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-rw-r--r--src/input_common/motion_emu.cpp17
1 files changed, 13 insertions, 4 deletions
diff --git a/src/input_common/motion_emu.cpp b/src/input_common/motion_emu.cpp
index d4cdf76a3..69fd3c1d2 100644
--- a/src/input_common/motion_emu.cpp
+++ b/src/input_common/motion_emu.cpp
@@ -56,7 +56,7 @@ public:
is_tilting = false;
}
- std::tuple<Common::Vec3<float>, Common::Vec3<float>> GetStatus() {
+ Input::MotionStatus GetStatus() {
std::lock_guard guard{status_mutex};
return status;
}
@@ -76,7 +76,7 @@ private:
Common::Event shutdown_event;
- std::tuple<Common::Vec3<float>, Common::Vec3<float>> status;
+ Input::MotionStatus status;
std::mutex status_mutex;
// Note: always keep the thread declaration at the end so that other objects are initialized
@@ -113,10 +113,19 @@ private:
gravity = QuaternionRotate(inv_q, gravity);
angular_rate = QuaternionRotate(inv_q, angular_rate);
+ // TODO: Calculate the correct rotation vector and orientation matrix
+ const auto matrix4x4 = q.ToMatrix();
+ const auto rotation = Common::MakeVec(0.0f, 0.0f, 0.0f);
+ const std::array orientation{
+ Common::Vec3f(matrix4x4[0], matrix4x4[1], -matrix4x4[2]),
+ Common::Vec3f(matrix4x4[4], matrix4x4[5], -matrix4x4[6]),
+ Common::Vec3f(-matrix4x4[8], -matrix4x4[9], matrix4x4[10]),
+ };
+
// Update the sensor state
{
std::lock_guard guard{status_mutex};
- status = std::make_tuple(gravity, angular_rate);
+ status = std::make_tuple(gravity, angular_rate, rotation, orientation);
}
}
}
@@ -131,7 +140,7 @@ public:
device = std::make_shared<MotionEmuDevice>(update_millisecond, sensitivity);
}
- std::tuple<Common::Vec3<float>, Common::Vec3<float>> GetStatus() const override {
+ Input::MotionStatus GetStatus() const override {
return device->GetStatus();
}