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param vec

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lizzie
2026-09-01 05:56:47 +00:00
parent d3b6283f4f
commit da71711bed
18 changed files with 231 additions and 383 deletions
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src/common/vector_math.h
+72 -221
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@@ -7,258 +7,100 @@
#pragma once
#ifdef __ARM_NEON
#include <arm_neon.h>
#endif
#include <cmath>
#include <type_traits>
namespace Common {
template <typename T>
class Vec2;
template <typename T>
class Vec3;
template <typename T>
class Quaternion;
template <typename T>
class Vec2 {
template <typename T, size_t N>
class Vec {
public:
T x{};
T y{};
std::array<T, N> elems{};
constexpr Vec2() = default;
constexpr Vec2(const T& x_, const T& y_) noexcept : x(x_), y(y_) {}
constexpr Vec() = default;
constexpr Vec(T e0) noexcept : elems{e0} {}
constexpr Vec(T e0, T e1) noexcept : elems{e0, e1} {}
constexpr Vec(T e0, T e1, T e2) noexcept : elems{e0, e1, e2} {}
constexpr Vec(T e0, T e1, T e2, T e4) noexcept : elems{e0, e1, e2, e4} {}
//explicit constexpr Vec(const std::initializer_list<T> elems_) noexcept : elems{elems_} {}
[[nodiscard]] constexpr Vec2<decltype(T{} + T{})> operator+(const Vec2& other) const noexcept {
return {x + other.x, y + other.y};
[[nodiscard]] constexpr Vec<decltype(T{} + T{}), N> operator+(const Vec o) const noexcept {
Vec<decltype(T{} + T{}), N> r{};
for (size_t i = 0; i < N; ++i)
r.elems[i] = elems[i] + o.elems[i];
return r;
}
constexpr Vec2& operator+=(const Vec2& other) noexcept {
x += other.x;
y += other.y;
return *this;
}
[[nodiscard]] constexpr Vec2<decltype(T{} - T{})> operator-(const Vec2& other) const noexcept {
return {x - other.x, y - other.y};
}
constexpr Vec2& operator-=(const Vec2& other) noexcept {
x -= other.x;
y -= other.y;
return *this;
constexpr Vec<T, N> operator+=(const Vec<T, N> o) noexcept { return *this = *this + o; }
[[nodiscard]] constexpr Vec<decltype(T{} - T{}), N> operator-(const Vec o) const noexcept {
Vec<decltype(T{} - T{}), N> r{};
for (size_t i = 0; i < N; ++i)
r.elems[i] = elems[i] - o.elems[i];
return r;
}
constexpr Vec<T, N> operator-=(const Vec<T, N> o) noexcept { return *this = *this - o; }
template <typename U = T>
[[nodiscard]] constexpr Vec2<std::enable_if_t<std::is_signed_v<U>, U>> operator-() const noexcept {
return {-x, -y};
}
[[nodiscard]] constexpr Vec2<decltype(T{} * T{})> operator*(const Vec2& other) const noexcept {
return {x * other.x, y * other.y};
[[nodiscard]] constexpr Vec<std::enable_if_t<std::is_signed_v<U>, U>, N> operator-() const noexcept {
Vec<U, N> r{};
for (size_t i = 0; i < N; ++i)
r.elems[i] = -elems[i];
return r;
}
[[nodiscard]] constexpr Vec<decltype(T{} * T{}), N> operator*(const Vec o) const noexcept {
Vec<decltype(T{} * T{}), N> r{};
for (size_t i = 0; i < N; ++i)
r.elems[i] = elems[i] * o.elems[i];
return r;
}
template <typename V>
[[nodiscard]] constexpr Vec2<decltype(T{} * V{})> operator*(const V& f) const noexcept {
[[nodiscard]] constexpr Vec<decltype(T{} * V{}), N> operator*(const V f) const noexcept {
using TV = decltype(T{} * V{});
using C = std::common_type_t<T, V>;
return {
TV(C(x) * C(f)),
TV(C(y) * C(f)),
};
Vec<TV, N> r{};
