diff --git a/app/.gitignore b/app/.gitignore
new file mode 100644
index 0000000..42afabf
--- /dev/null
+++ b/app/.gitignore
@@ -0,0 +1 @@
+/build
\ No newline at end of file
diff --git a/app/build.gradle.kts b/app/build.gradle.kts
new file mode 100644
index 0000000..d99be75
--- /dev/null
+++ b/app/build.gradle.kts
@@ -0,0 +1,43 @@
+plugins {
+ alias(libs.plugins.androidApplication)
+}
+
+android {
+ namespace = "com.astatin3.android_position_tracking"
+ compileSdk = 34
+
+ defaultConfig {
+ applicationId = "com.astatin3.android_position_tracking"
+ minSdk = 24
+ targetSdk = 34
+ versionCode = 1
+ versionName = "1.0"
+
+ testInstrumentationRunner = "androidx.test.runner.AndroidJUnitRunner"
+ }
+
+ buildTypes {
+ release {
+ isMinifyEnabled = false
+ proguardFiles(
+ getDefaultProguardFile("proguard-android-optimize.txt"),
+ "proguard-rules.pro"
+ )
+ }
+ }
+ compileOptions {
+ sourceCompatibility = JavaVersion.VERSION_1_8
+ targetCompatibility = JavaVersion.VERSION_1_8
+ }
+}
+
+dependencies {
+
+ implementation(libs.appcompat)
+ implementation(libs.material)
+ implementation(libs.activity)
+ implementation(libs.constraintlayout)
+ testImplementation(libs.junit)
+ androidTestImplementation(libs.ext.junit)
+ androidTestImplementation(libs.espresso.core)
+}
\ No newline at end of file
diff --git a/app/proguard-rules.pro b/app/proguard-rules.pro
new file mode 100644
index 0000000..481bb43
--- /dev/null
+++ b/app/proguard-rules.pro
@@ -0,0 +1,21 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+# http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+# public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile
\ No newline at end of file
diff --git a/app/src/androidTest/java/com/astatin3/android_position_tracking/ExampleInstrumentedTest.java b/app/src/androidTest/java/com/astatin3/android_position_tracking/ExampleInstrumentedTest.java
new file mode 100644
index 0000000..15817bf
--- /dev/null
+++ b/app/src/androidTest/java/com/astatin3/android_position_tracking/ExampleInstrumentedTest.java
@@ -0,0 +1,26 @@
+package com.astatin3.android_position_tracking;
+
+import android.content.Context;
+
+import androidx.test.platform.app.InstrumentationRegistry;
+import androidx.test.ext.junit.runners.AndroidJUnit4;
+
+import org.junit.Test;
+import org.junit.runner.RunWith;
+
+import static org.junit.Assert.*;
+
+/**
+ * Instrumented test, which will execute on an Android device.
+ *
+ * @see Testing documentation
+ */
+@RunWith(AndroidJUnit4.class)
+public class ExampleInstrumentedTest {
+ @Test
+ public void useAppContext() {
+ // Context of the app under test.
+ Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext();
+ assertEquals("com.astatin3.android_position_tracking", appContext.getPackageName());
+ }
+}
\ No newline at end of file
diff --git a/app/src/main/AndroidManifest.xml b/app/src/main/AndroidManifest.xml
new file mode 100644
index 0000000..e6ee8e6
--- /dev/null
+++ b/app/src/main/AndroidManifest.xml
@@ -0,0 +1,26 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/app/src/main/java/com/astatin3/android_position_tracking/MainActivity.java b/app/src/main/java/com/astatin3/android_position_tracking/MainActivity.java
new file mode 100644
index 0000000..5888b59
--- /dev/null
+++ b/app/src/main/java/com/astatin3/android_position_tracking/MainActivity.java
@@ -0,0 +1,66 @@
+package com.astatin3.android_position_tracking;
+
+import static android.util.Half.EPSILON;
+
+import android.content.pm.ActivityInfo;
+import android.os.Bundle;
+
+import androidx.activity.EdgeToEdge;
+import androidx.appcompat.app.AppCompatActivity;
+import androidx.core.graphics.Insets;
+import androidx.core.view.ViewCompat;
+import androidx.core.view.WindowInsetsCompat;
+
+import android.hardware.Sensor;
+import android.hardware.SensorEvent;
+import android.hardware.SensorEventListener;
+import android.hardware.SensorManager;
+import android.os.Bundle;
+import android.content.Context;
+import android.widget.TextView;
+
+public class MainActivity extends AppCompatActivity {
+ TextView textX, textY, textZ;
+ Position o;
+ @Override
+ protected void onCreate(Bundle savedInstanceState) {
+ super.onCreate(savedInstanceState);
