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This commit is contained in:
lizzie
2026-09-01 05:56:47 +00:00
committed by crueter
parent fa33a4ec38
commit b23c0a6a05
18 changed files with 231 additions and 383 deletions
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src/hid_core/frontend/motion_input.cpp
+90 -90
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@@ -26,20 +26,19 @@ void MotionInput::SetPID(f32 new_kp, f32 new_ki, f32 new_kd) {
kd = new_kd;
}
void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
void MotionInput::SetAcceleration(const Common::Vec<f32, 3>& acceleration) {
accel = acceleration;
accel.x = std::clamp(accel.x, -AccelMaxValue, AccelMaxValue);
accel.y = std::clamp(accel.y, -AccelMaxValue, AccelMaxValue);
accel.z = std::clamp(accel.z, -AccelMaxValue, AccelMaxValue);
accel[0] = std::clamp(accel[0], -AccelMaxValue, AccelMaxValue);
accel[1] = std::clamp(accel[1], -AccelMaxValue, AccelMaxValue);
accel[2] = std::clamp(accel[2], -AccelMaxValue, AccelMaxValue);
}
void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
void MotionInput::SetGyroscope(const Common::Vec<f32, 3>& gyroscope) {
gyro = gyroscope - gyro_bias;
gyro.x = std::clamp(gyro.x, -GyroMaxValue, GyroMaxValue);
gyro.y = std::clamp(gyro.y, -GyroMaxValue, GyroMaxValue);
gyro.z = std::clamp(gyro.z, -GyroMaxValue, GyroMaxValue);
gyro[0] = std::clamp(gyro[0], -GyroMaxValue, GyroMaxValue);
gyro[1] = std::clamp(gyro[1], -GyroMaxValue, GyroMaxValue);
gyro[2] = std::clamp(gyro[2], -GyroMaxValue, GyroMaxValue);
// Auto adjust gyro_bias to minimize drift
if (!IsMoving(IsAtRestRelaxed)) {
@@ -59,25 +58,25 @@ void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
}
}
void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
void MotionInput::SetQuaternion(const Common::Vec<f32, 4>& quaternion) {
quat = quaternion;
}
void MotionInput::SetEulerAngles(const Common::Vec3f& euler_angles) {
const float cr = std::cos(euler_angles.x * 0.5f);
const float sr = std::sin(euler_angles.x * 0.5f);
const float cp = std::cos(euler_angles.y * 0.5f);
const float sp = std::sin(euler_angles.y * 0.5f);
const float cy = std::cos(euler_angles.z * 0.5f);
const float sy = std::sin(euler_angles.z * 0.5f);
void MotionInput::SetEulerAngles(const Common::Vec<f32, 3>& euler_angles) {
const float cr = std::cos(euler_angles[0] * 0.5f);
const float sr = std::sin(euler_angles[0] * 0.5f);
const float cp = std::cos(euler_angles[1] * 0.5f);
const float sp = std::sin(euler_angles[1] * 0.5f);
const float cy = std::cos(euler_angles[2] * 0.5f);
const float sy = std::sin(euler_angles[2] * 0.5f);
quat.w = cr * cp * cy + sr * sp * sy;
quat.xyz.x = sr * cp * cy - cr * sp * sy;
quat.xyz.y = cr * sp * cy + sr * cp * sy;
quat.xyz.z = cr * cp * sy - sr * sp * cy;
quat[3] = cr * cp * cy + sr * sp * sy;
quat[0] = sr * cp * cy - cr * sp * sy;
quat[1] = cr * sp * cy + sr * cp * sy;
quat[2] = cr * cp * sy - sr * sp * cy;
}
void MotionInput::SetGyroBias(const Common::Vec3f& bias) {
void MotionInput::SetGyroBias(const Common::Vec<f32, 3>& bias) {
gyro_bias = bias;
}
@@ -98,7 +97,7 @@ void MotionInput::ResetRotations() {