for (size_t i = 0; i < N; ++i)
r.elems[i] = TV(C(elems[i]) * C(f));
return r;
}
template <typename V>
constexpr Vec<T, N> operator*=(const V f) noexcept { return *this = *this * f; }
template <typename V>
constexpr Vec2& operator*=(const V& f) noexcept {
return *this = *this * f;
}
template <typename V>
[[nodiscard]] constexpr Vec2<decltype(T{} / V{})> operator/(const V& f) const noexcept {
[[nodiscard]] constexpr Vec<decltype(T{} / V{}), N> operator/(const V f) const noexcept {
using TV = decltype(T{} / V{});
using C = std::common_type_t<T, V>;
return {
TV(C(x) / C(f)),
TV(C(y) / C(f)),
};
Vec<TV, N> r{};
for (size_t i = 0; i < N; ++i)
r.elems[i] = TV(C(elems[i]) / C(f));
return r;
}
template <typename V>
constexpr Vec2& operator/=(const V& f) noexcept {
return *this = *this / f;
}
constexpr Vec<T, N> operator/=(const V f) noexcept { return *this = *this / f; }
[[nodiscard]] constexpr T Length2() const noexcept {
return x * x + y * y;
T r{};
for (size_t i = 0; i < N; ++i)
r += elems[i] * elems[i];
return r;
}
// Only implemented for T=float
[[nodiscard]] float Length() const;
[[nodiscard]] constexpr T& operator[](std::size_t i) noexcept {
return *((&x) + i);
}
[[nodiscard]] constexpr const T& operator[](std::size_t i) const noexcept {
return *((&x) + i);
}
};
template <typename T, typename V>
[[nodiscard]] constexpr Vec2<T> operator*(const V& f, const Vec2<T>& vec) noexcept {
using C = std::common_type_t<T, V>;
return Vec2<T>(T(C(f) * C(vec.x)), T(C(f) * C(vec.y)));
}
using Vec2f = Vec2<float>;
template <>
inline float Vec2<float>::Length() const {
return std::sqrt(x * x + y * y);
}
template <typename T>
class Vec3 {
public:
T x{};
T y{};
T z{};
constexpr Vec3() = default;
constexpr Vec3(const T& x_, const T& y_, const T& z_) noexcept : x(x_), y(y_), z(z_) {}
[[nodiscard]] constexpr Vec3<decltype(T{} + T{})> operator+(const Vec3& other) const noexcept {
return {x + other.x, y + other.y, z + other.z};
}
constexpr Vec3 operator+=(const Vec3& other) noexcept {
x += other.x;
y += other.y;
z += other.z;
return *this;
}
[[nodiscard]] constexpr Vec3<decltype(T{} - T{})> operator-(const Vec3& other) const noexcept {
return {x - other.x, y - other.y, z - other.z};
}
constexpr Vec3 operator-=(const Vec3& other) noexcept {
x -= other.x;
y -= other.y;
z -= other.z;
return *this;
}
template <typename U = T>
[[nodiscard]] constexpr Vec3<std::enable_if_t<std::is_signed_v<U>, U>> operator-() const noexcept {
return {-x, -y, -z};
}
[[nodiscard]] constexpr Vec3<decltype(T{} * T{})> operator*(const Vec3& other) const noexcept {
return {x * other.x, y * other.y, z * other.z};
}
template <typename V>
[[nodiscard]] constexpr Vec3<decltype(T{} * V{})> operator*(const V& f) const noexcept {
using TV = decltype(T{} * V{});
using C = std::common_type_t<T, V>;
return {
TV(C(x) * C(f)),
TV(C(y) * C(f)),
TV(C(z) * C(f)),
};
}
template <typename V>
constexpr Vec3 operator*=(const V& f) noexcept {
return *this = *this * f;
}
template <typename V>
[[nodiscard]] constexpr Vec3<decltype(T{} / V{})> operator/(const V& f) const noexcept {
using TV = decltype(T{} / V{});
using C = std::common_type_t<T, V>;
return {
TV(C(x) / C(f)),
TV(C(y) / C(f)),
TV(C(z) / C(f)),
};
}
template <typename V>
constexpr Vec3& operator/=(const V& f) noexcept {
