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core/hid: Move motion_input, create input converter and hid_types

This commit is contained in:
german77 2021-09-20 16:29:43 -05:00 committed by Narr the Reg
parent bf71d18af9
commit 449576df93
6 changed files with 1164 additions and 0 deletions

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@ -135,8 +135,13 @@ add_library(core STATIC
frontend/input.h frontend/input.h
hardware_interrupt_manager.cpp hardware_interrupt_manager.cpp
hardware_interrupt_manager.h hardware_interrupt_manager.h
hid/hid_types.h
hid/input_converter.cpp
hid/input_converter.h
hid/input_interpreter.cpp hid/input_interpreter.cpp
hid/input_interpreter.h hid/input_interpreter.h
hid/motion_input.cpp
hid/motion_input.h
hle/api_version.h hle/api_version.h
hle/ipc.h hle/ipc.h
hle/ipc_helpers.h hle/ipc_helpers.h

388
src/core/hid/hid_types.h Normal file
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@ -0,0 +1,388 @@
// Copyright 2021 yuzu Emulator Project
// Licensed under GPLv2 or any later version
// Refer to the license.txt file included.
#pragma once
#include "common/bit_field.h"
#include "common/common_funcs.h"
#include "common/common_types.h"
#include "common/point.h"
#include "common/uuid.h"
namespace Core::HID {
// This is nn::hid::NpadIdType
enum class NpadIdType : u8 {
Player1 = 0x0,
Player2 = 0x1,
Player3 = 0x2,
Player4 = 0x3,
Player5 = 0x4,
Player6 = 0x5,
Player7 = 0x6,
Player8 = 0x7,
Other = 0x10,
Handheld = 0x20,
Invalid = 0xFF,
};
/// Converts a NpadIdType to an array index.
constexpr size_t NpadIdTypeToIndex(NpadIdType npad_id_type) {
switch (npad_id_type) {
case NpadIdType::Player1:
return 0;
case NpadIdType::Player2:
return 1;
case NpadIdType::Player3:
return 2;
case NpadIdType::Player4:
return 3;
case NpadIdType::Player5:
return 4;
case NpadIdType::Player6:
return 5;
case NpadIdType::Player7:
return 6;
case NpadIdType::Player8:
return 7;
case NpadIdType::Other:
return 8;
case NpadIdType::Handheld:
return 9;
default:
return 0;
}
}
/// Converts an array index to a NpadIdType
constexpr NpadIdType IndexToNpadIdType(size_t index) {
switch (index) {
case 0:
return NpadIdType::Player1;
case 1:
return NpadIdType::Player2;
case 2:
return NpadIdType::Player3;
case 3:
return NpadIdType::Player4;
case 4:
return NpadIdType::Player5;
case 5:
return NpadIdType::Player6;
case 6:
return NpadIdType::Player7;
case 7:
return NpadIdType::Player8;
case 8:
return NpadIdType::Other;
case 9:
return NpadIdType::Handheld;
default:
return NpadIdType::Invalid;
}
}
// This is nn::hid::NpadType
enum class NpadType : u8 {
None = 0,
ProController = 3,
Handheld = 4,
JoyconDual = 5,
JoyconLeft = 6,
JoyconRight = 7,
GameCube = 8,
Pokeball = 9,
MaxNpadType = 10,
};
// This is nn::hid::NpadStyleTag
struct NpadStyleTag {
union {
u32_le raw{};
BitField<0, 1, u32> fullkey;
BitField<1, 1, u32> handheld;
BitField<2, 1, u32> joycon_dual;
BitField<3, 1, u32> joycon_left;
BitField<4, 1, u32> joycon_right;
BitField<5, 1, u32> gamecube;
BitField<6, 1, u32> palma;
BitField<7, 1, u32> lark;
BitField<8, 1, u32> handheld_lark;
BitField<9, 1, u32> lucia;
BitField<29, 1, u32> system_ext;
BitField<30, 1, u32> system;
};
};
static_assert(sizeof(NpadStyleTag) == 4, "NpadStyleTag is an invalid size");
// This is nn::hid::TouchAttribute
struct TouchAttribute {
union {
u32 raw{};
BitField<0, 1, u32> start_touch;
BitField<1, 1, u32> end_touch;
};
};
static_assert(sizeof(TouchAttribute) == 0x4, "TouchAttribute is an invalid size");
// This is nn::hid::TouchState
struct TouchState {
u64_le delta_time;
TouchAttribute attribute;
u32_le finger;
Common::Point<u32_le> position;
