forked from suyu/suyu
357 lines
11 KiB
C++
357 lines
11 KiB
C++
// SPDX-FileCopyrightText: Copyright 2020 yuzu Emulator Project
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// SPDX-License-Identifier: GPL-2.0-or-later
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#include <cmath>
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#include "common/math_util.h"
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#include "core/hid/motion_input.h"
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namespace Core::HID {
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MotionInput::MotionInput() {
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// Initialize PID constants with default values
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SetPID(0.3f, 0.005f, 0.0f);
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SetGyroThreshold(ThresholdStandard);
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ResetQuaternion();
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ResetRotations();
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}
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void MotionInput::SetPID(f32 new_kp, f32 new_ki, f32 new_kd) {
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kp = new_kp;
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ki = new_ki;
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kd = new_kd;
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}
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void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
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accel = acceleration;
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accel.x = std::clamp(accel.x, -AccelMaxValue, AccelMaxValue);
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accel.y = std::clamp(accel.y, -AccelMaxValue, AccelMaxValue);
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accel.z = std::clamp(accel.z, -AccelMaxValue, AccelMaxValue);
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}
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void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
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gyro = gyroscope - gyro_bias;
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gyro.x = std::clamp(gyro.x, -GyroMaxValue, GyroMaxValue);
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gyro.y = std::clamp(gyro.y, -GyroMaxValue, GyroMaxValue);
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gyro.z = std::clamp(gyro.z, -GyroMaxValue, GyroMaxValue);
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// Auto adjust gyro_bias to minimize drift
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if (!IsMoving(IsAtRestRelaxed)) {
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gyro_bias = (gyro_bias * 0.9999f) + (gyroscope * 0.0001f);
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}
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// Adjust drift when calibration mode is enabled
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if (calibration_mode) {
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gyro_bias = (gyro_bias * 0.99f) + (gyroscope * 0.01f);
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StopCalibration();
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}
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if (gyro.Length() < gyro_threshold * user_gyro_threshold) {
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gyro = {};
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} else {
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only_accelerometer = false;
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}
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}
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void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
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quat = quaternion;
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}
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void MotionInput::SetEulerAngles(const Common::Vec3f& euler_angles) {
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const float cr = std::cos(euler_angles.x * 0.5f);
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const float sr = std::sin(euler_angles.x * 0.5f);
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const float cp = std::cos(euler_angles.y * 0.5f);
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const float sp = std::sin(euler_angles.y * 0.5f);
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const float cy = std::cos(euler_angles.z * 0.5f);
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const float sy = std::sin(euler_angles.z * 0.5f);
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quat.w = cr * cp * cy + sr * sp * sy;
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quat.xyz.x = sr * cp * cy - cr * sp * sy;
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quat.xyz.y = cr * sp * cy + sr * cp * sy;
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quat.xyz.z = cr * cp * sy - sr * sp * cy;
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}
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void MotionInput::SetGyroBias(const Common::Vec3f& bias) {
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gyro_bias = bias;
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}
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void MotionInput::SetGyroThreshold(f32 threshold) {
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gyro_threshold = threshold;
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}
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void MotionInput::SetUserGyroThreshold(f32 threshold) {
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user_gyro_threshold = threshold / ThresholdStandard;
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}
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void MotionInput::EnableReset(bool reset) {
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reset_enabled = reset;
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}
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void MotionInput::ResetRotations() {
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rotations = {};
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}
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void MotionInput::ResetQuaternion() {
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quat = {{0.0f, 0.0f, -1.0f}, 0.0f};
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}
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bool MotionInput::IsMoving(f32 sensitivity) const {
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return gyro.Length() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f;
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}
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bool MotionInput::IsCalibrated(f32 sensitivity) const {
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return real_error.Length() < sensitivity;
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}
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void MotionInput::UpdateRotation(u64 elapsed_time) {
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const auto sample_period = static_cast<f32>(elapsed_time) / 1000000.0f;
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if (sample_period > 0.1f) {
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return;
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}
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rotations += gyro * sample_period;
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}
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void MotionInput::Calibrate() {
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calibration_mode = true;
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calibration_counter = 0;
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}
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void MotionInput::StopCalibration() {
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if (calibration_counter++ > CalibrationSamples) {
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calibration_mode = false;
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ResetQuaternion();
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ResetRotations();
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}
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}
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// Based on Madgwick's implementation of Mayhony's AHRS algorithm.