return *this = *this / f;
}
[[nodiscard]] constexpr T Length2() const noexcept {
return x * x + y * y + z * z;
}
// Only implemented for T=float
[[nodiscard]] float Length() const;
[[nodiscard]] Vec3 Normalized() const;
[[nodiscard]] constexpr T& operator[](std::size_t i) noexcept {
return *((&x) + i);
}
[[nodiscard]] constexpr const T& operator[](std::size_t i) const noexcept {
return *((&x) + i);
}
};
template <typename T, typename V>
[[nodiscard]] constexpr Vec3<T> operator*(const V& f, const Vec3<T>& vec) noexcept {
using C = std::common_type_t<T, V>;
return Vec3<T>(T(C(f) * C(vec.x)), T(C(f) * C(vec.y)), T(C(f) * C(vec.z)));
}
template <>
inline float Vec3<float>::Length() const {
return std::sqrt(x * x + y * y + z * z);
}
template <>
inline Vec3<float> Vec3<float>::Normalized() const {
return *this / Length();
}
using Vec3f = Vec3<float>;
template <typename T>
class Quaternion {
public:
Vec3<T> xyz;
T w{};
[[nodiscard]] Quaternion<decltype(T{} + T{})> operator+(const Quaternion& other) const noexcept {
return {xyz + other.xyz, w + other.w};
}
[[nodiscard]] Quaternion<decltype(T{} - T{})> operator-(const Quaternion& other) const noexcept {
return {xyz - other.xyz, w - other.w};
}
[[nodiscard]] Quaternion<decltype(T{} * T{} - T{} * T{})> operator*(const Quaternion& other) const noexcept {
return {xyz * other.w + other.xyz * w + Cross(xyz, other.xyz), w * other.w - Dot(xyz, other.xyz)};
}
[[nodiscard]] Quaternion<T> Normalized() const noexcept {
T length = std::sqrt(xyz.Length2() + w * w);
return {xyz / length, w / length};
}
[[nodiscard]] T Length() const { return T(std::sqrt(float(Length2()))); }
[[nodiscard]] Vec<T, N> Normalized() const { return *this / Length(); }
[[nodiscard]] constexpr T& operator[](std::size_t i) noexcept { return elems[i]; }
[[nodiscard]] constexpr const T& operator[](std::size_t i) const noexcept { return elems[i]; }
[[nodiscard]] std::array<decltype(-T{}), 16> ToMatrix() const {
const T x2 = xyz[0] * xyz[0];
const T y2 = xyz[1] * xyz[1];
const T z2 = xyz[2] * xyz[2];
const T xy = xyz[0] * xyz[1];
const T wz = w * xyz[2];
const T xz = xyz[0] * xyz[2];
const T wy = w * xyz[1];
const T yz = xyz[1] * xyz[2];
const T wx = w * xyz[0];
const T x2 = elems[0] * elems[0];
const T y2 = elems[1] * elems[1];
const T z2 = elems[2] * elems[2];
const T xy = elems[0] * elems[1];
const T wz = elems[3] * elems[2];
const T xz = elems[0] * elems[2];
const T wy = elems[3] * elems[1];
const T yz = elems[1] * elems[2];
const T wx = elems[3] * elems[0];
return {
1.0f - 2.0f * (y2 + z2),
2.0f * (xy + wz),
@@ -280,4 +122,13 @@ public:
}
};
template <typename T, size_t N, typename V>
[[nodiscard]] constexpr Vec<T, N> operator*(const V f, const Vec<T, N> v) noexcept {
using C = std::common_type_t<T, V>;
Vec<T, N> r{};
for (size_t i = 0; i < N; ++i)
r.elems[i] = T(C(f) * C(v.elems[i]));
return r;
}
} // namespace Common
src/core/hle/service/set/setting_formats/device_settings.h
+3 -3
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@@ -30,15 +30,15 @@ struct DeviceSettings {
INSERT_PADDING_BYTES(0x20); // Reserved
// nn::settings::system::ConsoleSixAxisSensorAccelerationBias
Common::Vec3<f32> console_six_axis_sensor_acceleration_bias;
Common::Vec<f32, 3> console_six_axis_sensor_acceleration_bias;
