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author | german77 <juangerman-13@hotmail.com> | 2021-09-21 00:39:58 +0200 |
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committer | Narr the Reg <juangerman-13@hotmail.com> | 2021-11-25 03:30:23 +0100 |
commit | 6d108f0dcb5b388c3586f90426fc2c832a8bffc0 (patch) | |
tree | c32a8451e9a87121058d5eb6a7b9aa72fdb99a3c /src/input_common/motion_input.cpp | |
parent | input_common: Rewrite SDL (diff) | |
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Diffstat (limited to '')
-rw-r--r-- | src/input_common/motion_input.cpp | 307 |
1 files changed, 0 insertions, 307 deletions
diff --git a/src/input_common/motion_input.cpp b/src/input_common/motion_input.cpp deleted file mode 100644 index 1c9d561c0..000000000 --- a/src/input_common/motion_input.cpp +++ /dev/null @@ -1,307 +0,0 @@ -// Copyright 2020 yuzu Emulator Project -// Licensed under GPLv2 or any later version -// Refer to the license.txt file included - -#include <random> -#include "common/math_util.h" -#include "input_common/motion_input.h" - -namespace InputCommon { - -MotionInput::MotionInput(f32 new_kp, f32 new_ki, f32 new_kd) : kp(new_kp), ki(new_ki), kd(new_kd) {} - -void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) { - accel = acceleration; -} - -void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) { - gyro = gyroscope - gyro_drift; - - // Auto adjust drift to minimize drift - if (!IsMoving(0.1f)) { - gyro_drift = (gyro_drift * 0.9999f) + (gyroscope * 0.0001f); - } - - if (gyro.Length2() < gyro_threshold) { - gyro = {}; - } else { - only_accelerometer = false; - } -} - -void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) { - quat = quaternion; -} - -void MotionInput::SetGyroDrift(const Common::Vec3f& drift) { - gyro_drift = drift; -} - -void MotionInput::SetGyroThreshold(f32 threshold) { - gyro_threshold = threshold; -} - -void MotionInput::EnableReset(bool reset) { - reset_enabled = reset; -} - -void MotionInput::ResetRotations() { - rotations = {}; -} - -bool MotionInput::IsMoving(f32 sensitivity) const { - return gyro.Length() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f; -} - -bool MotionInput::IsCalibrated(f32 sensitivity) const { - return real_error.Length() < sensitivity; -} - -void MotionInput::UpdateRotation(u64 elapsed_time) { - const auto sample_period = static_cast<f32>(elapsed_time) / 1000000.0f; - if (sample_period > 0.1f) { - return; - } - rotations += gyro * sample_period; -} - -void MotionInput::UpdateOrientation(u64 elapsed_time) { - if (!IsCalibrated(0.1f)) { - ResetOrientation(); - } - // Short name local variable for readability - f32 q1 = quat.w; - f32 q2 = quat.xyz[0]; - f32 q3 = quat.xyz[1]; - f32 q4 = quat.xyz[2]; - const auto sample_period = static_cast<f32>(elapsed_time) / 1000000.0f; - - // Ignore invalid elapsed time - if (sample_period > 0.1f) { - return; - } - - const auto normal_accel = accel.Normalized(); - auto rad_gyro = gyro * Common::PI * 2; - const f32 swap = rad_gyro.x; - rad_gyro.x = rad_gyro.y; - rad_gyro.y = -swap; - rad_gyro.z = -rad_gyro.z; - - // Clear gyro values if there is no gyro present - if (only_accelerometer) { - rad_gyro.x = 0; - rad_gyro.y = 0; - rad_gyro.z = 0; - } - - // Ignore drift correction if acceleration is not reliable - if (accel.Length() >= 0.75f && accel.Length() <= 1.25f) { - const f32 ax = -normal_accel.x; - const f32 ay = normal_accel.y; - const f32 az = -normal_accel.z; - - // Estimated direction of gravity - const f32 vx = 2.0f * (q2 * q4 - q1 * q3); - const f32 vy = 2.0f * (q1 * q2 + q3 * q4); - const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4; - - // Error is cross product between estimated direction and measured direction of gravity - const Common::Vec3f new_real_error = { - az * vx - ax * vz, - ay * vz - az * vy, - ax * vy - ay * vx, - }; - - derivative_error = new_real_error - real_error; - real_error = new_real_error; - - // Prevent integral windup - if (ki != 0.0f && !IsCalibrated(0.05f)) { - integral_error += real_error; - } else { - integral_error = {}; - } - - // Apply feedback terms - if (!only_accelerometer) { - rad_gyro += kp * real_error; - rad_gyro += ki * integral_error; - rad_gyro += kd * derivative_error; - } else { - // Give more weight to accelerometer values to compensate for the lack of gyro - rad_gyro += 35.0f * kp * real_error; - rad_gyro += 10.0f * ki * integral_error; - rad_gyro += 10.0f * kd * derivative_error; - - // Emulate gyro values for games that need them - gyro.x = -rad_gyro.y; - gyro.y = rad_gyro.x; - gyro.z = -rad_gyro.z; - UpdateRotation(elapsed_time); - } - } - - const f32 gx = rad_gyro.y; - const f32 gy = rad_gyro.x; - const f32 gz = rad_gyro.z; - - // Integrate