ios CoreMotion 的用法,获取手机加速度与偏转角度

近期做一个需要陀螺仪相关的项目, 顺便整理了一些CoreMotion库相关的用法

初始化CoreMotion

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。

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