}
void MotionInput::ResetQuaternion() {
quat = {{0.0f, 0.0f, -1.0f}, 0.0f};
quat = Common::Vec<f32, 4>{0.0f, 0.0f, -1.0f, 0.0f};
}
bool MotionInput::IsMoving(f32 sensitivity) const {
@@ -137,10 +136,10 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
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];
f32 q1 = quat[3];
f32 q2 = quat[0];
f32 q3 = quat[1];
f32 q4 = quat[2];
const auto sample_period = static_cast<f32>(elapsed_time) / 1000000.0f;
// Ignore invalid elapsed time
@@ -150,23 +149,23 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
const auto normal_accel = accel.Normalized();
auto rad_gyro = gyro * std::numbers::pi_v<float> * 2.f;
const f32 swap = rad_gyro.x;
rad_gyro.x = rad_gyro.y;
rad_gyro.y = -swap;
rad_gyro.z = -rad_gyro.z;
const f32 swap = rad_gyro[0];
rad_gyro[0] = rad_gyro[1];
rad_gyro[1] = -swap;
rad_gyro[2] = -rad_gyro[2];
// Clear gyro values if there is no gyro present
if (only_accelerometer) {
rad_gyro.x = 0;
rad_gyro.y = 0;
rad_gyro.z = 0;
rad_gyro[0] = 0;
rad_gyro[1] = 0;
rad_gyro[2] = 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;
const f32 ax = -normal_accel[0];
const f32 ay = normal_accel[1];
const f32 az = -normal_accel[2];
// Estimated direction of gravity
const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
@@ -174,7 +173,7 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
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 = {
const Common::Vec<f32, 3> new_real_error{
az * vx - ax * vz,
ay * vz - az * vy,
ax * vy - ay * vx,
@@ -202,16 +201,16 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
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;
gyro[0] = -rad_gyro[1];
gyro[1] = rad_gyro[0];
gyro[2] = -rad_gyro[2];
UpdateRotation(elapsed_time);
}
}
const f32 gx = rad_gyro.y;
const f32 gy = rad_gyro.x;
const f32 gz = rad_gyro.z;
const f32 gx = rad_gyro[1];
const f32 gy = rad_gyro[0];
const f32 gz = rad_gyro[2];
// Integrate rate of change of quaternion
const f32 pa = q2;
@@ -222,57 +221,58 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
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[3] = q1;
quat[0] = q2;
quat[1] = q3;
quat[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],
std::array<Common::Vec<f32, 3>, 3> MotionInput::GetOrientation() const {
const Common::Vec<f32, 4> quad{
-quat[1],
-quat[0],
-quat[3],
-quat[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])};
const std::array<f32, 16> matrix4x4 = quad.ToMatrix();
return {Common::Vec<f32, 3>(matrix4x4[0], matrix4x4[1], -matrix4x4[2]),
Common::Vec<f32, 3>(matrix4x4[4], matrix4x4[5], -matrix4x4[6]),
Common::Vec<f32, 3>(-matrix4x4[8], -matrix4x4[9], matrix4x4[10])};
}
Common::Vec3f MotionInput::GetAcceleration() const {
Common::Vec<f32, 3> MotionInput::GetAcceleration() const {
return accel;
}
Common::Vec3f MotionInput::GetGyroscope() const {
Common::Vec<f32, 3> MotionInput::GetGyroscope() const {
return gyro;
}
Common::Vec3f MotionInput::GetGyroBias() const {
Common::Vec<f32, 3> MotionInput::GetGyroBias() const {
return gyro_bias;
}
Common::Quaternion<f32> MotionInput::GetQuaternion() const {
