMotion.attitude.yaw;
6.空間位置的四元數(與歐拉角類似,但解決了萬向結死鎖問題)
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;