rate of change of quaternion - const f32 pa = q2; - const f32 pb = q3; - const f32 pc = q4; - q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period); - q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period); - q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period); - q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * sample_period); - - quat.w = q1; - quat.xyz[0] = q2; - quat.xyz[1] = q3; - quat.xyz[2] = q4; - quat = quat.Normalized(); -} - -std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const { - const Common::Quaternion<float> quad{ - .xyz = {-quat.xyz[1], -quat.xyz[0], -quat.w}, - .w = -quat.xyz[2], - }; - const std::array<float, 16> matrix4x4 = quad.ToMatrix(); - - return {Common::Vec3f(matrix4x4[0], matrix4x4[1], -matrix4x4[2]), - Common::Vec3f(matrix4x4[4], matrix4x4[5], -matrix4x4[6]), - Common::Vec3f(-matrix4x4[8], -matrix4x4[9], matrix4x4[10])}; -} - -Common::Vec3f MotionInput::GetAcceleration() const { - return accel; -} - -Common::Vec3f MotionInput::GetGyroscope() const { - return gyro; -} - -Common::Quaternion<f32> MotionInput::GetQuaternion() const { - return quat; -} - -Common::Vec3f MotionInput::GetRotations() const { - return rotations; -} - -Input::MotionStatus MotionInput::GetMotion() const { - const Common::Vec3f gyroscope = GetGyroscope(); - const Common::Vec3f accelerometer = GetAcceleration(); - const Common::Vec3f rotation = GetRotations(); - const std::array<Common::Vec3f, 3> orientation = GetOrientation(); - const Common::Quaternion<f32> quaternion = GetQuaternion(); - return {accelerometer, gyroscope, rotation, orientation, quaternion}; -} - -Input::MotionStatus MotionInput::GetRandomMotion(int accel_magnitude, int gyro_magnitude) const { - std::random_device device; - std::mt19937 gen(device()); - std::uniform_int_distribution<s16> distribution(-1000, 1000); - const Common::Vec3f gyroscope{ - static_cast<f32>(distribution(gen)) * 0.001f, - static_cast<f32>(distribution(gen)) * 0.001f, - static_cast<f32>(distribution(gen)) * 0.001f, - }; - const Common::Vec3f accelerometer{ - static_cast<f32>(distribution(gen)) * 0.001f, - static_cast<f32>(distribution(gen)) * 0.001f, - static_cast<f32>(distribution(gen)) * 0.001f, - }; - constexpr Common::Vec3f rotation; - constexpr std::array orientation{ - Common::Vec3f{1.0f, 0.0f, 0.0f}, - Common::Vec3f{0.0f, 1.0f, 0.0f}, - Common::Vec3f{0.0f, 0.0f, 1.0f}, - }; - constexpr Common::Quaternion<f32> quaternion{ - {0.0f, 0.0f, 0.0f}, - 1.0f, - }; - return {accelerometer * accel_magnitude, gyroscope * gyro_magnitude, rotation, orientation, - quaternion}; -} - -void MotionInput::ResetOrientation() { - if (!reset_enabled || only_accelerometer) { - return; - } - if (!IsMoving(0.5f) && accel.z <= -0.9f) { - ++reset_counter; - if (reset_counter > 900) { - quat.w = 0; - quat.xyz[0] = 0; - quat.xyz[1] = 0; - quat.xyz[2] = -1; - SetOrientationFromAccelerometer(); - integral_error = {}; - reset_counter = 0; - } - } else { - reset_counter = 0; - } -} - -void MotionInput::SetOrientationFromAccelerometer() { - int iterations = 0; - const f32 sample_period = 0.015f; - - const auto normal_accel = accel.Normalized(); - - while (!IsCalibrated(0.01f) && ++iterations < 100) { - // Short name local variable for readability - f32 q1 = quat.w; - f32 q2 = quat.xyz[0]; - f32 q3 = quat.xyz[1]; - f32 q4 = quat.xyz[2]; - - Common::Vec3f rad_gyro; - const f32 ax = -normal_accel.x; - const f32 ay = normal_accel.y; - const f32 az = -normal_accel.z; - - // Estimated direction of gravity - const f32 vx = 2.0f * (q2 * q4 - q1 * q3); - const f32 vy = 2.0f * (q1 * q2 + q3 * q4); - const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4; - - // Error is cross product between estimated direction and measured direction of gravity - const Common::Vec3f new_real_error = { - az * vx - ax * vz, - ay * vz - az * vy, - ax * vy - ay * vx, - }; - - derivative_error = new_real_error - real_error; - real_error = new_real_error; - - rad_gyro += 10.0f * kp * real_error; - rad_gyro += 5.0f * ki * integral_error; - rad_gyro += 10.0f * kd * derivative_error; - - const f32 gx = rad_gyro.y; - const f32 gy = rad_gyro.x; - const f32 gz = rad_gyro.z; - - // Integrate rate of change of quaternion - const f32 pa = q2; - const f32 pb = q3; - const f32 pc = q4; - q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period); - q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period); - q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period); - q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * sample_period); - - quat.w = q1; - quat.xyz[0] = q2; - quat.xyz[1] = q3; - quat.xyz[2] = q4; - quat = quat.Normalized(); - } -} -} // namespace InputCommon |