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// SPDX-FileCopyrightText: Copyright 2020 yuzu Emulator Project
// SPDX-License-Identifier: GPL-2.0-or-later
#pragma once
#include "common/common_types.h"
#include "common/quaternion.h"
#include "common/vector_math.h"
namespace Core::HID {
class MotionInput {
public:
static constexpr float ThresholdLoose = 0.01f;
static constexpr float ThresholdStandard = 0.007f;
static constexpr float ThresholdThight = 0.002f;
static constexpr float IsAtRestRelaxed = 0.05f;
static constexpr float IsAtRestLoose = 0.02f;
static constexpr float IsAtRestStandard = 0.01f;
static constexpr float IsAtRestThight = 0.005f;
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 SetGyroBias(const Common::Vec3f& bias);
void SetGyroThreshold(f32 threshold);
/// Applies a modifier on top of the normal gyro threshold
void SetUserGyroThreshold(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 GetGyroBias() 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;
// Quaternion containing the device orientation
Common::Quaternion<f32> quat{{0.0f, 0.0f, -1.0f}, 0.0f};
// Number of full rotations in each axis
Common::Vec3f rotations;
// Acceleration vector measurement in G force
Common::Vec3f accel;
// Gyroscope vector measurement in radians/s.
Common::Vec3f gyro;
// Vector to be substracted from gyro measurements
Common::Vec3f gyro_bias;
// Minimum gyro amplitude to detect if the device is moving
f32 gyro_threshold = 0.0f;
// Multiplies gyro_threshold by this value
f32 user_gyro_threshold = 0.0f;
// Number of invalid sequential data
u32 reset_counter = 0;
// If the provided data is invalid the device will be autocalibrated
bool reset_enabled = true;
// Use accelerometer values to calculate position
bool only_accelerometer = true;
};
} // namespace Core::HID
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