u32_le diameter_x;
u32_le diameter_y;
u32_le rotation_angle;
};
static_assert(sizeof(TouchState) == 0x28, "Touchstate is an invalid size");
// This is nn::hid::NpadControllerColor
struct NpadControllerColor {
u32_le body;
u32_le button;
};
static_assert(sizeof(NpadControllerColor) == 8, "NpadControllerColor is an invalid size");
// This is nn::hid::AnalogStickState
struct AnalogStickState {
s32_le x;
s32_le y;
};
static_assert(sizeof(AnalogStickState) == 8, "AnalogStickState is an invalid size");
// This is nn::hid::server::NpadGcTriggerState
struct NpadGcTriggerState {
s64_le sampling_number{};
s32_le left{};
s32_le right{};
};
static_assert(sizeof(NpadGcTriggerState) == 0x10, "NpadGcTriggerState is an invalid size");
// This is nn::hid::system::NpadBatteryLevel
using BatteryLevel = u32;
static_assert(sizeof(BatteryLevel) == 0x4, "BatteryLevel is an invalid size");
// This is nn::hid::system::NpadPowerInfo
struct NpadPowerInfo {
bool is_powered;
bool is_charging;
INSERT_PADDING_BYTES(0x6);
BatteryLevel battery_level;
};
static_assert(sizeof(NpadPowerInfo) == 0xC, "NpadPowerInfo is an invalid size");
// This is nn::hid::NpadButton
enum class NpadButton : u64 {
None = 0,
A = 1U << 0,
B = 1U << 1,
X = 1U << 2,
Y = 1U << 3,
StickL = 1U << 4,
StickR = 1U << 5,
L = 1U << 6,
R = 1U << 7,
ZL = 1U << 8,
ZR = 1U << 9,
Plus = 1U << 10,
Minus = 1U << 11,
Left = 1U << 12,
Up = 1U << 13,
Right = 1U << 14,
Down = 1U << 15,
StickLLeft = 1U << 16,
StickLUp = 1U << 17,
StickLRight = 1U << 18,
StickLDown = 1U << 19,
StickRLeft = 1U << 20,
StickRUp = 1U << 21,
StickRRight = 1U << 22,
StickRDown = 1U << 23,
LeftSL = 1U << 24,
LeftSR = 1U << 25,
RightSL = 1U << 26,
RightSR = 1U << 27,
Palma = 1U << 28,
HandheldLeftB = 1U << 30,
};
DECLARE_ENUM_FLAG_OPERATORS(NpadButton);
struct NpadButtonState {
union {
NpadButton raw{};
// Buttons
BitField<0, 1, u64> a;
BitField<1, 1, u64> b;
BitField<2, 1, u64> x;
BitField<3, 1, u64> y;
BitField<4, 1, u64> stick_l;
BitField<5, 1, u64> stick_r;
BitField<6, 1, u64> l;
BitField<7, 1, u64> r;
BitField<8, 1, u64> zl;
BitField<9, 1, u64> zr;
BitField<10, 1, u64> plus;
BitField<11, 1, u64> minus;
// D-Pad
BitField<12, 1, u64> left;
BitField<13, 1, u64> up;
BitField<14, 1, u64> right;
BitField<15, 1, u64> down;
// Left JoyStick
BitField<16, 1, u64> stick_l_left;
BitField<17, 1, u64> stick_l_up;
BitField<18, 1, u64> stick_l_right;
BitField<19, 1, u64> stick_l_down;
// Right JoyStick
BitField<20, 1, u64> stick_r_left;
BitField<21, 1, u64> stick_r_up;
BitField<22, 1, u64> stick_r_right;
BitField<23, 1, u64> stick_r_down;
BitField<24, 1, u64> left_sl;
BitField<25, 1, u64> left_sr;
BitField<26, 1, u64> right_sl;
BitField<27, 1, u64> right_sr;
BitField<28, 1, u64> palma;
BitField<30, 1, u64> handheld_left_b;
};
};
static_assert(sizeof(NpadButtonState) == 0x8, "NpadButtonState has incorrect size.");
// This is nn::hid::DebugPadButton
struct DebugPadButton {
union {
u32_le raw{};
BitField<0, 1, u32> a;
BitField<1, 1, u32> b;
BitField<2, 1, u32> x;
BitField<3, 1, u32> y;
BitField<4, 1, u32> l;
BitField<5, 1, u32> r;
BitField<6, 1, u32> zl;
BitField<7, 1, u32> zr;
BitField<8, 1, u32> plus;
BitField<9, 1, u32> minus;
BitField<10, 1, u32> d_left;
BitField<11, 1, u32> d_up;
BitField<12, 1, u32> d_right;
BitField<13, 1, u32> d_down;
};
};
static_assert(sizeof(DebugPadButton) == 0x4, "DebugPadButton is an invalid size");
// This is nn::hid::VibrationDeviceType
enum class VibrationDeviceType : u32 {
Unknown = 0,
LinearResonantActuator = 1,
GcErm = 2,
};
// This is nn::hid::VibrationDevicePosition
enum class VibrationDevicePosition : u32 {
None = 0,
Left = 1,
