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suyu/src/core/hid/motion_input.h
Morph 99ceb03a1c general: Convert source file copyright comments over to SPDX
This formats all copyright comments according to SPDX formatting guidelines.
Additionally, this resolves the remaining GPLv2 only licensed files by relicensing them to GPLv2.0-or-later.
2022-04-23 05:55:32 -04:00

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C++

// SPDX-FileCopyrightText: Copyright 2020 yuzu Emulator Project
// SPDX-License-Identifier: GPL-2.0-or-later
#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 SetGyroBias(const Common::Vec3f& bias);
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 GetGyroBias() 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_bias;
// 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