在移动端开发过程中，有时候会用到陀螺仪传感器获取当前手机的姿态，下面给出iOS端如何获取陀螺仪姿态数据的代码：
1 //根据陀螺仪的四元数转换为矩阵 2 + (GLKMatrix4)calculateMatrixFromQuaternion:(CMQuaternion*)quaternion orientation:(AVCaptureVideoOrientation) orientation{ 3 float xx = quaternion->x * quaternion->x; 4 float yy = quaternion->y * quaternion->y; 5 float zz = quaternion->z * quaternion->z; 6 float xy = quaternion->x * quaternion->y; 7 float wz = quaternion->w * quaternion->z; 8 float wy = quaternion->w * quaternion->y; 9 float xz = quaternion->x * quaternion->z; 10 float yz = quaternion->y * quaternion->z; 11 float wx = quaternion->w * quaternion->x; 12 13 float r00 = 1 - 2 * (yy + zz); 14 float r01 = 2 * (xy - wz); 15 float r02 = 2 * (wy + xz); 16 float r03 = 0; 17 18 float r10 = 2 * (xy + wz); 19 float r11 = 1 - 2 * (xx + zz); 20 float r12 = 2 * (yz - wx); 21 float r13 = 0; 22 23 float r20 = 2 * (xz - wy);//xy - wy 24 float r21 = 2 * (yz + wx); 25 float r22 = 1 - 2 * (xx + yy); 26 float r23 = 0; 27 28 float r30 = 0; 29 float r31 = 0; 30 float r32 = 0; 31 float r33 = 1; 32 33 return GLKMatrix4Make(r00,r01,r02,r03, 34 r10,r11,r12,r13, 35 r20,r21,r22,r23, 36 r30,r31,r32,r33); 37 } 38 39 40 //当前屏幕的方向 41 @property (nonatomic, readwrite, assign) AVCaptureVideoOrientation orientation; 42 //开启陀螺仪 43 - (void)updateAngleFromAttitudeSensor{ 44 if(self.cmmotionManager){ 45 46 }else{ 47 self.cmmotionManager = [[CMMotionManager alloc] init]; 48 self.cmmotionManager.deviceMotionUpdateInterval = 1.0/25.0; 49 self.cmmotionManager.gyroUpdateInterval = 1.0/25.0; 50 self.cmmotionManager.showsDeviceMovementDisplay = YES; 51 52 NSOperationQueue *mQueue = [[NSOperationQueue alloc]init]; 53 __weak typeof(self) wSelf = self; 54 [wSelf.cmmotionManager startDeviceMotionUpdatesToQueue:mQueue withHandler:^(CMDeviceMotion * _Nullable motion, NSError * _Nullable error){ 55 CMAttitude *attitude = motion.attitude; 56 if (attitude == nil) { 57 return; 58 } 59 60 //UID 61 CMQuaternion quaternion = attitude.quaternion; 62 wSelf.sensorMatrix = GLKMatrix4Identity; 63 wSelf.sensorMatrix = [GyroscopeUtil calculateMatrixFromQuaternion:&quaternion orientation:orientation]; 64 65 wSelf.sensorMatrix = GLKMatrix4RotateX(wSelf.sensorMatrix,M_PI_2); 66 wSelf.sensorInverseMatrix = GLKMatrix4Identity; 67 68 bool isInvertible = true; 69 wSelf.sensorInverseMatrix = GLKMatrix4Invert(wSelf.sensorMatrix, &isInvertible); 70 }]; 71 } 72 }