Right = 2,
};
// This is nn::hid::VibrationValue
struct VibrationValue {
f32 low_amplitude;
f32 low_frequency;
f32 high_amplitude;
f32 high_frequency;
};
static_assert(sizeof(VibrationValue) == 0x10, "VibrationValue has incorrect size.");
// This is nn::hid::VibrationGcErmCommand
enum class VibrationGcErmCommand : u64 {
Stop = 0,
Start = 1,
StopHard = 2,
};
// This is nn::hid::VibrationDeviceInfo
struct VibrationDeviceInfo {
VibrationDeviceType type{};
VibrationDevicePosition position{};
};
static_assert(sizeof(VibrationDeviceInfo) == 0x8, "VibrationDeviceInfo has incorrect size.");
// This is nn::hid::KeyboardModifier
struct KeyboardModifier {
union {
u32_le raw{};
BitField<0, 1, u32> control;
BitField<1, 1, u32> shift;
BitField<2, 1, u32> left_alt;
BitField<3, 1, u32> right_alt;
BitField<4, 1, u32> gui;
BitField<8, 1, u32> caps_lock;
BitField<9, 1, u32> scroll_lock;
BitField<10, 1, u32> num_lock;
BitField<11, 1, u32> katakana;
BitField<12, 1, u32> hiragana;
};
};
static_assert(sizeof(KeyboardModifier) == 0x4, "KeyboardModifier is an invalid size");
// This is nn::hid::KeyboardKey
struct KeyboardKey {
// This should be a 256 bit flag
std::array<u8, 32> key;
};
static_assert(sizeof(KeyboardKey) == 0x20, "KeyboardKey is an invalid size");
// This is nn::hid::MouseButton
struct MouseButton {
union {
u32_le raw{};
BitField<0, 1, u32> left;
BitField<1, 1, u32> right;
BitField<2, 1, u32> middle;
BitField<3, 1, u32> forward;
BitField<4, 1, u32> back;
};
};
static_assert(sizeof(MouseButton) == 0x4, "MouseButton is an invalid size");
// This is nn::hid::MouseAttribute
struct MouseAttribute {
union {
u32_le raw{};
BitField<0, 1, u32> transferable;
BitField<1, 1, u32> is_connected;
};
};
static_assert(sizeof(MouseAttribute) == 0x4, "MouseAttribute is an invalid size");
// This is nn::hid::detail::MouseState
struct MouseState {
s64_le sampling_number;
s32_le x;
s32_le y;
s32_le delta_x;
s32_le delta_y;
s32_le delta_wheel_x;
s32_le delta_wheel_y;
MouseButton button;
MouseAttribute attribute;
};
static_assert(sizeof(MouseState) == 0x28, "MouseState is an invalid size");
} // namespace Core::HID

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// Copyright 2021 yuzu Emulator Project
// Licensed under GPLv2 or any later version
// Refer to the license.txt file included
#include <random>
#include "common/input.h"
#include "core/hid/input_converter.h"
namespace Core::HID {
Input::BatteryStatus TransformToBattery(const Input::CallbackStatus& callback) {
Input::BatteryStatus battery{};
switch (callback.type) {
case Input::InputType::Analog:
case Input::InputType::Trigger: {
const auto value = TransformToTrigger(callback).analog.value;
battery = Input::BatteryLevel::Empty;
if (value > 0.2f) {
battery = Input::BatteryLevel::Critical;
}
if (value > 0.4f) {
battery = Input::BatteryLevel::Low;
}
if (value > 0.6f) {
battery = Input::BatteryLevel::Medium;
}
if (value > 0.8f) {
battery = Input::BatteryLevel::Full;
}
if (value >= 1.0f) {
battery = Input::BatteryLevel::Charging;
}
break;
}
case Input::InputType::Battery:
battery = callback.battery_status;
break;
default:
LOG_ERROR(Input, "Conversion from type {} to battery not implemented", callback.type);
break;
}
return battery;
}
Input::ButtonStatus TransformToButton(const Input::CallbackStatus& callback) {
Input::ButtonStatus status{};
switch (callback.type) {
case Input::InputType::Analog:
case Input::InputType::Trigger:
status.value = TransformToTrigger(callback).pressed;
break;
case Input::InputType::Button:
status = callback.button_status;
break;
default:
LOG_ERROR(Input, "Conversion from type {} to button not implemented", callback.type);