+ EdgeToEdge.enable(this);
+ setContentView(R.layout.activity_main);
+ ViewCompat.setOnApplyWindowInsetsListener(findViewById(R.id.main), (v, insets) -> {
+ Insets systemBars = insets.getInsets(WindowInsetsCompat.Type.systemBars());
+ v.setPadding(systemBars.left, systemBars.top, systemBars.right, systemBars.bottom);
+ return insets;
+ });
+
+ textX = findViewById(R.id.textX);
+ textY = findViewById(R.id.textY);
+ textZ = findViewById(R.id.textZ);
+ setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
+
+ o = new Position(this);
+
+// o.startListening(ori_listener);
+ }
+
+ private Position.Listener ori_listener = new Position.Listener() {
+ @Override
+ public void onPositionChanged(float x, float y, float z) {
+ textX.setText(String.valueOf((int)(x*100)));
+ textY.setText(String.valueOf((int)(y*100)));
+ textZ.setText(String.valueOf((int)(z*100)));
+ System.out.println(x);
+ }
+ };
+
+ public void onResume() {
+ super.onResume();
+ o.startListening(ori_listener);
+// sensorManager.registerListener(gyroListener, sensor, SensorManager.SENSOR_DELAY_NORMAL);
+ }
+ public void onStop() {
+ super.onStop();
+ o.stopListening();
+// sensorManager.unregisterListener(gyroListener);
+ }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/astatin3/android_position_tracking/Orientation.java b/app/src/main/java/com/astatin3/android_position_tracking/Orientation.java
new file mode 100644
index 0000000..fa9d20f
--- /dev/null
+++ b/app/src/main/java/com/astatin3/android_position_tracking/Orientation.java
@@ -0,0 +1,122 @@
+package com.astatin3.android_position_tracking;
+
+import android.app.Activity;
+import android.hardware.Sensor;
+import android.hardware.SensorEvent;
+import android.hardware.SensorEventListener;
+import android.hardware.SensorManager;
+//import android.support.annotation.Nullable;
+import android.view.Surface;
+import android.view.WindowManager;
+
+import androidx.annotation.Nullable;
+
+// Copied from https://github.com/kplatfoot/android-rotation-sensor-sample/blob/master/app/src/main/java/com/kviation/sample/orientation/Orientation.java
+public class Orientation implements SensorEventListener {
+
+ public interface Listener {
+ void onOrientationChanged(float[] rotation);
+ }
+
+ private static final int SENSOR_DELAY_MICROS = 16 * 1000; // 16ms
+
+ private final WindowManager mWindowManager;
+
+ private final SensorManager mSensorManager;
+
+ @Nullable
+ private final Sensor mRotationSensor;
+
+ private int mLastAccuracy;
+ private Listener mListener;
+
+ public Orientation(Activity activity) {
+ mWindowManager = activity.getWindow().getWindowManager();
+ mSensorManager = (SensorManager) activity.getSystemService(Activity.SENSOR_SERVICE);
+
+ // Can be null if the sensor hardware is not available
+ mRotationSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ROTATION_VECTOR);
+ }
+
+ public void startListening(Listener listener) {
+ if (mListener == listener) {
+ return;
+ }
+ mListener = listener;
+ if (mRotationSensor == null) {
+ System.out.println("Rotation vector sensor not available; will not provide orientation data.");
+ return;
+ }
+ mSensorManager.registerListener(this, mRotationSensor, SENSOR_DELAY_MICROS);
+ }
+
+ public void stopListening() {
+ mSensorManager.unregisterListener(this);
+ mListener = null;
+ }
+
+ @Override
+ public void onAccuracyChanged(Sensor sensor, int accuracy) {
+ if (mLastAccuracy != accuracy) {
+ mLastAccuracy = accuracy;
+ }
+ }
+
+ @Override
+ public void onSensorChanged(SensorEvent event) {
+ if (mListener == null) {
+ return;
+ }
+ if (mLastAccuracy == SensorManager.SENSOR_STATUS_UNRELIABLE) {
+ return;
+ }
+ if (event.sensor == mRotationSensor) {
+ updateOrientation(event.values);
+ }
+ }
+
+ @SuppressWarnings("SuspiciousNameCombination")
+ private void updateOrientation(float[] rotationVector) {
+ float[] rotationMatrix = new float[9];
+ SensorManager.getRotationMatrixFromVector(rotationMatrix, rotationVector);
+
+ final int worldAxisForDeviceAxisX;
+ final int worldAxisForDeviceAxisY;
+
+ // Remap the axes as if the device screen was the instrument panel,
+ // and adjust the rotation matrix for the device orientation.