// nn::settings::system::ConsoleSixAxisSensorAngularVelocityBias
Common::Vec3<f32> console_six_axis_sensor_angular_velocity_bias;
Common::Vec<f32, 3> console_six_axis_sensor_angular_velocity_bias;
// nn::settings::system::ConsoleSixAxisSensorAccelerationGain
std::array<u8, 0x24> console_six_axis_sensor_acceleration_gain;
// nn::settings::system::ConsoleSixAxisSensorAngularVelocityGain
std::array<u8, 0x24> console_six_axis_sensor_angular_velocity_gain;
// nn::settings::system::ConsoleSixAxisSensorAngularVelocityTimeBias
Common::Vec3<f32> console_six_axis_sensor_angular_velocity_time_bias;
Common::Vec<f32, 3> console_six_axis_sensor_angular_velocity_time_bias;
// nn::settings::system::ConsoleSixAxisSensorAngularAcceleration
std::array<u8, 0x24> console_six_axis_sensor_angular_acceleration;
};
src/core/hle/service/set/setting_formats/system_settings.h
+3 -3
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@@ -153,15 +153,15 @@ struct SystemSettings {
INSERT_PADDING_BYTES(0x7FF8); // Reserved
// nn::settings::system::ConsoleSixAxisSensorAccelerationBias
Common::Vec3<f32> console_six_axis_sensor_acceleration_bias;
Common::Vec<f32, 3> console_six_axis_sensor_acceleration_bias;
// nn::settings::system::ConsoleSixAxisSensorAngularVelocityBias
Common::Vec3<f32> console_six_axis_sensor_angular_velocity_bias;
Common::Vec<f32, 3> console_six_axis_sensor_angular_velocity_bias;
// nn::settings::system::ConsoleSixAxisSensorAccelerationGain
std::array<u8, 0x24> console_six_axis_sensor_acceleration_gain;
// nn::settings::system::ConsoleSixAxisSensorAngularVelocityGain
std::array<u8, 0x24> console_six_axis_sensor_angular_velocity_gain;
// nn::settings::system::ConsoleSixAxisSensorAngularVelocityTimeBias
Common::Vec3<f32> console_six_axis_sensor_angular_velocity_time_bias;
Common::Vec<f32, 3> console_six_axis_sensor_angular_velocity_time_bias;
// nn::settings::system::ConsoleSixAxisSensorAngularAcceleration
std::array<u8, 0x24> console_six_axis_sensor_angular_velocity_acceleration;
INSERT_PADDING_BYTES(0x70); // Reserved
src/hid_core/frontend/emulated_console.cpp
+2 -2
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@@ -170,12 +170,12 @@ void EmulatedConsole::SetMotion(const Common::Input::CallbackStatus& callback) {
auto& emulated = console.motion_values.emulated;
raw_status = TransformToMotion(callback);
emulated.SetAcceleration(Common::Vec3f{
emulated.SetAcceleration(Common::Vec<f32, 3>{
raw_status.accel.x.value,
raw_status.accel.y.value,
raw_status.accel.z.value,
});
emulated.SetGyroscope(Common::Vec3f{
emulated.SetGyroscope(Common::Vec<f32, 3>{
raw_status.gyro.x.value,
raw_status.gyro.y.value,
raw_status.gyro.z.value,
src/hid_core/frontend/emulated_console.h
+6 -6
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@@ -42,12 +42,12 @@ using TouchValues = std::array<Common::Input::TouchStatus, MaxTouchDevices>;
// Contains all motion related data that is used on the services
struct ConsoleMotion {
Common::Vec3f accel{};
Common::Vec3f gyro{};
Common::Vec3f rotation{};
std::array<Common::Vec3f, 3> orientation{};
Common::Quaternion<f32> quaternion{};
Common::Vec3f gyro_bias{};
Common::Vec<f32, 3> accel{};
Common::Vec<f32, 3> gyro{};
Common::Vec<f32, 3> rotation{};
std::array<Common::Vec<f32, 3>, 3> orientation{};
