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-rw-r--r--src/input_common/motion_input.cpp307
1 files changed, 0 insertions, 307 deletions
diff --git a/src/input_common/motion_input.cpp b/src/input_common/motion_input.cpp
deleted file mode 100644
index 1c9d561c0..000000000
--- a/src/input_common/motion_input.cpp
+++ /dev/null
@@ -1,307 +0,0 @@
-// Copyright 2020 yuzu Emulator Project
-// Licensed under GPLv2 or any later version
-// Refer to the license.txt file included
-
-#include <random>
-#include "common/math_util.h"
-#include "input_common/motion_input.h"
-
-namespace InputCommon {
-
-MotionInput::MotionInput(f32 new_kp, f32 new_ki, f32 new_kd) : kp(new_kp), ki(new_ki), kd(new_kd) {}
-
-void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
- accel = acceleration;
-}
-
-void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
- gyro = gyroscope - gyro_drift;
-
- // Auto adjust drift to minimize drift
- if (!IsMoving(0.1f)) {
- gyro_drift = (gyro_drift * 0.9999f) + (gyroscope * 0.0001f);
- }
-
- if (gyro.Length2() < gyro_threshold) {
- gyro = {};
- } else {
- only_accelerometer = false;
- }
-}
-
-void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
- quat = quaternion;
-}
-
-void MotionInput::SetGyroDrift(const Common::Vec3f& drift) {
- gyro_drift = drift;
-}
-
-void MotionInput::SetGyroThreshold(f32 threshold) {
- gyro_threshold = threshold;
-}
-
-void MotionInput::EnableReset(bool reset) {
- reset_enabled = reset;
-}
-
-void MotionInput::ResetRotations() {
- rotations = {};
-}
-
-bool MotionInput::IsMoving(f32 sensitivity) const {
- return gyro.Length() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f;
-}
-
-bool MotionInput::IsCalibrated(f32 sensitivity) const {
- return real_error.Length() < sensitivity;
-}
-
-void MotionInput::UpdateRotation(u64 elapsed_time) {
- const auto sample_period = static_cast<f32>(elapsed_time) / 1000000.0f;
- if (sample_period > 0.1f) {
- return;
- }
- rotations += gyro * sample_period;
-}
-
-void MotionInput::UpdateOrientation(u64 elapsed_time) {
- if (!IsCalibrated(0.1f)) {
- ResetOrientation();
- }
- // Short name local variable for readability
- f32 q1 = quat.w;
- f32 q2 = quat.xyz[0];
- f32 q3 = quat.xyz[1];
- f32 q4 = quat.xyz[2];
- const auto sample_period = static_cast<f32>(elapsed_time) / 1000000.0f;
-
- // Ignore invalid elapsed time
- if (sample_period > 0.1f) {
- return;
- }
-
- const auto normal_accel = accel.Normalized();
- auto rad_gyro = gyro * Common::PI * 2;
- const f32 swap = rad_gyro.x;
- rad_gyro.x = rad_gyro.y;
- rad_gyro.y = -swap;
- rad_gyro.z = -rad_gyro.z;
-
- // Clear gyro values if there is no gyro present
- if (only_accelerometer) {
- rad_gyro.x = 0;
- rad_gyro.y = 0;
- rad_gyro.z = 0;
- }
-
- // Ignore drift correction if acceleration is not reliable
- if (accel.Length() >= 0.75f && accel.Length() <= 1.25f) {
- const f32 ax = -normal_accel.x;
- const f32 ay = normal_accel.y;
- const f32 az = -normal_accel.z;
-
- // Estimated direction of gravity
- const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
- const f32 vy = 2.0f * (q1 * q2 + q3 * q4);
- const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
-
- // Error is cross product between estimated direction and measured direction of gravity
- const Common::Vec3f new_real_error = {
- az * vx - ax * vz,
- ay * vz - az * vy,
- ax * vy - ay * vx,
- };
-
- derivative_error = new_real_error - real_error;
- real_error = new_real_error;
-
- // Prevent integral windup
- if (ki != 0.0f && !IsCalibrated(0.05f)) {
- integral_error += real_error;
- } else {
- integral_error = {};
- }
-
- // Apply feedback terms
- if (!only_accelerometer) {
- rad_gyro += kp * real_error;
- rad_gyro += ki * integral_error;
- rad_gyro += kd * derivative_error;
- } else {
- // Give more weight to accelerometer values to compensate for the lack of gyro
- rad_gyro += 35.0f * kp * real_error;
- rad_gyro += 10.0f * ki * integral_error;
- rad_gyro += 10.0f * kd * derivative_error;
-
- // Emulate gyro values for games that need them
- gyro.x = -rad_gyro.y;
- gyro.y = rad_gyro.x;
- gyro.z = -rad_gyro.z;
- UpdateRotation(elapsed_time);
- }
- }
-
- const f32 gx = rad_gyro.y;
- const f32 gy = rad_gyro.x;
- const f32 gz = rad_gyro.z;
-
- // Integrate rate of change of quaternion
- const f32 pa = q2;
- const f32 pb = q3;
- const f32 pc = q4;
- q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period);
- q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period);
- q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period);