break;
}
if (status.inverted) {
status.value = !status.value;
}
return status;
}
Input::MotionStatus TransformToMotion(const Input::CallbackStatus& callback) {
Input::MotionStatus status{};
switch (callback.type) {
case Input::InputType::Button: {
if (TransformToButton(callback).value) {
std::random_device device;
std::mt19937 gen(device());
std::uniform_int_distribution<s16> distribution(-1000, 1000);
Input::AnalogProperties properties{
.deadzone = 0.0,
.range = 1.0f,
.offset = 0.0,
};
status.accel.x = {
.value = 0,
.raw_value = static_cast<f32>(distribution(gen)) * 0.001f,
.properties = properties,
};
status.accel.y = {
.value = 0,
.raw_value = static_cast<f32>(distribution(gen)) * 0.001f,
.properties = properties,
};
status.accel.z = {
.value = 0,
.raw_value = static_cast<f32>(distribution(gen)) * 0.001f,
.properties = properties,
};
status.gyro.x = {
.value = 0,
.raw_value = static_cast<f32>(distribution(gen)) * 0.001f,
.properties = properties,
};
status.gyro.y = {
.value = 0,
.raw_value = static_cast<f32>(distribution(gen)) * 0.001f,
.properties = properties,
};
status.gyro.z = {
.value = 0,
.raw_value = static_cast<f32>(distribution(gen)) * 0.001f,
.properties = properties,
};
}
break;
}
case Input::InputType::Motion:
status = callback.motion_status;
break;
default:
LOG_ERROR(Input, "Conversion from type {} to motion not implemented", callback.type);
break;
}
SanitizeAnalog(status.accel.x, false);
SanitizeAnalog(status.accel.y, false);
SanitizeAnalog(status.accel.z, false);
SanitizeAnalog(status.gyro.x, false);
SanitizeAnalog(status.gyro.y, false);
SanitizeAnalog(status.gyro.z, false);
return status;
}
Input::StickStatus TransformToStick(const Input::CallbackStatus& callback) {
Input::StickStatus status{};
switch (callback.type) {
case Input::InputType::Stick:
status = callback.stick_status;
break;
default:
LOG_ERROR(Input, "Conversion from type {} to stick not implemented", callback.type);
break;
}
SanitizeStick(status.x, status.y, true);
const Input::AnalogProperties& properties_x = status.x.properties;
const Input::AnalogProperties& properties_y = status.y.properties;
const float x = status.x.value;
const float y = status.y.value;
// Set directional buttons
status.right = x > properties_x.threshold;
status.left = x < -properties_x.threshold;
status.up = y > properties_y.threshold;
status.down = y < -properties_y.threshold;
return status;
}
Input::TouchStatus TransformToTouch(const Input::CallbackStatus& callback) {
Input::TouchStatus status{};
switch (callback.type) {
case Input::InputType::Touch:
status = callback.touch_status;
break;
default:
LOG_ERROR(Input, "Conversion from type {} to touch not implemented", callback.type);
break;
}
SanitizeAnalog(status.x, true);
SanitizeAnalog(status.y, true);
float& x = status.x.value;
float& y = status.y.value;
// Adjust if value is inverted
x = status.x.properties.inverted ? 1.0f + x : x;
y = status.y.properties.inverted ? 1.0f + y : y;
// clamp value
x = std::clamp(x, 0.0f, 1.0f);
y = std::clamp(y, 0.0f, 1.0f);
if (status.pressed.inverted) {
status.pressed.value = !status.pressed.value;
}
return status;
}
Input::TriggerStatus TransformToTrigger(const Input::CallbackStatus& callback) {
Input::TriggerStatus status{};
float& raw_value = status.analog.raw_value;
bool calculate_button_value = true;
switch (callback.type) {
case Input::InputType::Analog:
status.analog.properties = callback.analog_status.properties;
raw_value = callback.analog_status.raw_value;
break;
case Input::InputType::Button:
status.analog.properties.range = 1.0f;
status.analog.properties.inverted = callback.button_status.inverted;
