陀螺仪结合Unity姿态孪生Demo演示 硬件使用:MPU6050,MPU9250。 MCU使用:ESP8266。 自备串口TTL读取工具。 固件选择:MicroPython&NodeMCU。 拷贝Assets\ESP8266Program中对应脚本到MCU内存中运行即可,连接串口后,串口收到消息时,打开Unity运行对应程序即可看到陀螺仪模块的姿态孪生(旋转角度会和陀螺仪保持一致)
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Shader "Unlit/MyShader"
{
Properties
{
_MainTex ("Texture", 2D) = "white" {}
}
SubShader
{
Tags { "RenderType"="Opaque" }
LOD 100
Pass
{
CGPROGRAM
#pragma vertex vert
#pragma fragment frag
// make fog work
#pragma multi_compile_fog
#include "UnityCG.cginc"
struct appdata
{
float4 vertex : POSITION;
float2 uv : TEXCOORD0;
};
struct v2f
{
float2 uv : TEXCOORD0;
UNITY_FOG_COORDS(1)
float4 vertex : SV_POSITION;
};
sampler2D _MainTex;
float4 _MainTex_ST;
v2f vert (appdata v)
{
v2f o;
o.vertex = UnityObjectToClipPos(v.vertex);
o.uv = TRANSFORM_TEX(v.uv, _MainTex);
UNITY_TRANSFER_FOG(o,o.vertex);
return o;
}
fixed4 frag (v2f i) : SV_Target
{
// sample the texture
fixed4 col = tex2D(_MainTex, i.uv);
// apply fog
UNITY_APPLY_FOG(i.fogCoord, col);
return col;
}
ENDCG
}
}
}