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MarineCompass/source/MarineCompassAppDelegate.m

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//

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//  MarineCompassAppDelegate.m

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//  MarineCompass

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//

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//  Created by döme on 26.07.2009.

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//  Copyright __MyCompanyName__ 2009. All rights reserved.

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//

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#import "MarineCompassAppDelegate.h"

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#import "EAGLView.h"

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#import "CompassViewController.h"

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#import "ElAnimation.h"

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#import <UIKit/UIKit.h>

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#import <CoreLocation/CoreLocation.h>

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#import <QuartzCore/QuartzCore.h>

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#import <OpenGLES/EAGLDrawable.h>

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#import <CoreGraphics/CoreGraphics.h>

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@implementation MarineCompassAppDelegate

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- (void)applicationDidFinishLaunching:(UIApplication *)application

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{

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        self.view;

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}

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- (void) startAnimation

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{

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        ElCallbackAnimation* anim = [[[ElCallbackAnimation alloc] init] autorelease];

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        [anim setTarget: glView];

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        [anim setCallback: @selector(animationCallback:)];

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        [anim setDuration: HUGE_VALF];

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        [anim queueForKey: @"glViewAnimation" atBeginning: NO cancelPending: NO];

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}

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- (void) stopAnimation

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{

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        [[[[ElAnimation alloc] init] autorelease] queueForKey: @"glViewAnimation" atBeginning: YES cancelPending: YES];

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}

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- (void) viewDidLoad

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{

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        [window addSubview: [self view]];

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        lman = [[CLLocationManager alloc] init];

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        [lman setDelegate: self];

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        [lman startUpdatingHeading];

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        UIAccelerometer* accm = [UIAccelerometer sharedAccelerometer];

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        [accm setDelegate: self];

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        [accm setUpdateInterval: 0.01];

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        rawBaseTransform                = midentity();

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        baseCompassTransform    = midentity();

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        compassDiskTransform    = midentity();

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        [self startAnimation];

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        mag = (v3){0.1,0.2,0.3};

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/*

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        unsigned int cp0 = 0;

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        __asm__(

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    "MRC p15, 0, %0, c0, 0, 0"

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    : "=r" (cp0)

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        );

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*/

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}

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- (void)applicationWillResignActive:(UIApplication *)application {

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}

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- (void)applicationDidBecomeActive:(UIApplication *)application {

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}

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- (BOOL)locationManagerShouldDisplayHeadingCalibration:(CLLocationManager *)manager

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{

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        return YES;

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}

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- (void)locationManager:(CLLocationManager *)manager didUpdateHeading:(CLHeading *)heading

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{

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        v3 v = { [heading x], [heading y], [heading z] };

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        v = mtransformdir3(mtranspose(baseCompassTransform), v);

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        // clamp delta

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        v3 dv = vsub(v, prevm);

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        dv = vclamp(dv, -0.2, 0.2);

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        v = vadd(prevm, dv);

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        mag = v;

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        double ffactor = 0.05;

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        v3 cv = mag;

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        v3 cvflat = cv;

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        cvflat.v.z = 0.0;

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        cvflat = vnormalize(cvflat);

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        cvfp = vnormalize(vadd(vmul(cvfp, 1.0-ffactor), vmul(cvflat, ffactor)));

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        v3 Z = {0.0,0.0,1.0};

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        v3 cright = vnormalize(vcross(Z, cvfp));

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        compassDiskTransform = mcreatefrombases(vnegate(cvfp), vnegate(cright), Z);

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        prevm = v;

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        [label setText: [NSString stringWithFormat: @"%.1f µT", vlength(mag)]];

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}

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- (void) accelerometer: (UIAccelerometer *) accelerometer didAccelerate: (UIAcceleration*) acceleration

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{

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        v3 v = { [acceleration x], [acceleration y], [acceleration z] };

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        double ffactor = 0.02;

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        acc = vnormalize(vadd(vmul(acc, 1.0-ffactor), vmul(v, ffactor)));

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//      v3 up = vnormalize(vnegate(acc));

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        //v3 oldForward = {baseCompassTransform.a[4], baseCompassTransform.a[5], baseCompassTransform.a[6]};

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        v3 oldForward = mtransformdir3(baseCompassTransform, cvfp);

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        m16 newBaseCompassTransform = computeAlignedBasesFromDownVector2(acc, oldForward);      

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        m16 newRawBaseTransform = computeAlignedBasesFromDownVector2(v, oldForward);    

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        cvfp = mtransformdir3(baseCompassTransform, cvfp);

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        cvfp = mtransformdir3(mtranspose(newBaseCompassTransform), cvfp);

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        cvfp.v.z = 0.0;

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        cvfp = vnormalize(cvfp);

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        baseCompassTransform = newBaseCompassTransform;

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        rawBaseTransform = newRawBaseTransform;

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}

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- (IBAction) toggleCamera: (id) sender

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{

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        UIBarButtonItemStyle style = [sender style];

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        if (style != UIBarButtonItemStyleDone)

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        {

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                if ([UIImagePickerController isSourceTypeAvailable: UIImagePickerControllerSourceTypeCamera])

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                {

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                        //[compassViewController.view removeFromSuperview];

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                        [self.view setBackgroundColor: [UIColor clearColor]];

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                        [glView setBackgroundColor: [UIColor clearColor]];

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                        self.view.layer.opaque = NO;

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                        glView.layer.opaque = NO;

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                        [glView.layer setOpacity: 0.5f];

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                        if (!imagePicker)

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                                imagePicker = [[UIImagePickerController alloc] init];

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                        [imagePicker setSourceType: UIImagePickerControllerSourceTypeCamera];

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                        [imagePicker setDelegate: self];

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                        [imagePicker setShowsCameraControls: NO];

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                        [self.view setFrame: CGRectMake(0.0f,0.0f, 320.0f, 480.0f)];

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                        [imagePicker setCameraOverlayView: self.view];

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                        [self presentModalViewController: imagePicker animated: NO];

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                        //[self.view setFrame: [[self.view superview] bounds]];

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//                      [viewpointButton setEnabled: NO];

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                        [sender setStyle: UIBarButtonItemStyleDone];

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                }

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        }

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        else

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        {

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                CALayer *eaglLayer = glView.layer;

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                [self.view setBackgroundColor: [UIColor blackColor]];

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                [glView setBackgroundColor: [UIColor clearColor]];

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                eaglLayer.opaque = YES;

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                [self.view setAlpha: 1.0f];

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                [self dismissModalViewControllerAnimated: NO];

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                [window addSubview: [self view]];

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                [self.view setFrame: [[self.view superview] bounds]];

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//              [viewpointButton setEnabled: YES];

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                [sender setStyle: UIBarButtonItemStyleBordered];

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        }

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}

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- (void)dealloc

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{

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        [lman release];

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        [window release];

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        [glView release];

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        [super dealloc];

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}

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@synthesize baseCompassTransform, compassDiskTransform;

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@end

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