From 12eac39b29455e45537d1102eebebb94550c3668 Mon Sep 17 00:00:00 2001
From: Alexander Pacha <alexander.pacha@gmail.com>
Date: Sun, 15 Dec 2013 15:59:51 +0100
Subject: [PATCH] Renderer uses now own matrix representation.

---
 .../hitlabnz/sensor_fusion_demo/CubeRenderer.java |  2 +-
 .../orientationProvider/OrientationProvider.java  |  6 ++++--
 .../RotationVectorProvider.java                   | 15 +++++++--------
 3 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/src/org/hitlabnz/sensor_fusion_demo/CubeRenderer.java b/src/org/hitlabnz/sensor_fusion_demo/CubeRenderer.java
index c1ae2b1..49d2987 100644
--- a/src/org/hitlabnz/sensor_fusion_demo/CubeRenderer.java
+++ b/src/org/hitlabnz/sensor_fusion_demo/CubeRenderer.java
@@ -59,7 +59,7 @@ public class CubeRenderer implements GLSurfaceView.Renderer {
 
         if (orientationProvider != null) {
             // Get the rotation from the current orientationProvider
-            gl.glMultMatrixf(orientationProvider.getRotationMatrix(), 0);
+            gl.glMultMatrixf(orientationProvider.getRotationMatrix().getMatrix(), 0);
         }
 
         // draw our object
diff --git a/src/org/hitlabnz/sensor_fusion_demo/orientationProvider/OrientationProvider.java b/src/org/hitlabnz/sensor_fusion_demo/orientationProvider/OrientationProvider.java
index d1b3d72..47c9b2d 100644
--- a/src/org/hitlabnz/sensor_fusion_demo/orientationProvider/OrientationProvider.java
+++ b/src/org/hitlabnz/sensor_fusion_demo/orientationProvider/OrientationProvider.java
@@ -3,6 +3,8 @@
  */
 package org.hitlabnz.sensor_fusion_demo.orientationProvider;
 
+import org.hitlabnz.sensor_fusion_demo.representation.Matrixf4x4;
+
 /**
  * Classes implementing this interface provide an orientation of the device either by directly accessing hardware, using
  * Android sensor fusion or fusing sensors itself.
@@ -16,9 +18,9 @@ public interface OrientationProvider {
 
     /**
      * 
-     * @return Returns the current rotation of the device in the rotation matrix format
+     * @return Returns the current rotation of the device in the rotation matrix format (4x4 matrix)
      */
-    public float[] getRotationMatrix();
+    public Matrixf4x4 getRotationMatrix();
 
     /**
      * Starts the sensor fusion (e.g. when resuming the activity)
diff --git a/src/org/hitlabnz/sensor_fusion_demo/orientationProvider/RotationVectorProvider.java b/src/org/hitlabnz/sensor_fusion_demo/orientationProvider/RotationVectorProvider.java
index 6a64bc2..8d31d0f 100644
--- a/src/org/hitlabnz/sensor_fusion_demo/orientationProvider/RotationVectorProvider.java
+++ b/src/org/hitlabnz/sensor_fusion_demo/orientationProvider/RotationVectorProvider.java
@@ -1,5 +1,7 @@
 package org.hitlabnz.sensor_fusion_demo.orientationProvider;
 
+import org.hitlabnz.sensor_fusion_demo.representation.Matrixf4x4;
+
 import android.hardware.Sensor;
 import android.hardware.SensorEvent;
 import android.hardware.SensorEventListener;
@@ -22,7 +24,7 @@ public class RotationVectorProvider implements SensorEventListener, OrientationP
     /**
      * The matrix that holds the current rotation
      */
-    private final float[] currentOrientationRotationMatrix = new float[16];
+    private final Matrixf4x4 currentOrientationRotationMatrix;
 
     /**
      * The sensor manager for accessing android sensors
@@ -40,11 +42,8 @@ public class RotationVectorProvider implements SensorEventListener, OrientationP
         // find the rotation-vector sensor
         rotationVectorSensor = sensorManager.getDefaultSensor(Sensor.TYPE_ROTATION_VECTOR);
 
-        // initialize the rotation matrix to identity
-        currentOrientationRotationMatrix[0] = 1;
-        currentOrientationRotationMatrix[4] = 1;
-        currentOrientationRotationMatrix[8] = 1;
-        currentOrientationRotationMatrix[12] = 1;
+        // Initialise with identity
+        currentOrientationRotationMatrix = new Matrixf4x4();
     }
 
     @Override
@@ -68,7 +67,7 @@ public class RotationVectorProvider implements SensorEventListener, OrientationP
             // convert the rotation-vector to a 4x4 matrix. the matrix
             // is interpreted by Open GL as the inverse of the
             // rotation-vector, which is what we want.
-            SensorManager.getRotationMatrixFromVector(currentOrientationRotationMatrix, event.values);
+            SensorManager.getRotationMatrixFromVector(currentOrientationRotationMatrix.matrix, event.values);
         }
     }
 
@@ -77,7 +76,7 @@ public class RotationVectorProvider implements SensorEventListener, OrientationP
     }
 
     @Override
-    public float[] getRotationMatrix() {
+    public Matrixf4x4 getRotationMatrix() {
         return currentOrientationRotationMatrix;
     }
 }