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// https://github.com/xioTechnologies/Open-Source-AHRS-With-x-IMU/blob/master/x-IMU%20IMU%20and%20AHRS%20Algorithms/x-IMU%20IMU%20and%20AHRS%20Algorithms/AHRS/MahonyAHRS.cs
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void MotionInput::UpdateOrientation(u64 elapsed_time) {
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if (!IsCalibrated(0.1f)) {
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ResetOrientation();
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}
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// Short name local variable for readability
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f32 q1 = quat.w;
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f32 q2 = quat.xyz[0];
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f32 q3 = quat.xyz[1];
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f32 q4 = quat.xyz[2];
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const auto sample_period = static_cast<f32>(elapsed_time) / 1000000.0f;
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// Ignore invalid elapsed time
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if (sample_period > 0.1f) {
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return;
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}
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const auto normal_accel = accel.Normalized();
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auto rad_gyro = gyro * Common::PI * 2;
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const f32 swap = rad_gyro.x;
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rad_gyro.x = rad_gyro.y;
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rad_gyro.y = -swap;
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rad_gyro.z = -rad_gyro.z;
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// Clear gyro values if there is no gyro present
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if (only_accelerometer) {
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rad_gyro.x = 0;
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rad_gyro.y = 0;
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rad_gyro.z = 0;
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}
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// Ignore drift correction if acceleration is not reliable
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if (accel.Length() >= 0.75f && accel.Length() <= 1.25f) {
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const f32 ax = -normal_accel.x;
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const f32 ay = normal_accel.y;
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const f32 az = -normal_accel.z;
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// Estimated direction of gravity
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const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
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const f32 vy = 2.0f * (q1 * q2 + q3 * q4);
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const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
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// Error is cross product between estimated direction and measured direction of gravity
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const Common::Vec3f new_real_error = {
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az * vx - ax * vz,
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ay * vz - az * vy,
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ax * vy - ay * vx,
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};
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derivative_error = new_real_error - real_error;
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real_error = new_real_error;
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// Prevent integral windup
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if (ki != 0.0f && !IsCalibrated(0.05f)) {
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integral_error += real_error;
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} else {
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integral_error = {};
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}
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// Apply feedback terms
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if (!only_accelerometer) {
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rad_gyro += kp * real_error;
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rad_gyro += ki * integral_error;
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rad_gyro += kd * derivative_error;
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} else {
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// Give more weight to accelerometer values to compensate for the lack of gyro
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rad_gyro += 35.0f * kp * real_error;
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rad_gyro += 10.0f * ki * integral_error;
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rad_gyro += 10.0f * kd * derivative_error;
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// Emulate gyro values for games that need them
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gyro.x = -rad_gyro.y;
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gyro.y = rad_gyro.x;
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gyro.z = -rad_gyro.z;
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UpdateRotation(elapsed_time);
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}
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}
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const f32 gx = rad_gyro.y;
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const f32 gy = rad_gyro.x;
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const f32 gz = rad_gyro.z;
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// Integrate rate of change of quaternion
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const f32 pa = q2;
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const f32 pb = q3;
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const f32 pc = q4;
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q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period);
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q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period);
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q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period);
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q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * sample_period);
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quat.w = q1;
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quat.xyz[0] = q2;
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quat.xyz[1] = q3;
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quat.xyz[2] = q4;
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quat = quat.Normalized();
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}
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std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const {
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const Common::Quaternion<float> quad{
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.xyz = {-quat.xyz[1], -quat.xyz[0], -quat.w},
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.w = -quat.xyz[2],
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};
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const std::array<float, 16> matrix4x4 = quad.ToMatrix();
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return {Common::Vec3f(matrix4x4[0], matrix4x4[1], -matrix4x4[2]),
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Common::Vec3f(matrix4x4[4], matrix4x4[5], -matrix4x4[6]),
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Common::Vec3f(-matrix4x4[8], -matrix4x4[9], matrix4x4[10])};
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}
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Common::Vec3f MotionInput::GetAcceleration() const {
