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-rw-r--r--src/core/hid/emulated_controller.cpp12
-rw-r--r--src/core/hid/motion_input.cpp14
-rw-r--r--src/core/hid/motion_input.h6
3 files changed, 30 insertions, 2 deletions
diff --git a/src/core/hid/emulated_controller.cpp b/src/core/hid/emulated_controller.cpp
index 6d5a3dead..a29c9a6f8 100644
--- a/src/core/hid/emulated_controller.cpp
+++ b/src/core/hid/emulated_controller.cpp
@@ -363,7 +363,17 @@ void EmulatedController::ReloadInput() {
SetMotion(callback, index);
},
});
- motion_devices[index]->ForceUpdate();
+
+ // Restore motion state
+ auto& emulated_motion = controller.motion_values[index].emulated;
+ auto& motion = controller.motion_state[index];
+ emulated_motion.ResetRotations();
+ emulated_motion.ResetQuaternion();
+ motion.accel = emulated_motion.GetAcceleration();
+ motion.gyro = emulated_motion.GetGyroscope();
+ motion.rotation = emulated_motion.GetRotations();
+ motion.orientation = emulated_motion.GetOrientation();
+ motion.is_at_rest = !emulated_motion.IsMoving(motion_sensitivity);
}
for (std::size_t index = 0; index < camera_devices.size(); ++index) {
diff --git a/src/core/hid/motion_input.cpp b/src/core/hid/motion_input.cpp
index eef6edf4b..0dd66c1cc 100644
--- a/src/core/hid/motion_input.cpp
+++ b/src/core/hid/motion_input.cpp
@@ -10,6 +10,8 @@ MotionInput::MotionInput() {
// Initialize PID constants with default values
SetPID(0.3f, 0.005f, 0.0f);
SetGyroThreshold(ThresholdStandard);
+ ResetQuaternion();
+ ResetRotations();
}
void MotionInput::SetPID(f32 new_kp, f32 new_ki, f32 new_kd) {
@@ -20,11 +22,19 @@ void MotionInput::SetPID(f32 new_kp, f32 new_ki, f32 new_kd) {
void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
accel = acceleration;
+
+ accel.x = std::clamp(accel.x, -AccelMaxValue, AccelMaxValue);
+ accel.y = std::clamp(accel.y, -AccelMaxValue, AccelMaxValue);
+ accel.z = std::clamp(accel.z, -AccelMaxValue, AccelMaxValue);
}
void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
gyro = gyroscope - gyro_bias;
+ gyro.x = std::clamp(gyro.x, -GyroMaxValue, GyroMaxValue);
+ gyro.y = std::clamp(gyro.y, -GyroMaxValue, GyroMaxValue);
+ gyro.z = std::clamp(gyro.z, -GyroMaxValue, GyroMaxValue);
+
// Auto adjust drift to minimize drift
if (!IsMoving(IsAtRestRelaxed)) {
gyro_bias = (gyro_bias * 0.9999f) + (gyroscope * 0.0001f);
@@ -61,6 +71,10 @@ void MotionInput::ResetRotations() {
rotations = {};
}
+void MotionInput::ResetQuaternion() {
+ quat = {{0.0f, 0.0f, -1.0f}, 0.0f};
+}
+
bool MotionInput::IsMoving(f32 sensitivity) const {
return gyro.Length() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f;
}
diff --git a/src/core/hid/motion_input.h b/src/core/hid/motion_input.h
index 9180bb9aa..e2c1bbf95 100644
--- a/src/core/hid/motion_input.h
+++ b/src/core/hid/motion_input.h
@@ -20,6 +20,9 @@ public:
static constexpr float IsAtRestStandard = 0.01f;
static constexpr float IsAtRestThight = 0.005f;
+ static constexpr float GyroMaxValue = 5.0f;
+ static constexpr float AccelMaxValue = 7.0f;
+
explicit MotionInput();
MotionInput(const MotionInput&) = default;
@@ -40,6 +43,7 @@ public:
void EnableReset(bool reset);
void ResetRotations();
+ void ResetQuaternion();
void UpdateRotation(u64 elapsed_time);
void UpdateOrientation(u64 elapsed_time);
@@ -69,7 +73,7 @@ private:
Common::Vec3f derivative_error;
// Quaternion containing the device orientation
- Common::Quaternion<f32> quat{{0.0f, 0.0f, -1.0f}, 0.0f};
+ Common::Quaternion<f32> quat;
// Number of full rotations in each axis
Common::Vec3f rotations;