Common::Vec<f32, 4> quaternion{};
Common::Vec<f32, 3> gyro_bias{};
f32 verticalization_error{};
bool is_at_rest{};
};
src/hid_core/frontend/emulated_controller.cpp
+2 -2
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@@ -1051,12 +1051,12 @@ void EmulatedController::SetMotion(const Common::Input::CallbackStatus& callback
auto& emulated = controller.motion_values[index].emulated;
raw_status = TransformToMotion(callback);
emulated.SetAcceleration(Common::Vec3f{
emulated.SetAcceleration(Common::Vec<f32, 3>{
raw_status.accel.x.value,
raw_status.accel.y.value,
raw_status.accel.z.value,
});
emulated.SetGyroscope(Common::Vec3f{
emulated.SetGyroscope(Common::Vec<f32, 3>{
raw_status.gyro.x.value,
raw_status.gyro.y.value,
raw_status.gyro.z.value,
src/hid_core/frontend/emulated_controller.h
+5 -5
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@@ -107,11 +107,11 @@ struct RingSensorForce {
using NfcState = Common::Input::NfcStatus;
struct ControllerMotion {
Common::Vec3f accel{};
Common::Vec3f gyro{};
Common::Vec3f rotation{};
Common::Vec3f euler{};
std::array<Common::Vec3f, 3> orientation{};
Common::Vec<f32, 3> accel{};
Common::Vec<f32, 3> gyro{};
Common::Vec<f32, 3> rotation{};
Common::Vec<f32, 3> euler{};
std::array<Common::Vec<f32, 3>, 3> orientation{};
bool is_at_rest{};
};
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();
}
}
src/hid_core/frontend/motion_input.h
+20 -20
View File
@@ -36,11 +36,11 @@ public:
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 SetEulerAngles(const Common::Vec3f& euler_angles);
void SetGyroBias(const Common::Vec3f& bias);
void SetAcceleration(const Common::Vec<f32, 3>& acceleration);
void SetGyroscope(const Common::Vec<f32, 3>& gyroscope);
void SetQuaternion(const Common::Vec<f32, 4>& quaternion);
void SetEulerAngles(const Common::Vec<f32, 3>& euler_angles);
void SetGyroBias(const Common::Vec<f32, 3>& bias);
void SetGyroThreshold(f32 threshold);
/// Applies a modifier on top of the normal gyro threshold
@@ -55,13 +55,13 @@ public:
void Calibrate();
[[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]] Common::Vec3f GetEulerAngles() const;
[[nodiscard]] std::array<Common::Vec<f32, 3>, 3> GetOrientation() const;
[[nodiscard]] Common::Vec<f32, 3> GetAcceleration() const;
[[nodiscard]] Common::Vec<f32, 3> GetGyroscope() const;
[[nodiscard]] Common::Vec<f32, 3> GetGyroBias() const;
[[nodiscard]] Common::Vec<f32, 3> GetRotations() const;
[[nodiscard]] Common::Vec<f32, 4> GetQuaternion() const;
[[nodiscard]] Common::Vec<f32, 3> GetEulerAngles() const;
[[nodiscard]] bool IsMoving(f32 sensitivity) const;
[[nodiscard]] bool IsCalibrated(f32 sensitivity) const;
@@ -77,24 +77,24 @@ private:
f32 kd;
// PID errors
Common::Vec3f real_error;
Common::Vec3f integral_error;
Common::Vec3f derivative_error;
Common::Vec<f32, 3> real_error;
Common::Vec<f32, 3> integral_error;
Common::Vec<f32, 3> derivative_error;
// Quaternion containing the device orientation
Common::Quaternion<f32> quat;
Common::Vec<f32, 4> quat;
// Number of full rotations in each axis
Common::Vec3f rotations;
Common::Vec<f32, 3> rotations;
// Acceleration vector measurement in G force
Common::Vec3f accel;
Common::Vec<f32, 3> accel;
// Gyroscope vector measurement in radians/s.