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return accel;
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}
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Common::Vec3f MotionInput::GetGyroscope() const {
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return gyro;
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}
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Common::Vec3f MotionInput::GetGyroBias() const {
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return gyro_bias;
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}
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Common::Quaternion<f32> MotionInput::GetQuaternion() const {
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return quat;
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}
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Common::Vec3f MotionInput::GetRotations() const {
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return rotations;
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}
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Common::Vec3f MotionInput::GetEulerAngles() const {
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// roll (x-axis rotation)
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const float sinr_cosp = 2 * (quat.w * quat.xyz.x + quat.xyz.y * quat.xyz.z);
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const float cosr_cosp = 1 - 2 * (quat.xyz.x * quat.xyz.x + quat.xyz.y * quat.xyz.y);
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// pitch (y-axis rotation)
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const float sinp = std::sqrt(1 + 2 * (quat.w * quat.xyz.y - quat.xyz.x * quat.xyz.z));
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const float cosp = std::sqrt(1 - 2 * (quat.w * quat.xyz.y - quat.xyz.x * quat.xyz.z));
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// yaw (z-axis rotation)
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const float siny_cosp = 2 * (quat.w * quat.xyz.z + quat.xyz.x * quat.xyz.y);
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const float cosy_cosp = 1 - 2 * (quat.xyz.y * quat.xyz.y + quat.xyz.z * quat.xyz.z);
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return {
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std::atan2(sinr_cosp, cosr_cosp),
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2 * std::atan2(sinp, cosp) - Common::PI / 2,
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std::atan2(siny_cosp, cosy_cosp),
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};
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}
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void MotionInput::ResetOrientation() {
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if (!reset_enabled || only_accelerometer) {
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return;
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}
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if (!IsMoving(IsAtRestRelaxed) && accel.z <= -0.9f) {
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++reset_counter;
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if (reset_counter > 900) {
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quat.w = 0;
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quat.xyz[0] = 0;
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quat.xyz[1] = 0;
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quat.xyz[2] = -1;
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SetOrientationFromAccelerometer();
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integral_error = {};
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reset_counter = 0;
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}
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} else {
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reset_counter = 0;
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}
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}
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void MotionInput::SetOrientationFromAccelerometer() {
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int iterations = 0;
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const f32 sample_period = 0.015f;
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const auto normal_accel = accel.Normalized();
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while (!IsCalibrated(0.01f) && ++iterations < 100) {
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// Short name local variable for readability
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f32 q1 = quat.w;
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f32 q2 = quat.xyz[0];
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f32 q3 = quat.xyz[1];
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f32 q4 = quat.xyz[2];
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Common::Vec3f rad_gyro;
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const f32 ax = -normal_accel.x;
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const f32 ay = normal_accel.y;
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const f32 az = -normal_accel.z;
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// Estimated direction of gravity
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const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
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const f32 vy = 2.0f * (q1 * q2 + q3 * q4);
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const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
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// Error is cross product between estimated direction and measured direction of gravity
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const Common::Vec3f new_real_error = {
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az * vx - ax * vz,
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ay * vz - az * vy,
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ax * vy - ay * vx,
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};
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derivative_error = new_real_error - real_error;
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real_error = new_real_error;
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rad_gyro += 10.0f * kp * real_error;
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rad_gyro += 5.0f * ki * integral_error;
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rad_gyro += 10.0f * kd * derivative_error;
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const f32 gx = rad_gyro.y;
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const f32 gy = rad_gyro.x;
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const f32 gz = rad_gyro.z;
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// Integrate rate of change of quaternion
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const f32 pa = q2;
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const f32 pb = q3;
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const f32 pc = q4;
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q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period);
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q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period);
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q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period);
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q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * sample_period);
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quat.w = q1;
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quat.xyz[0] = q2;
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quat.xyz[1] = q3;
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quat.xyz[2] = q4;
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quat = quat.Normalized();
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}
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}
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} // namespace Core::HID
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