Merge pull request #4570 from german77/motionInput
input_common: Add a basic class for motion devices
This commit is contained in:
commit
f64917a852
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@ -36,6 +36,36 @@ public:
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T length = std::sqrt(xyz.Length2() + w * w);
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return {xyz / length, w / length};
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}
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[[nodiscard]] std::array<decltype(-T{}), 16> ToMatrix() const {
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const T x2 = xyz[0] * xyz[0];
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const T y2 = xyz[1] * xyz[1];
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const T z2 = xyz[2] * xyz[2];
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const T xy = xyz[0] * xyz[1];
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const T wz = w * xyz[2];
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const T xz = xyz[0] * xyz[2];
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const T wy = w * xyz[1];
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const T yz = xyz[1] * xyz[2];
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const T wx = w * xyz[0];
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return {1.0f - 2.0f * (y2 + z2),
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2.0f * (xy + wz),
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2.0f * (xz - wy),
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0.0f,
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2.0f * (xy - wz),
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1.0f - 2.0f * (x2 + z2),
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2.0f * (yz + wx),
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0.0f,
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2.0f * (xz + wy),
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2.0f * (yz - wx),
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1.0f - 2.0f * (x2 + y2),
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0.0f,
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0.0f,
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0.0f,
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0.0f,
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1.0f};
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}
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};
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template <typename T>
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@ -7,6 +7,8 @@ add_library(input_common STATIC
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main.h
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motion_emu.cpp
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motion_emu.h
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motion_input.cpp
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motion_input.h
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settings.cpp
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settings.h
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touch_from_button.cpp
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@ -0,0 +1,176 @@
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#include "input_common/motion_input.h"
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namespace InputCommon {
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MotionInput::MotionInput(f32 new_kp, f32 new_ki, f32 new_kd)
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: kp(new_kp), ki(new_ki), kd(new_kd), quat{{0, 0, -1}, 0} {}
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void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
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accel = acceleration;
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}
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void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
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gyro = gyroscope - gyro_drift;
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if (gyro.Length2() < gyro_threshold) {
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gyro = {};
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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::SetGyroDrift(const Common::Vec3f& drift) {
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gyro_drift = drift;
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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::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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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 f32 sample_period = 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::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 f32 sample_period = 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 * 3.1415926535f * 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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// 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 = {az * vx - ax * vz, ay * vz - az * vy,
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ax * vy - ay * vx};
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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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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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}
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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::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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void MotionInput::ResetOrientation() {
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if (!reset_enabled) {
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return;
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}
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if (!IsMoving(0.5f) && accel.z <= -0.9f) {
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++reset_counter;
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if (reset_counter > 900) {
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// TODO: calculate quaternion from gravity vector
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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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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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} // namespace InputCommon
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@ -0,0 +1,68 @@
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// Copyright 2014 Dolphin Emulator Project
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// Licensed under GPLv2+
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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 InputCommon {
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class MotionInput {
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public:
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MotionInput(f32 new_kp, f32 new_ki, f32 new_kd);
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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 SetAcceleration(const Common::Vec3f& acceleration);
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void SetGyroscope(const Common::Vec3f& acceleration);
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void SetQuaternion(const Common::Quaternion<f32>& quaternion);
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void SetGyroDrift(const Common::Vec3f& drift);
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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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std::array<Common::Vec3f, 3> GetOrientation() const;
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Common::Vec3f GetAcceleration() const;
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Common::Vec3f GetGyroscope() const;
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Common::Vec3f GetRotations() const;
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Common::Quaternion<f32> GetQuaternion() const;
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bool IsMoving(f32 sensitivity) const;
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bool IsCalibrated(f32 sensitivity) const;
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private:
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void ResetOrientation();
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// PID constants
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const f32 kp;
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const f32 ki;
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const 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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Common::Quaternion<f32> quat;
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Common::Vec3f rotations;
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Common::Vec3f accel;
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Common::Vec3f gyro;
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Common::Vec3f gyro_drift;
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f32 gyro_threshold = 0.0f;
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u32 reset_counter = 0;
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bool reset_enabled = true;
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};
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} // namespace InputCommon
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