Common::Vec3f gyro;
Common::Vec<f32, 3> gyro;
// Vector to be subtracted from gyro measurements
Common::Vec3f gyro_bias;
Common::Vec<f32, 3> gyro_bias;
// Minimum gyro amplitude to detect if the device is moving
f32 gyro_threshold = 0.0f;
src/hid_core/hid_types.h
+4 -4
View File
@@ -602,10 +602,10 @@ static_assert(sizeof(SixAxisSensorAttribute) == 4, "SixAxisSensorAttribute is an
struct SixAxisSensorState {
s64 delta_time{};
s64 sampling_number{};
Common::Vec3f accel{};
Common::Vec3f gyro{};
Common::Vec3f rotation{};
std::array<Common::Vec3f, 3> orientation{};
Common::Vec<f32, 3> accel{};
Common::Vec<f32, 3> gyro{};
Common::Vec<f32, 3> rotation{};
std::array<Common::Vec<f32, 3>, 3> orientation{};
SixAxisSensorAttribute attribute{};
INSERT_PADDING_BYTES(4); // Reserved
};
src/hid_core/resources/shared_memory_format.h
+1 -1
View File
@@ -196,7 +196,7 @@ struct ConsoleSixAxisSensorSharedMemoryFormat {
bool is_seven_six_axis_sensor_at_rest{};
INSERT_PADDING_BYTES(3); // padding
f32 verticalization_error{};
Common::Vec3f gyro_bias{};
Common::Vec<f32, 3> gyro_bias{};
INSERT_PADDING_BYTES(4); // padding
};
static_assert(sizeof(ConsoleSixAxisSensorSharedMemoryFormat) == 0x20,
src/hid_core/resources/six_axis/seven_six_axis.cpp
+4 -7
View File
@@ -46,14 +46,11 @@ void SevenSixAxis::OnUpdate(const Core::Timing::CoreTiming& core_timing) {
next_seven_sixaxis_state.accel = motion_status.accel;
next_seven_sixaxis_state.gyro = motion_status.gyro;
next_seven_sixaxis_state.quaternion = {
{
motion_status.quaternion.xyz.y,
motion_status.quaternion.xyz.x,
-motion_status.quaternion.w,
},
-motion_status.quaternion.xyz.z,
motion_status.quaternion[1],
motion_status.quaternion[0],
-motion_status.quaternion[3],
-motion_status.quaternion[2],
};
seven_sixaxis_lifo.WriteNextEntry(next_seven_sixaxis_state);
transfer_memory_owner->GetMemory().WriteBlock(transfer_memory, &seven_sixaxis_lifo,
sizeof(seven_sixaxis_lifo));
src/hid_core/resources/six_axis/seven_six_axis.h
+3 -3
View File
@@ -51,9 +51,9 @@ private:
u64 timestamp{};
u64 sampling_number{};
u64 unknown{};
Common::Vec3f accel{};
Common::Vec3f gyro{};
Common::Quaternion<f32> quaternion{};
Common::Vec<f32, 3> accel{};
Common::Vec<f32, 3> gyro{};
Common::Vec<f32, 4> quaternion{};
};
static_assert(sizeof(SevenSixAxisState) == 0x48, "SevenSixAxisState is an invalid size");
src/hid_core/resources/six_axis/six_axis.cpp
+3 -3
View File
@@ -93,9 +93,9 @@ void SixAxis::OnUpdate(const Core::Timing::CoreTiming& core_timing) {
.accel = {0, 0, -1.0f},
.orientation =
{
Common::Vec3f{1.0f, 0, 0},
Common::Vec3f{0, 1.0f, 0},
Common::Vec3f{0, 0, 1.0f},
Common::Vec<f32, 3>{1.0f, 0, 0},
Common::Vec<f32, 3>{0, 1.0f, 0},
Common::Vec<f32, 3>{0, 0, 1.0f},
},
.attribute = {1},
};
src/input_common/drivers/mouse.cpp
+3 -3
View File
@@ -135,8 +135,8 @@ void Mouse::UpdateMotionInput() {
void Mouse::Move(int x, int y, int center_x, int center_y) {
if (IsMousePanningEnabled()) {
auto const mouse_change_int = Common::Vec2<int>(x, y) - Common::Vec2<int>(center_x, center_y);
