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author | Narr the Reg <juangerman-13@hotmail.com> | 2024-01-05 03:37:43 +0100 |
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committer | Narr the Reg <juangerman-13@hotmail.com> | 2024-01-05 18:41:15 +0100 |
commit | ee847f8ff0b1b0aec39c1b78c010bc0c08a0a613 (patch) | |
tree | 3b95cbb74be05f0ce7a007353f1f9f95e1ed3901 /src/hid_core/frontend/motion_input.h | |
parent | Merge pull request #12437 from ameerj/gl-amd-fixes (diff) | |
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Diffstat (limited to 'src/hid_core/frontend/motion_input.h')
-rw-r--r-- | src/hid_core/frontend/motion_input.h | 119 |
1 files changed, 119 insertions, 0 deletions
diff --git a/src/hid_core/frontend/motion_input.h b/src/hid_core/frontend/motion_input.h new file mode 100644 index 000000000..11678983d --- /dev/null +++ b/src/hid_core/frontend/motion_input.h @@ -0,0 +1,119 @@ +// SPDX-FileCopyrightText: Copyright 2020 yuzu Emulator Project +// SPDX-License-Identifier: GPL-2.0-or-later + +#pragma once + +#include "common/common_types.h" +#include "common/quaternion.h" +#include "common/vector_math.h" + +namespace Core::HID { + +class MotionInput { +public: + static constexpr float ThresholdLoose = 0.01f; + static constexpr float ThresholdStandard = 0.007f; + static constexpr float ThresholdThight = 0.002f; + + static constexpr float IsAtRestRelaxed = 0.05f; + static constexpr float IsAtRestLoose = 0.02f; + static constexpr float IsAtRestStandard = 0.01f; + static constexpr float IsAtRestThight = 0.005f; + + static constexpr float GyroMaxValue = 5.0f; + static constexpr float AccelMaxValue = 7.0f; + + static constexpr std::size_t CalibrationSamples = 300; + + explicit MotionInput(); + + MotionInput(const MotionInput&) = default; + MotionInput& operator=(const MotionInput&) = default; + + MotionInput(MotionInput&&) = default; + MotionInput& operator=(MotionInput&&) = default; + + void SetPID(f32 new_kp, f32 new_ki, f32 new_kd); + void SetAcceleration(const Common::Vec3f& acceleration); + void SetGyroscope(const Common::Vec3f& gyroscope); + void SetQuaternion(const Common::Quaternion<f32>& quaternion); + void SetEulerAngles(const Common::Vec3f& euler_angles); + void SetGyroBias(const Common::Vec3f& bias); + void SetGyroThreshold(f32 threshold); + + /// Applies a modifier on top of the normal gyro threshold + void SetUserGyroThreshold(f32 threshold); + + void EnableReset(bool reset); + void ResetRotations(); + void ResetQuaternion(); + + void UpdateRotation(u64 elapsed_time); + void UpdateOrientation(u64 elapsed_time); + + void Calibrate(); + + [[nodiscard]] std::array<Common::Vec3f, 3> GetOrientation() const; + [[nodiscard]] Common::Vec3f GetAcceleration() const; + [[nodiscard]] Common::Vec3f GetGyroscope() const; + [[nodiscard]] Common::Vec3f GetGyroBias() const; + [[nodiscard]] Common::Vec3f GetRotations() const; + [[nodiscard]] Common::Quaternion<f32> GetQuaternion() const; + [[nodiscard]] Common::Vec3f GetEulerAngles() const; + + [[nodiscard]] bool IsMoving(f32 sensitivity) const; + [[nodiscard]] bool IsCalibrated(f32 sensitivity) const; + +private: + void StopCalibration(); + void ResetOrientation(); + void SetOrientationFromAccelerometer(); + + // PID constants + f32 kp; + f32 ki; + f32 kd; + + // PID errors + Common::Vec3f real_error; + Common::Vec3f integral_error; + Common::Vec3f derivative_error; + + // Quaternion containing the device orientation + Common::Quaternion<f32> quat; + + // Number of full rotations in each axis + Common::Vec3f rotations; + + // Acceleration vector measurement in G force + Common::Vec3f accel; + + // Gyroscope vector measurement in radians/s. + Common::Vec3f gyro; + + // Vector to be subtracted from gyro measurements + Common::Vec3f gyro_bias; + + // Minimum gyro amplitude to detect if the device is moving + f32 gyro_threshold = 0.0f; + + // Multiplies gyro_threshold by this value + f32 user_gyro_threshold = 0.0f; + + // Number of invalid sequential data + u32 reset_counter = 0; + + // If the provided data is invalid the device will be autocalibrated + bool reset_enabled = true; + + // Use accelerometer values to calculate position + bool only_accelerometer = true; + + // When enabled it will aggressively adjust for gyro drift + bool calibration_mode = false; + + // Used to auto disable calibration mode + std::size_t calibration_counter = 0; +}; + +} // namespace Core::HID |