import vrml.*;
import vrml.Browser;
import vrml.field.*;
import vrml.node.*;
import vrml.Event;
import sms.*;

public class InstantMotion extends Script
{
	public SFVec3f acceleration;
	public SFRotation rotation_x, rotation_y, rotation_z;
	public int ref_x, ref_y, ref_z;
	public float acc_x, acc_y, acc_z;
	
	public float div = 0.01f;
	
	public void initialize()
	{	
		acceleration = (SFVec3f)getField("acceleration");
		rotation_x = (SFRotation)getField("rotation_x");
		rotation_y = (SFRotation)getField("rotation_y");
		rotation_z = (SFRotation)getField("rotation_z");
		
		calibrate();
	}
	
	public void shutdown()
	{
		
    }
	
	public void processEvent( Event e )
	{	
		if (e.getName().equals("set_time"))
		{
			get_sensordata();
		}
		else if (e.getName().equals("set_calibration"))
		{
			calibrate();
		}
    }
	
	public void get_sensordata()
	{
		acc_x = (ref_x - Unimotion.getSMSX()) * div;
		acc_y = (ref_y - Unimotion.getSMSY()) * div;
		acc_z = (ref_z - Unimotion.getSMSZ()) * div;
		acceleration.setValue(acc_x, acc_z, acc_y);
		
		rotation_x.setValue(1, 0, 0, -acc_y);
		rotation_y.setValue(0, 1, 0, acc_z);
		rotation_z.setValue(0, 0, 1, -acc_x);
	}
	
	public void calibrate()
	{
		ref_x = Unimotion.getSMSX();
		ref_y = Unimotion.getSMSY();
		ref_z = Unimotion.getSMSZ();
		System.out.println("calibrate");
	}
}