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-rw-r--r--src/core/hid/motion_input.h87
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diff --git a/src/core/hid/motion_input.h b/src/core/hid/motion_input.h
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+// Copyright 2020 yuzu Emulator Project
+// Licensed under GPLv2 or any later version
+// Refer to the license.txt file included
+
+#pragma once
+
+#include "common/common_types.h"
+#include "common/quaternion.h"
+#include "common/vector_math.h"
+
+namespace Core::HID {
+
+class MotionInput {
+public:
+ 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 SetGyroDrift(const Common::Vec3f& drift);
+ void SetGyroThreshold(f32 threshold);
+
+ void EnableReset(bool reset);
+ void ResetRotations();
+
+ void UpdateRotation(u64 elapsed_time);
+ void UpdateOrientation(u64 elapsed_time);
+
+ [[nodiscard]] std::array<Common::Vec3f, 3> GetOrientation() const;
+ [[nodiscard]] Common::Vec3f GetAcceleration() const;
+ [[nodiscard]] Common::Vec3f GetGyroscope() const;
+ [[nodiscard]] Common::Vec3f GetRotations() const;
+ [[nodiscard]] Common::Quaternion<f32> GetQuaternion() const;
+
+ [[nodiscard]] bool IsMoving(f32 sensitivity) const;
+ [[nodiscard]] bool IsCalibrated(f32 sensitivity) const;
+
+private:
+ 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{{0.0f, 0.0f, -1.0f}, 0.0f};
+
+ // 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 substracted from gyro measurements
+ Common::Vec3f gyro_drift;
+
+ // Minimum gyro amplitude to detect if the device is moving
+ f32 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;
+};
+
+} // namespace Core::HID