- q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * sample_period);
-
- quat.w = q1;
- quat.xyz[0] = q2;
- quat.xyz[1] = q3;
- quat.xyz[2] = q4;
- quat = quat.Normalized();
-}
-
-std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const {
- const Common::Quaternion<float> quad{
- .xyz = {-quat.xyz[1], -quat.xyz[0], -quat.w},
- .w = -quat.xyz[2],
- };
- const std::array<float, 16> matrix4x4 = quad.ToMatrix();
-
- return {Common::Vec3f(matrix4x4[0], matrix4x4[1], -matrix4x4[2]),
- Common::Vec3f(matrix4x4[4], matrix4x4[5], -matrix4x4[6]),
- Common::Vec3f(-matrix4x4[8], -matrix4x4[9], matrix4x4[10])};
-}
-
-Common::Vec3f MotionInput::GetAcceleration() const {
- return accel;
-}
-
-Common::Vec3f MotionInput::GetGyroscope() const {
- return gyro;
-}
-
-Common::Quaternion<f32> MotionInput::GetQuaternion() const {
- return quat;
-}
-
-Common::Vec3f MotionInput::GetRotations() const {
- return rotations;
-}
-
-Input::MotionStatus MotionInput::GetMotion() const {
- const Common::Vec3f gyroscope = GetGyroscope();
- const Common::Vec3f accelerometer = GetAcceleration();
- const Common::Vec3f rotation = GetRotations();
- const std::array<Common::Vec3f, 3> orientation = GetOrientation();
- const Common::Quaternion<f32> quaternion = GetQuaternion();
- return {accelerometer, gyroscope, rotation, orientation, quaternion};
-}
-
-Input::MotionStatus MotionInput::GetRandomMotion(int accel_magnitude, int gyro_magnitude) const {
- std::random_device device;
- std::mt19937 gen(device());
- std::uniform_int_distribution<s16> distribution(-1000, 1000);
- const Common::Vec3f gyroscope{
- static_cast<f32>(distribution(gen)) * 0.001f,
- static_cast<f32>(distribution(gen)) * 0.001f,
- static_cast<f32>(distribution(gen)) * 0.001f,
- };
- const Common::Vec3f accelerometer{
- static_cast<f32>(distribution(gen)) * 0.001f,
- static_cast<f32>(distribution(gen)) * 0.001f,
- static_cast<f32>(distribution(gen)) * 0.001f,
- };
- constexpr Common::Vec3f rotation;
- constexpr std::array orientation{
- Common::Vec3f{1.0f, 0.0f, 0.0f},
- Common::Vec3f{0.0f, 1.0f, 0.0f},
- Common::Vec3f{0.0f, 0.0f, 1.0f},
- };
- constexpr Common::Quaternion<f32> quaternion{
- {0.0f, 0.0f, 0.0f},
- 1.0f,
- };
- return {accelerometer * accel_magnitude, gyroscope * gyro_magnitude, rotation, orientation,
- quaternion};
-}
-
-void MotionInput::ResetOrientation() {
- if (!reset_enabled || only_accelerometer) {
- return;
- }
- if (!IsMoving(0.5f) && accel.z <= -0.9f) {
- ++reset_counter;
- if (reset_counter > 900) {
- quat.w = 0;
- quat.xyz[0] = 0;
- quat.xyz[1] = 0;
- quat.xyz[2] = -1;
- SetOrientationFromAccelerometer();
- integral_error = {};
- reset_counter = 0;
- }
- } else {
- reset_counter = 0;
- }
-}
-
-void MotionInput::SetOrientationFromAccelerometer() {
- int iterations = 0;
- const f32 sample_period = 0.015f;
-
- const auto normal_accel = accel.Normalized();
-
- while (!IsCalibrated(0.01f) && ++iterations < 100) {
- // Short name local variable for readability
- f32 q1 = quat.w;
- f32 q2 = quat.xyz[0];
- f32 q3 = quat.xyz[1];
- f32 q4 = quat.xyz[2];
-
- Common::Vec3f rad_gyro;
- const f32 ax = -normal_accel.x;
- const f32 ay = normal_accel.y;
- const f32 az = -normal_accel.z;
-
- // Estimated direction of gravity
- const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
- const f32 vy = 2.0f * (q1 * q2 + q3 * q4);
- const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
-
- // Error is cross product between estimated direction and measured direction of gravity
- const Common::Vec3f new_real_error = {
- az * vx - ax * vz,
- ay * vz - az * vy,
- ax * vy - ay * vx,
- };
-
- derivative_error = new_real_error - real_error;
- real_error = new_real_error;
-
- rad_gyro += 10.0f * kp * real_error;
- rad_gyro += 5.0f * ki * integral_error;
- rad_gyro += 10.0f * kd * derivative_error;
-
- const f32 gx = rad_gyro.y;
- const f32 gy = rad_gyro.x;
- const f32 gz = rad_gyro.z;
-
- // Integrate rate of change of quaternion
- const f32 pa = q2;
- const f32 pb = q3;
- const f32 pc = q4;
- q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period);
- q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period);
- q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period);
- q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * sample_period);
-
- quat.w = q1;
- quat.xyz[0] = q2;
- quat.xyz[1] = q3;
- quat.xyz[2] = q4;
- quat = quat.Normalized();
- }
-}
-} // namespace InputCommon
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