88 lines
2.5 KiB
C++
88 lines
2.5 KiB
C++
// Copyright 2020 yuzu Emulator Project
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// Licensed under GPLv2 or any later version
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// Refer to the license.txt file included
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#pragma once
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#include "common/common_types.h"
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#include "common/quaternion.h"
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#include "common/vector_math.h"
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namespace Core::HID {
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class MotionInput {
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public:
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explicit MotionInput();
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MotionInput(const MotionInput&) = default;
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MotionInput& operator=(const MotionInput&) = default;
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MotionInput(MotionInput&&) = default;
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MotionInput& operator=(MotionInput&&) = default;
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void SetPID(f32 new_kp, f32 new_ki, f32 new_kd);
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void SetAcceleration(const Common::Vec3f& acceleration);
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void SetGyroscope(const Common::Vec3f& gyroscope);
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void SetQuaternion(const Common::Quaternion<f32>& quaternion);
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void SetGyroBias(const Common::Vec3f& bias);
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void SetGyroThreshold(f32 threshold);
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void EnableReset(bool reset);
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void ResetRotations();
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void UpdateRotation(u64 elapsed_time);
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void UpdateOrientation(u64 elapsed_time);
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[[nodiscard]] std::array<Common::Vec3f, 3> GetOrientation() const;
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[[nodiscard]] Common::Vec3f GetAcceleration() const;
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[[nodiscard]] Common::Vec3f GetGyroscope() const;
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[[nodiscard]] Common::Vec3f GetGyroBias() const;
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[[nodiscard]] Common::Vec3f GetRotations() const;
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[[nodiscard]] Common::Quaternion<f32> GetQuaternion() const;
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[[nodiscard]] bool IsMoving(f32 sensitivity) const;
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[[nodiscard]] bool IsCalibrated(f32 sensitivity) const;
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private:
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void ResetOrientation();
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void SetOrientationFromAccelerometer();
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// PID constants
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f32 kp;
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f32 ki;
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f32 kd;
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// PID errors
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Common::Vec3f real_error;
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Common::Vec3f integral_error;
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Common::Vec3f derivative_error;
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// Quaternion containing the device orientation
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Common::Quaternion<f32> quat{{0.0f, 0.0f, -1.0f}, 0.0f};
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// Number of full rotations in each axis
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Common::Vec3f rotations;
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// Acceleration vector measurement in G force
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Common::Vec3f accel;
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// Gyroscope vector measurement in radians/s.
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Common::Vec3f gyro;
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// Vector to be substracted from gyro measurements
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Common::Vec3f gyro_bias;
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// Minimum gyro amplitude to detect if the device is moving
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f32 gyro_threshold = 0.0f;
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// Number of invalid sequential data
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u32 reset_counter = 0;
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// If the provided data is invalid the device will be autocalibrated
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bool reset_enabled = true;
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// Use accelerometer values to calculate position
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bool only_accelerometer = true;
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};
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} // namespace Core::HID
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