raw_value = callback.button_status.value ? 1.0f : 0.0f;
break;
case Input::InputType::Trigger:
status = callback.trigger_status;
calculate_button_value = false;
break;
default:
LOG_ERROR(Input, "Conversion from type {} to trigger not implemented", callback.type);
break;
}
SanitizeAnalog(status.analog, true);
const Input::AnalogProperties& properties = status.analog.properties;
float& value = status.analog.value;
// Set button status
if (calculate_button_value) {
status.pressed = value > properties.threshold;
}
// Adjust if value is inverted
value = properties.inverted ? 1.0f + value : value;
// clamp value
value = std::clamp(value, 0.0f, 1.0f);
return status;
}
void SanitizeAnalog(Input::AnalogStatus& analog, bool clamp_value) {
const Input::AnalogProperties& properties = analog.properties;
float& raw_value = analog.raw_value;
float& value = analog.value;
if (!std::isnormal(raw_value)) {
raw_value = 0;
}
// Apply center offset
raw_value -= properties.offset;
// Set initial values to be formated
value = raw_value;
// Calculate vector size
const float r = std::abs(value);
// Return zero if value is smaller than the deadzone
if (r <= properties.deadzone || properties.deadzone == 1.0f) {
analog.value = 0;
return;
}
// Adjust range of value
const float deadzone_factor =
1.0f / r * (r - properties.deadzone) / (1.0f - properties.deadzone);
value = value * deadzone_factor / properties.range;
// Invert direction if needed
if (properties.inverted) {
value = -value;
}
// Clamp value
if (clamp_value) {
value = std::clamp(value, -1.0f, 1.0f);
}
}
void SanitizeStick(Input::AnalogStatus& analog_x, Input::AnalogStatus& analog_y, bool clamp_value) {
const Input::AnalogProperties& properties_x = analog_x.properties;
const Input::AnalogProperties& properties_y = analog_y.properties;
float& raw_x = analog_x.raw_value;
float& raw_y = analog_y.raw_value;
float& x = analog_x.value;
float& y = analog_y.value;
if (!std::isnormal(raw_x)) {
raw_x = 0;
}
if (!std::isnormal(raw_y)) {
raw_y = 0;
}
// Apply center offset
raw_x += properties_x.offset;
raw_y += properties_y.offset;
// Apply X scale correction from offset
if (std::abs(properties_x.offset) < 0.5f) {
if (raw_x > 0) {
raw_x /= 1 + properties_x.offset;
} else {
raw_x /= 1 - properties_x.offset;
}
}
// Apply Y scale correction from offset
if (std::abs(properties_y.offset) < 0.5f) {
if (raw_y > 0) {
raw_y /= 1 + properties_y.offset;
} else {
raw_y /= 1 - properties_y.offset;
}
}
// Invert direction if needed
raw_x = properties_x.inverted ? -raw_x : raw_x;
raw_y = properties_y.inverted ? -raw_y : raw_y;
// Set initial values to be formated
x = raw_x;
y = raw_y;
// Calculate vector size
float r = x * x + y * y;
r = std::sqrt(r);
// TODO(German77): Use deadzone and range of both axis
// Return zero if values are smaller than the deadzone
if (r <= properties_x.deadzone || properties_x.deadzone >= 1.0f) {
x = 0;
y = 0;
return;
}
// Adjust range of joystick
const float deadzone_factor =
1.0f / r * (r - properties_x.deadzone) / (1.0f - properties_x.deadzone);
x = x * deadzone_factor / properties_x.range;
y = y * deadzone_factor / properties_x.range;
r = r * deadzone_factor / properties_x.range;
// Normalize joystick
if (clamp_value && r > 1.0f) {
x /= r;
y /= r;
}
}
} // namespace Core::HID

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// Copyright 2021 yuzu Emulator Project
// Licensed under GPLv2 or any later version
// Refer to the license.txt file included
#pragma once
namespace Input {
struct CallbackStatus;
};
namespace Core::HID {
/**
* Converts raw input data into a valid battery status.
