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-rw-r--r--src/input_common/motion_input.cpp110
-rw-r--r--src/input_common/motion_input.h40
2 files changed, 65 insertions, 85 deletions
diff --git a/src/input_common/motion_input.cpp b/src/input_common/motion_input.cpp
index e3aec04e1..c86a53106 100644
--- a/src/input_common/motion_input.cpp
+++ b/src/input_common/motion_input.cpp
@@ -2,43 +2,26 @@
namespace InputCommon {
-MotionInput::MotionInput(f32 new_kp, f32 new_ki, f32 new_kd) : kp(new_kp), ki(new_ki), kd(new_kd) {
- accel = {};
- gyro = {};
- gyro_drift = {};
- gyro_threshold = 0;
- rotations = {};
-
- quat.w = 0;
- quat.xyz[0] = 0;
- quat.xyz[1] = 0;
- quat.xyz[2] = -1;
-
- real_error = {};
- integral_error = {};
- derivative_error = {};
-
- reset_counter = 0;
- reset_enabled = true;
-}
+MotionInput::MotionInput(f32 new_kp, f32 new_ki, f32 new_kd)
+ : kp(new_kp), ki(new_ki), kd(new_kd), quat{{0, 0, -1}, 0} {}
-void MotionInput::SetAcceleration(Common::Vec3f acceleration) {
+void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
accel = acceleration;
}
-void MotionInput::SetGyroscope(Common::Vec3f gyroscope) {
+void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
gyro = gyroscope - gyro_drift;
if (gyro.Length2() < gyro_threshold) {
gyro = {};
}
}
-void MotionInput::SetQuaternion(Common::Quaternion<f32> quaternion) {
+void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
quat = quaternion;
}
-void MotionInput::SetGyroDrift(Common::Vec3f drift) {
- drift = gyro_drift;
+void MotionInput::SetGyroDrift(const Common::Vec3f& drift) {
+ gyro_drift = drift;
}
void MotionInput::SetGyroThreshold(f32 threshold) {
@@ -53,11 +36,11 @@ void MotionInput::ResetRotations() {
rotations = {};
}
-bool MotionInput::IsMoving(f32 sensitivity) {
+bool MotionInput::IsMoving(f32 sensitivity) const {
return gyro.Length2() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f;
}
-bool MotionInput::IsCalibrated(f32 sensitivity) {
+bool MotionInput::IsCalibrated(f32 sensitivity) const {
return real_error.Length() > sensitivity;
}
@@ -67,30 +50,30 @@ void MotionInput::UpdateRotation(u64 elapsed_time) {
void MotionInput::UpdateOrientation(u64 elapsed_time) {
// Short name local variable for readability
- f32 q1 = quat.w, q2 = quat.xyz[0], q3 = quat.xyz[1], q4 = quat.xyz[2];
- f32 sample_period = elapsed_time / 1000000.0f;
+ f32 q1 = quat.w;
+ f32 q2 = quat.xyz[0];
+ f32 q3 = quat.xyz[1];
+ f32 q4 = quat.xyz[2];
+ const f32 sample_period = elapsed_time / 1000000.0f;
- auto normal_accel = accel.Normalized();
+ const auto normal_accel = accel.Normalized();
auto rad_gyro = gyro * 3.1415926535f;
rad_gyro.z = -rad_gyro.z;
// Ignore drift correction if acceleration is not present
if (normal_accel.Length() == 1.0f) {
- f32 ax = -normal_accel.x;
- f32 ay = normal_accel.y;
- f32 az = -normal_accel.z;
- f32 vx, vy, vz;
- Common::Vec3f new_real_error;
+ const f32 ax = -normal_accel.x;
+ const f32 ay = normal_accel.y;
+ const f32 az = -normal_accel.z;
// Estimated direction of gravity
- vx = 2.0f * (q2 * q4 - q1 * q3);
- vy = 2.0f * (q1 * q2 + q3 * q4);
- vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
+ 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
- new_real_error.x = ay * vz - az * vy;
- new_real_error.y = az * vx - ax * vz;
- new_real_error.x = ax * vy - ay * vx;
+ const Common::Vec3f new_real_error = {ay * vz - az * vy, az * vx - ax * vz,
+ ax * vy - ay * vx};
derivative_error = new_real_error - real_error;
real_error = new_real_error;
@@ -108,15 +91,14 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
rad_gyro += kd * derivative_error;
}
- f32 gx = rad_gyro.y;
- f32 gy = rad_gyro.x;
- f32 gz = rad_gyro.z;
+ const f32 gx = rad_gyro.y;
+ const f32 gy = rad_gyro.x;
+ const f32 gz = rad_gyro.z;
// Integrate rate of change of quaternion
