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++ // Copyright (C) 2019 BogDan Vatra <bogdan@kde.org>
++ // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
++ // Qt-Security score:significant reason:default
++
++ #include "androidrotation.h"
++
++ #include <QtCore/qmath.h>
++
++ AndroidRotation::AndroidRotation(int type, QSensor *sensor, QObject *parent)
++ : SensorEventQueue<QRotationReading>(type, sensor, parent)
++ {}
++
++
++ void AndroidRotation::dataReceived(const ASensorEvent &event)
++ {
++ // From android documentation, the rotation sensor values are:
++ // values[0]: x*sin(θ/2)
++ // values[1]: y*sin(θ/2)
++ // values[2]: z*sin(θ/2)
++ // values[3]: cos(θ/2)
++
++ // The mathematics below is adapted from
++ // and
++ // (getRotationMatrixFromVector() followed by getOrientation())
++ qreal angles[3];
++ qreal q1 = qreal(event.data[0]);
++ qreal q2 = qreal(event.data[1]);
++ qreal q3 = qreal(event.data[2]);
++ qreal q0 = qreal(event.data[3]);
++
++ qreal sq_q1 = 2 * q1 * q1;
++ qreal sq_q2 = 2 * q2 * q2;
++ qreal sq_q3 = 2 * q3 * q3;
++ qreal q1_q2 = 2 * q1 * q2;
++ qreal q3_q0 = 2 * q3 * q0;
++ qreal q1_q3 = 2 * q1 * q3;
++ qreal q2_q0 = 2 * q2 * q0;
++ qreal q2_q3 = 2 * q2 * q3;
++ qreal q1_q0 = 2 * q1 * q0;
++
++ angles[0] = std::atan2((q1_q2 - q3_q0), (1 - sq_q1 - sq_q3));
++ angles[1] = std::asin(-(q2_q3 + q1_q0));
++ angles[2] = std::atan2(-(q1_q3 - q2_q0), (1 - sq_q1 - sq_q2));
++
++ qreal rz = -qRadiansToDegrees(angles[0]);
++ qreal rx = -qRadiansToDegrees(angles[1]);
++ qreal ry = qRadiansToDegrees(angles[2]);
++
++ if (sensor()->skipDuplicates() && qFuzzyCompare(m_reader.x(), rx) &&
++ qFuzzyCompare(m_reader.y(), ry) &&
++ qFuzzyCompare(m_reader.z(), rz)) {
++ return;
++ }
++ m_reader.setTimestamp(uint64_t(event.timestamp / 1000));
++ m_reader.setFromEuler(rx, ry, rz);
++ newReadingAvailable();
++ }