*
* @param Supported callbacks: Analog, Battery, Trigger.
* @return A valid BatteryStatus object.
*/
Input::BatteryStatus TransformToBattery(const Input::CallbackStatus& callback);
/**
* Converts raw input data into a valid button status. Applies invert properties to the output.
*
* @param Supported callbacks: Analog, Button, Trigger.
* @return A valid TouchStatus object.
*/
Input::ButtonStatus TransformToButton(const Input::CallbackStatus& callback);
/**
* Converts raw input data into a valid motion status.
*
* @param Supported callbacks: Motion.
* @return A valid TouchStatus object.
*/
Input::MotionStatus TransformToMotion(const Input::CallbackStatus& callback);
/**
* Converts raw input data into a valid stick status. Applies offset, deadzone, range and invert
* properties to the output.
*
* @param Supported callbacks: Stick.
* @return A valid StickStatus object.
*/
Input::StickStatus TransformToStick(const Input::CallbackStatus& callback);
/**
* Converts raw input data into a valid touch status.
*
* @param Supported callbacks: Touch.
* @return A valid TouchStatus object.
*/
Input::TouchStatus TransformToTouch(const Input::CallbackStatus& callback);
/**
* Converts raw input data into a valid trigger status. Applies offset, deadzone, range and
* invert properties to the output. Button status uses the threshold property if necessary.
*
* @param Supported callbacks: Analog, Button, Trigger.
* @return A valid TriggerStatus object.
*/
Input::TriggerStatus TransformToTrigger(const Input::CallbackStatus& callback);
/**
* Converts raw analog data into a valid analog value
* @param An analog object containing raw data and properties, bool that determines if the value
* needs to be clamped between -1.0f and 1.0f.
*/
void SanitizeAnalog(Input::AnalogStatus& analog, bool clamp_value);
/**
* Converts raw stick data into a valid stick value
* @param Two analog objects containing raw data and properties, bool that determines if the value
* needs to be clamped into the unit circle.
*/
void SanitizeStick(Input::AnalogStatus& analog_x, Input::AnalogStatus& analog_y, bool clamp_value);
} // namespace Core::HID

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// Copyright 2020 yuzu Emulator Project
// Licensed under GPLv2 or any later version
// Refer to the license.txt file included
#include "common/math_util.h"
#include "core/hid/motion_input.h"
namespace Core::HID {
MotionInput::MotionInput() {
// Initialize PID constants with default values
SetPID(0.3f, 0.005f, 0.0f);
}
void MotionInput::SetPID(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;
}
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 Core::HID

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// Copyright 2020 yuzu Emulator Project
// Licensed under GPLv2 or any later version
// Refer to the license.txt file included
#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 SetGyroDrift(const Common::Vec3f& drift);
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 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;
Common::Quaternion<f32> quat{{0.0f, 0.0f, -1.0f}, 0.0f};
Common::Vec3f rotations;
Common::Vec3f accel;
Common::Vec3f gyro;
Common::Vec3f gyro_drift;
f32 gyro_threshold = 0.0f;
u32 reset_counter = 0;
bool reset_enabled = true;
bool only_accelerometer = true;
};
} // namespace Core::HID