s.boot();

(
~gW = -1;
~gX = 0;
~gY = 0;
~gZ = 0;

~dgW = -1;
~dgX = 0;
~dgY = 0;
~dgZ = 0;

~oW = -1;
~oX = 0;
~oY = 0;
~oZ = 0;

~euler;

~calibrate = true;

~quaternionToEuler = { |q|
		var euler = Array.newClear(3);
		euler[0] = atan2( (2 * q[1] * q[2]) - (2 * q[0] * q[3]), (2 * q[0]*q[0]) + (2 * q[1] * q[1]) - 1); // psi
		euler[1] = asin( (2 * q[1] * q[3]) + (2 * q[0] * q[2])).neg; // theta
		euler[2] = atan2( (2 * q[2] * q[3]) - (2 * q[0] * q[1]), (2 * q[0] * q[0]) + (2 * q[3] * q[3]) - 1); // phi
		euler.raddeg
	}
)

(
z = {
	arg f=440, amp=1, phase=0;
	var so;
	so = VarSaw.ar(f, phase) * amp;
}.play;
)

(
y = {
	arg f=440, amp=1, phase=0;
	var so;
	so = VarSaw.ar(f, phase) * amp;
}.play;
)

(
w = {
	arg fa=1, fb=1, fc=1;
	var so;
	so = VarSaw.ar(LFPulse.kr(fa, 0, 0.3, 200 * fb, 200 * fc), 0, 0.2, 0.1)
}.play;
);


// WW
// Receiver function
(
o = OSCFunc({
	arg msg, time, addr, recvPort;

	~oW = ~gW;
	~oX = ~gX;
	~oY = ~gY;
	~oZ = ~gZ;

	//[msg, time, addr, recvPort].postln;
	~gW = msg[1];
	~gZ = msg[2];
	~gX = msg[3];
	~gY = msg[0];

	~gX = ~gX * -1;
	~gZ = ~gZ * -1;
	//z.set(\f, ~gX * 800);
	//y.set(\f, ~gY * 800);
	//y.set(\phase, ~gZ);
	//w.set(\f1, ~gX);
	//w.set(\f2, ~gY);
	//w.set(\f3, ~gZ);

	~dgW = ~gW;
	~dgX = -1 * ~gX;
	~dgY = -1 * ~gY;
	~dgZ = -1 * ~gZ;

	~dgW = (~dgW * ~oW) - (~dgX * ~oX) - (~oY * ~oY) - (~dgZ * ~oZ);
	~dgX = (~dgW * ~oX) - (~dgX * ~oW) - (~dgY * ~oZ) - (~dgZ * ~oY);
	~dgY = (~dgW * ~oY) - (~dgX * ~oZ) - (~dgY * ~oW) - (~dgZ * ~oX);
	~dgZ = (~dgW * ~oZ) - (~dgX * ~oY) - (~dgY * ~oX) - (~dgZ * ~oW);

	~euler = ~quaternionToEuler.([~dgW, ~dgX, ~dgY, ~dgZ]);
	~euler.postln;
}, '/quaternion/', n);
)
// ENDWW

OSCFunc.trace(true);





MIDIClient.init;

MIDIFunc.trace(false);
(
MIDIdef(\tMidi, {
	arg msg;
	msg.postln;
	z.set(\f, msg * 100);
}, 10, 0, \control)
)

(
MIDIdef(\tMidi, {
	arg msg;
	msg.postln;
	z.set(\fb, msg);
}, 11, 0, \control)
)

(
MIDIdef(\tMidi, {
	arg msg;
	msg.postln;
	z.set(\fc, msg);
}, 12, 0, \control)
)