auto const mouse_change = Common::Vec2<float>(float(mouse_change_int.x), float(mouse_change_int.y));
auto const mouse_change_int = Common::Vec<int, 2>(x, y) - Common::Vec<int, 2>(center_x, center_y);
auto const mouse_change = Common::Vec<float, 2>(float(mouse_change_int.x), float(mouse_change_int.y));
auto const x_sensitivity = Settings::values.mouse_panning_x_sensitivity.GetValue() * default_panning_sensitivity;
auto const y_sensitivity = Settings::values.mouse_panning_y_sensitivity.GetValue() * default_panning_sensitivity;
auto const deadzone_cw = Settings::values.mouse_panning_deadzone_counterweight.GetValue() * default_deadzone_counterweight;
@@ -153,7 +153,7 @@ void Mouse::Move(int x, int y, int center_x, int center_y) {
}
if (button_pressed) {
const auto mouse_move = Common::Vec2<int>(x, y) - mouse_origin;
const auto mouse_move = Common::Vec<int, 2>(x, y) - mouse_origin;
const float x_sensitivity =
Settings::values.mouse_panning_x_sensitivity.GetValue() * default_stick_sensitivity;
const float y_sensitivity =
src/input_common/drivers/mouse.h
+5 -5
View File
@@ -107,11 +107,11 @@ private:
Common::Input::ButtonNames GetUIButtonName(const Common::ParamPackage& params) const;
Common::Vec2<int> mouse_origin;
Common::Vec2<int> last_mouse_position;
Common::Vec2<float> last_mouse_change;
Common::Vec3<float> last_motion_change;
Common::Vec2<int> wheel_position;
Common::Vec<int, 2> mouse_origin;
Common::Vec<int, 2> last_mouse_position;
Common::Vec<float, 2> last_mouse_change;
Common::Vec<float, 3> last_motion_change;
Common::Vec<int, 2> wheel_position;
bool button_pressed = false;
};
src/yuzu/configuration/configure_input_player_widget.cpp
+4 -4
View File
@@ -2936,10 +2936,10 @@ void PlayerControlPreview::DrawArrow(QPainter& p, const QPointF center, const Di
}
// Draw motion functions
void PlayerControlPreview::Draw3dCube(QPainter& p, QPointF center, const Common::Vec3f& euler,
void PlayerControlPreview::Draw3dCube(QPainter& p, QPointF center, const Common::Vec<f32, 3>& euler,
float size) {
std::array<Common::Vec3f, 8> cube{
Common::Vec3f{-0.7f, -1, -0.5f},
std::array<Common::Vec<f32, 3>, 8> cube{
Common::Vec<f32, 3>{-0.7f, -1, -0.5f},
{-0.7f, 1, -0.5f},
{0.7f, 1, -0.5f},
{0.7f, -1, -0.5f},
@@ -2949,7 +2949,7 @@ void PlayerControlPreview::Draw3dCube(QPainter& p, QPointF center, const Common:
{0.7f, -1, 0.5f},
};
for (Common::Vec3f& point : cube) {
for (Common::Vec<f32, 3>& point : cube) {
float temp = point.y;
point.y = std::cos(euler.x) * point.y - std::sin(euler.x) * point.z;
point.z = std::sin(euler.x) * temp + std::cos(euler.x) * point.z;
src/yuzu/configuration/configure_input_player_widget.h
+1 -1
View File
@@ -198,7 +198,7 @@ private:
void DrawArrow(QPainter& p, QPointF center, Direction direction, float size);
// Draw motion functions
void Draw3dCube(QPainter& p, QPointF center, const Common::Vec3f& euler, float size);
void Draw3dCube(QPainter& p, QPointF center, const Common::Vec<f32, 3>& euler, float size);
// Draw primitive types
template <size_t N>