Common::Vec<f32, 4> MotionInput::GetQuaternion() const {
return quat;
}
Common::Vec3f MotionInput::GetRotations() const {
Common::Vec<f32, 3> MotionInput::GetRotations() const {
return rotations;
}
Common::Vec3f MotionInput::GetEulerAngles() const {
Common::Vec<f32, 3> MotionInput::GetEulerAngles() const {
// roll (x-axis rotation)
const float sinr_cosp = 2 * (quat.w * quat.xyz.x + quat.xyz.y * quat.xyz.z);
const float cosr_cosp = 1 - 2 * (quat.xyz.x * quat.xyz.x + quat.xyz.y * quat.xyz.y);
const float sinr_cosp = 2 * (quat[3] * quat[0] + quat[1] * quat[2]);
const float cosr_cosp = 1 - 2 * (quat[0] * quat[0] + quat[1] * quat[1]);
// pitch (y-axis rotation)
const float sinp = std::sqrt(1 + 2 * (quat.w * quat.xyz.y - quat.xyz.x * quat.xyz.z));
const float cosp = std::sqrt(1 - 2 * (quat.w * quat.xyz.y - quat.xyz.x * quat.xyz.z));
const float sinp = std::sqrt(1 + 2 * (quat[3] * quat[1] - quat[0] * quat[2]));
const float cosp = std::sqrt(1 - 2 * (quat[3] * quat[1] - quat[0] * quat[2]));
// yaw (z-axis rotation)
const float siny_cosp = 2 * (quat.w * quat.xyz.z + quat.xyz.x * quat.xyz.y);
const float cosy_cosp = 1 - 2 * (quat.xyz.y * quat.xyz.y + quat.xyz.z * quat.xyz.z);
const float siny_cosp = 2 * (quat[3] * quat[2] + quat[0] * quat[1]);
const float cosy_cosp = 1 - 2 * (quat[1] * quat[1] + quat[2] * quat[2]);
return {
std::atan2(sinr_cosp, cosr_cosp),
@@ -285,13 +285,13 @@ void MotionInput::ResetOrientation() {
if (!reset_enabled || only_accelerometer) {
return;
}
if (!IsMoving(IsAtRestRelaxed) && accel.z <= -0.9f) {
if (!IsMoving(IsAtRestRelaxed) && accel[2] <= -0.9f) {
++reset_counter;
if (reset_counter > 900) {
quat.w = 0;
quat.xyz[0] = 0;
quat.xyz[1] = 0;
quat.xyz[2] = -1;
quat[3] = 0;
quat[0] = 0;
quat[1] = 0;
quat[2] = -1;
SetOrientationFromAccelerometer();
integral_error = {};
reset_counter = 0;
@@ -309,15 +309,15 @@ void MotionInput::SetOrientationFromAccelerometer() {
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];
f32 q1 = quat[3];
f32 q2 = quat[0];
f32 q3 = quat[1];
f32 q4 = quat[2];
Common::Vec3f rad_gyro;
const f32 ax = -normal_accel.x;
const f32 ay = normal_accel.y;
const f32 az = -normal_accel.z;
Common::Vec<f32, 3> rad_gyro;
const f32 ax = -normal_accel[0];
const f32 ay = normal_accel[1];
const f32 az = -normal_accel[2];
// Estimated direction of gravity
const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
@@ -325,7 +325,7 @@ void MotionInput::SetOrientationFromAccelerometer() {
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 = {
const Common::Vec<f32, 3> new_real_error = {
az * vx - ax * vz,
ay * vz - az * vy,
ax * vy - ay * vx,
@@ -338,9 +338,9 @@ void MotionInput::SetOrientationFromAccelerometer() {
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;
const f32 gx = rad_gyro[1];
const f32 gy = rad_gyro[0];
const f32 gz = rad_gyro[2];
// Integrate rate of change of quaternion
const f32 pa = q2;
@@ -351,10 +351,10 @@ void MotionInput::SetOrientationFromAccelerometer() {
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[3] = q1;
quat[0] = q2;
quat[1] = q3;
quat[2] = q4;
quat = quat.Normalized();
}
}