New 'Gyro_Accel.cs' script helps with calculating gyroscope features in data

Author: Ryan Kim

Gyro_Accel/Gyro_Accel.cs

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+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Gyro_Accel : MonoBehaviour
+{
+    public enum UpdateType { FixedUpdate, Update }
+
+    [Header("=== SETTINGS ===")]
+    public UpdateType update_type = UpdateType.FixedUpdate;
+
+    [Header("=== OUTCOMES ===")]
+    [ReadOnlyInsp] public Vector3 gyroscope;
+    [ReadOnlyInsp] public Vector3 local_gyroscope;
+    [ReadOnlyInsp] public Vector3 acceleration;
+    [ReadOnlyInsp] public Vector3 local_acceleration;
+
+    private Quaternion prev_rotation;
+    private Vector3 prev_position;
+    private Vector3 prev_velocity;
+
+    void Start() {
+        prev_rotation = transform.rotation;
+        prev_position = transform.position;
+        prev_velocity = Vector3.zero;
+    }
+
+    void Update() {
+        if (update_type == UpdateType.Update) Calculate(Time.deltaTime);
+    }
+
+    // Update is called once per frame
+    void FixedUpdate() {
+        if (update_type == UpdateType.FixedUpdate) Calculate(Time.fixedDeltaTime);
+    }
+
+    private void Calculate(float dt) {
+        // Cache current stats
+        Quaternion current_rotation = transform.rotation;
+        Vector3 current_position = transform.position;
+
+        // Calculate gyroscope and acceleration
+        gyroscope = ComputeGyro(prev_rotation, current_rotation, dt);
+        Vector3 vel = (current_position - prev_position) / dt;
+        acceleration = ((vel - prev_velocity) / dt) - Physics.gravity;
+
+        // Calculate local
+        local_gyroscope = Quaternion.Inverse(current_rotation) * gyroscope;
+        local_acceleration = Quaternion.Inverse(current_rotation) * acceleration;
+
+        // Cache previous
+        prev_rotation = current_rotation;
+        prev_position = current_position;
+        prev_velocity = vel;
+    }
+
+    public static Vector3 ComputeGyro(Quaternion prev, Quaternion current, float dt) {
+        // Measure change in rotation from the previous rotation
+        Quaternion dq = current * Quaternion.Inverse(prev);
+
+        // Ensure shortest path
+        if (dq.w < 0) {
+            dq = new Quaternion(-dq.x, -dq.y, -dq.z, -dq.w);
+        }
+
+        // Get angle axis
+        dq.ToAngleAxis(out float angleDeg, out Vector3 axis);
+
+        // Consider when angle diff is greater than 180 degrees. We basically want to contain rotations between -180 and 180 degrees
+        if (angleDeg > 180f) {
+            angleDeg -= 360f;
+        }
+
+        // Calculate output gyroscope
+        float angleRad = angleDeg * Mathf.Deg2Rad;
+        return axis * (angleRad / dt);      // Radians per second
+    }
+}