- f32 pa, pb, pc;
- pa = q2;
- pb = q3;
- pc = q4;
+ 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);
@@ -129,41 +111,33 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
quat = quat.Normalized();
}
-std::array<Common::Vec3f, 3> MotionInput::GetOrientation() {
- std::array<Common::Vec3f, 3> orientation = {};
- Common::Quaternion<float> quad;
-
- quad.w = -quat.xyz[2];
- quad.xyz[0] = -quat.xyz[1];
- quad.xyz[1] = -quat.xyz[0];
- quad.xyz[2] = -quat.w;
-
- std::array<float, 16> matrix4x4 = quad.ToMatrix();
-
- orientation[0] = Common::Vec3f(matrix4x4[0], matrix4x4[1], matrix4x4[2]);
- orientation[1] = Common::Vec3f(matrix4x4[4], matrix4x4[5], matrix4x4[6]);
- orientation[2] = Common::Vec3f(matrix4x4[8], matrix4x4[9], matrix4x4[10]);
+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 orientation;
+ 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() {
+Common::Vec3f MotionInput::GetAcceleration() const {
return accel;
}
-Common::Vec3f MotionInput::GetGyroscope() {
+Common::Vec3f MotionInput::GetGyroscope() const {
return gyro;
}
-Common::Quaternion<f32> MotionInput::GetQuaternion() {
+Common::Quaternion<f32> MotionInput::GetQuaternion() const {
return quat;
}
-Common::Vec3f MotionInput::GetRotations() {
+Common::Vec3f MotionInput::GetRotations() const {
return rotations;
}
-void MotionInput::resetOrientation() {
+void MotionInput::ResetOrientation() {
if (!reset_enabled) {
return;
}
@@ -182,4 +156,4 @@ void MotionInput::resetOrientation() {
reset_counter = 0;
}
}
-} // namespace InputCommon \ No newline at end of file
+} // namespace InputCommon
diff --git a/src/input_common/motion_input.h b/src/input_common/motion_input.h
index 4b8093d8c..d1a7a9e13 100644
--- a/src/input_common/motion_input.h
+++ b/src/input_common/motion_input.h
@@ -14,10 +14,16 @@ class MotionInput {
public:
MotionInput(f32 new_kp, f32 new_ki, f32 new_kd);
- void SetAcceleration(Common::Vec3f acceleration);
- void SetGyroscope(Common::Vec3f acceleration);
- void SetQuaternion(Common::Quaternion<f32> quaternion);
- void SetGyroDrift(Common::Vec3f drift);
+ MotionInput(const MotionInput&) = default;
+ MotionInput& operator=(const MotionInput&) = default;
+
+ MotionInput(MotionInput&&) = default;
+ MotionInput& operator=(MotionInput&&) = default;
+
+ void SetAcceleration(const Common::Vec3f& acceleration);
+ void SetGyroscope(const Common::Vec3f& acceleration);
+ void SetQuaternion(const Common::Quaternion<f32>& quaternion);
+ void SetGyroDrift(const Common::Vec3f& drift);
void SetGyroThreshold(f32 threshold);
void EnableReset(bool reset);
@@ -26,23 +32,23 @@ public:
void UpdateRotation(u64 elapsed_time);
void UpdateOrientation(u64 elapsed_time);
- std::array<Common::Vec3f, 3> GetOrientation();
- Common::Vec3f GetAcceleration();
- Common::Vec3f GetGyroscope();
- Common::Vec3f GetRotations();
- Common::Quaternion<f32> GetQuaternion();
+ std::array<Common::Vec3f, 3> GetOrientation() const;
+ Common::Vec3f GetAcceleration() const;
+ Common::Vec3f GetGyroscope() const;
+ Common::Vec3f GetRotations() const;
+ Common::Quaternion<f32> GetQuaternion() const;
+
+ bool IsMoving(f32 sensitivity) const;
+ bool IsCalibrated(f32 sensitivity) const;
- bool IsMoving(f32 sensitivity);
- bool IsCalibrated(f32 sensitivity);
+private:
+ void ResetOrientation();
// PID constants
const f32 kp;
const f32 ki;
const f32 kd;
-private:
- void resetOrientation();
-
// PID errors
Common::Vec3f real_error;
Common::Vec3f integral_error;
@@ -54,9 +60,9 @@ private:
Common::Vec3f gyro;
Common::Vec3f gyro_drift;
- f32 gyro_threshold;
- f32 reset_counter;
- bool reset_enabled;
+ f32 gyro_threshold = 0.0f;
+ f32 reset_counter = 0.0f;
+ bool reset_enabled = true;
};
} // namespace InputCommon
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-03 00:10:59 +0200