+ switch (mWindowManager.getDefaultDisplay().getRotation()) {
+ case Surface.ROTATION_0:
+ default:
+ worldAxisForDeviceAxisX = SensorManager.AXIS_X;
+ worldAxisForDeviceAxisY = SensorManager.AXIS_Z;
+ break;
+ case Surface.ROTATION_90:
+ worldAxisForDeviceAxisX = SensorManager.AXIS_Z;
+ worldAxisForDeviceAxisY = SensorManager.AXIS_MINUS_X;
+ break;
+ case Surface.ROTATION_180:
+ worldAxisForDeviceAxisX = SensorManager.AXIS_MINUS_X;
+ worldAxisForDeviceAxisY = SensorManager.AXIS_MINUS_Z;
+ break;
+ case Surface.ROTATION_270:
+ worldAxisForDeviceAxisX = SensorManager.AXIS_MINUS_Z;
+ worldAxisForDeviceAxisY = SensorManager.AXIS_X;
+ break;
+ }
+
+ float[] adjustedRotationMatrix = new float[9];
+ SensorManager.remapCoordinateSystem(rotationMatrix, worldAxisForDeviceAxisX,
+ worldAxisForDeviceAxisY, adjustedRotationMatrix);
+
+ // Transform rotation matrix into azimuth/pitch/roll
+ float[] orientation = new float[3];
+ SensorManager.getOrientation(adjustedRotationMatrix, orientation);
+
+
+ mListener.onOrientationChanged(new float[]{
+ (float)Math.toDegrees(orientation[0]),
+ (float)Math.toDegrees(orientation[1]),
+ (float)Math.toDegrees(orientation[2])});
+ }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/astatin3/android_position_tracking/Position.java b/app/src/main/java/com/astatin3/android_position_tracking/Position.java
new file mode 100644
index 0000000..bea3b91
--- /dev/null
+++ b/app/src/main/java/com/astatin3/android_position_tracking/Position.java
@@ -0,0 +1,191 @@
+package com.astatin3.android_position_tracking;
+
+import android.app.Activity;
+import android.hardware.Sensor;
+import android.hardware.SensorEvent;
+import android.hardware.SensorEventListener;
+import android.hardware.SensorManager;
+import android.view.WindowManager;
+
+import androidx.annotation.Nullable;
+
+public class Position implements SensorEventListener {
+ public interface Listener {
+ void onPositionChanged(float x, float y, float z);
+ }
+ private Orientation o;
+ float[] cur_rotation;
+ private final SensorManager mSensorManager;
+ private static final int SENSOR_DELAY_MICROS = 16 * 1000; // 16ms
+ @Nullable
+ private final Sensor mAccelSensor;
+
+ private int mLastAccuracy;
+ private Listener mListener;
+
+// private float[] acceleration = new float[3]; // Accelerometer values
+// private float[] rotation = new float[4]; // Gyroscope values
+// private float[] globalAcceleration = new float[3]; // Global accelerometer values
+// private float[] position = new float[3]; // Device position
+
+ public Position(Activity activity){
+// mWindowManager = activity.getWindow().getWindowManager();
+ mSensorManager = (SensorManager) activity.getSystemService(Activity.SENSOR_SERVICE);
+
+ // Can be null if the sensor hardware is not available
+ mAccelSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_LINEAR_ACCELERATION);
+
+ o = new Orientation(activity);
+ }
+
+ @Override
+ public void onSensorChanged(SensorEvent event) {
+ if (mListener == null) {
+ return;
+ }
+ if (mLastAccuracy == SensorManager.SENSOR_STATUS_UNRELIABLE) {
+ return;
+ }
+ if (event.sensor == mAccelSensor) {
+ updateAccel(event.values);
+ }
+ }
+
+ public void stopListening() {
+ mSensorManager.unregisterListener(this);
+ mListener = null;
+ o.stopListening();
+ }
+
+ @Override
+ public void onAccuracyChanged(Sensor sensor, int accuracy) {
+ if (mLastAccuracy != accuracy) {
+ mLastAccuracy = accuracy;
+ }
+ }
+
+ public void startListening(Position.Listener listener) {
+ if (mListener == listener) {
+ return;
+ }
+ mListener = listener;
+ if (mAccelSensor == null) {
+ System.out.println("Rotation vector sensor not available; will not provide orientation data.");
+ return;
+ }
+
+ o.startListening(new Orientation.Listener() {
+ @Override
+ public void onOrientationChanged(float[] rotation) {
+ cur_rotation = rotation;
+ }
+ });
+
+ mSensorManager.registerListener(this, mAccelSensor, SENSOR_DELAY_MICROS);
