diff options
Diffstat (limited to '')
-rw-r--r-- | src/core/hid/hid_types.h | 388 | ||||
-rw-r--r-- | src/core/hid/input_converter.cpp | 345 | ||||
-rw-r--r-- | src/core/hid/input_converter.h | 77 | ||||
-rw-r--r-- | src/core/hid/motion_input.cpp | 278 | ||||
-rw-r--r-- | src/core/hid/motion_input.h | 71 |
5 files changed, 1159 insertions, 0 deletions
diff --git a/src/core/hid/hid_types.h b/src/core/hid/hid_types.h new file mode 100644 index 000000000..d3f7930c9 --- /dev/null +++ b/src/core/hid/hid_types.h @@ -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 diff --git a/src/core/hid/input_converter.cpp b/src/core/hid/input_converter.cpp new file mode 100644 index 000000000..5834622e9 --- /dev/null +++ b/src/core/hid/input_converter.cpp @@ -0,0 +1,345 @@ +// 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 diff --git a/src/core/hid/input_converter.h b/src/core/hid/input_converter.h new file mode 100644 index 000000000..3cc32e26a --- /dev/null +++ b/src/core/hid/input_converter.h @@ -0,0 +1,77 @@ +// 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 diff --git a/src/core/hid/motion_input.cpp b/src/core/hid/motion_input.cpp new file mode 100644 index 000000000..93f37b77b --- /dev/null +++ b/src/core/hid/motion_input.cpp @@ -0,0 +1,278 @@ +// 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 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 |