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Diffstat (limited to 'src/core/hid/motion_input.h')
-rw-r--r-- | src/core/hid/motion_input.h | 71 |
1 files changed, 71 insertions, 0 deletions
diff --git a/src/core/hid/motion_input.h b/src/core/hid/motion_input.h new file mode 100644 index 000000000..3deef5ac3 --- /dev/null +++ b/src/core/hid/motion_input.h @@ -0,0 +1,71 @@ +// 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 |