+ }
+
+ private float[] position = {0, 0, 0};
+ private float[] velocity = {0, 0, 0};
+ private float lastUpdateTime = 0;
+ private float[] lastAccel = {0, 0, 0};
+ private static final float ALPHA = 0.1f; // Low-pass filter factor
+ private static final float NOISE_THRESHOLD = 0.1f; // Noise threshold
+
+ public void updateAccel(float[] accelVector) {
+ float currentTime = System.nanoTime() / 1e9f; // Convert to seconds
+ float deltaTime = currentTime - lastUpdateTime;
+
+ if (lastUpdateTime == 0) {
+ lastUpdateTime = currentTime;
+ System.arraycopy(accelVector, 0, lastAccel, 0, 3);
+ return;
+ }
+
+ // Apply low-pass filter
+ for (int i = 0; i < 3; i++) {
+ accelVector[i] = lowPassFilter(lastAccel[i], accelVector[i]);
+ }
+
+ // Apply threshold-based noise reduction
+ for (int i = 0; i < 3; i++) {
+ if (Math.abs(accelVector[i]) < NOISE_THRESHOLD) {
+ accelVector[i] = 0;
+ }
+ }
+
+ accelVector = rotatePosition(accelVector, cur_rotation);
+
+ for (int i = 0; i < 3; i++) {
+ // Update velocity: v = v0 + a * t
+ velocity[i] += accelVector[i] * deltaTime;
+
+ // Update position: x = x0 + v * t + (1/2) * a * t^2
+ position[i] += velocity[i] * deltaTime + 0.5f * accelVector[i] * deltaTime * deltaTime;
+ }
+
+ lastUpdateTime = currentTime;
+ System.arraycopy(accelVector, 0, lastAccel, 0, 3);
+
+ mListener.onPositionChanged(position[0], position[1], position[2]);
+ }
+
+ private float lowPassFilter(float lastValue, float currentValue) {
+ return ALPHA * lastValue + (1 - ALPHA) * currentValue;
+ }
+
+ public static float[] rotatePosition(float[] position, float[] rotation) {
+ if (position.length != 3 || rotation.length != 3) {
+ throw new IllegalArgumentException("Both position and rotation must have 3 components");
+ }
+
+ // Convert degrees to radians
+ float pitch = (float) Math.toRadians(rotation[0]);
+ float yaw = (float) Math.toRadians(rotation[1]);
+ float roll = (float) Math.toRadians(rotation[2]);
+
+ // Precompute trigonometric functions
+ float cp = (float) Math.cos(pitch);
+ float sp = (float) Math.sin(pitch);
+ float cy = (float) Math.cos(yaw);
+ float sy = (float) Math.sin(yaw);
+ float cr = (float) Math.cos(roll);
+ float sr = (float) Math.sin(roll);
+
+ // Create rotation matrix
+ float[][] rotMatrix = new float[3][3];
+ rotMatrix[0][0] = cy * cr + sy * sp * sr;
+ rotMatrix[0][1] = -cy * sr + sy * sp * cr;
+ rotMatrix[0][2] = sy * cp;
+ rotMatrix[1][0] = sr * cp;
+ rotMatrix[1][1] = cr * cp;
+ rotMatrix[1][2] = -sp;
+ rotMatrix[2][0] = -sy * cr + cy * sp * sr;
+ rotMatrix[2][1] = sy * sr + cy * sp * cr;
+ rotMatrix[2][2] = cy * cp;
+
+ // Apply rotation
+ float[] rotatedPosition = new float[3];
+ for (int i = 0; i < 3; i++) {
+ rotatedPosition[i] =
+ rotMatrix[i][0] * position[0] +
+ rotMatrix[i][1] * position[1] +
+ rotMatrix[i][2] * position[2];
+ }
+
+ return rotatedPosition;
+ }
+ // Add a calibration method to remove initial offset
+// public void calibrate(int numSamples) {
+// float[] sumAccel = {0, 0, 0};
+// for (int i = 0; i < numSamples; i++) {
+// float[] sample = getSensorReading(); // Implement this method to get raw sensor data
+// for (int j = 0; j < 3; j++) {
+// sumAccel[j] += sample[j];
+// }
+// }
+// for (int i = 0; i < 3; i++) {
+// sumAccel[i] /= numSamples;
+// }
+// // Store this average as the zero offset and subtract it from future readings
+// }
+}
diff --git a/app/src/main/res/drawable/ic_launcher_background.xml b/app/src/main/res/drawable/ic_launcher_background.xml
new file mode 100644
index 0000000..07d5da9
--- /dev/null
+++ b/app/src/main/res/drawable/ic_launcher_background.xml
@@ -0,0 +1,170 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/ic_launcher_foreground.xml b/app/src/main/res/drawable/ic_launcher_foreground.xml
new file mode 100644
index 0000000..2b068d1
--- /dev/null
+++ b/app/src/main/res/drawable/ic_launcher_foreground.xml
@@ -0,0 +1,30 @@
+
+
+
+
+