edit shader

Assets/Scripts/InputHandler.cs

@@ -1,3 +1,4 @@
+using System.Linq;
 using System.Collections;
 using System.Collections.Generic;
 
@@ -9,6 +10,28 @@ public class InputHandler : MonoBehaviour, IGameComponent
     private Controls inputSystem;
     private Transform cameraTransform;
 
+    private float X0;
+    private float P0;
+    private readonly float F = 1;
+    private readonly float Q = 2;
+    private readonly float H = 1;
+    private readonly float R = 15;
+
+    private float Covariance = .1f;
+    private float state = 0;
+
+    float GetValueAfterFilter(float value)
+    {
+        X0 = F * state;
+        P0 = F * Covariance * F + Q;
+
+        var K = H *P0 / (H * P0 * H + R);
+        state = X0 + K * (value - H * X0);
+        Covariance = (1 - K * H) * P0;
+
+        return state;
+    }
+
     void Awake()
     {
         inputSystem = new Controls();
@@ -39,7 +62,23 @@ public class InputHandler : MonoBehaviour, IGameComponent
             .Gyroscope
             .ReadValue<Quaternion>();
 
-        cameraTransform.rotation = phoneRotation;
+        // phoneRotation = new Quaternion
+        // (
+        //     GetValueAfterFilter(phoneRotation.x),
+        //     GetValueAfterFilter(phoneRotation.y),
+        //     GetValueAfterFilter(phoneRotation.z),
+        //     GetValueAfterFilter(phoneRotation.w)
+        // );
+
+        Quaternion filtredRotation = new Quaternion
+        (
+            GetValueAfterFilter(phoneRotation.x),
+            GetValueAfterFilter(phoneRotation.y),
+            GetValueAfterFilter(phoneRotation.z),
+            GetValueAfterFilter(phoneRotation.w)
+        );
+
+        cameraTransform.rotation = filtredRotation;
         cameraTransform.Rotate(0, 0, 180, Space.Self);
         cameraTransform.Rotate(90, 180, 0, Space.World);
     }