mirror of
https://git.h3cjp.net/H3cJP/yuzu.git
synced 2024-12-17 00:06:08 +00:00
input_common: Remove obsolete files
This commit is contained in:
german77
Narr the Reg
parent
59b995a9e5
commit
6d108f0dcb
|
|
@ -27,10 +27,6 @@ add_library(input_common STATIC
|
|||
input_poller.h
|
||||
main.cpp
|
||||
main.h
|
||||
motion_from_button.cpp
|
||||
motion_from_button.h
|
||||
motion_input.cpp
|
||||
motion_input.h
|
||||
)
|
||||
|
||||
if (MSVC)
|
||||
|
|
|
|||
|
|
@ -1,34 +0,0 @@
|
|||
// Copyright 2020 yuzu Emulator Project
|
||||
// Licensed under GPLv2 or any later version
|
||||
// Refer to the license.txt file included.
|
||||
|
||||
#include "input_common/motion_from_button.h"
|
||||
#include "input_common/motion_input.h"
|
||||
|
||||
namespace InputCommon {
|
||||
|
||||
class MotionKey final : public Input::MotionDevice {
|
||||
public:
|
||||
using Button = std::unique_ptr<Input::ButtonDevice>;
|
||||
|
||||
explicit MotionKey(Button key_) : key(std::move(key_)) {}
|
||||
|
||||
Input::MotionStatus GetStatus() const override {
|
||||
|
||||
if (key->GetStatus()) {
|
||||
return motion.GetRandomMotion(2, 6);
|
||||
}
|
||||
return motion.GetRandomMotion(0, 0);
|
||||
}
|
||||
|
||||
private:
|
||||
Button key;
|
||||
InputCommon::MotionInput motion{0.0f, 0.0f, 0.0f};
|
||||
};
|
||||
|
||||
std::unique_ptr<Input::MotionDevice> MotionFromButton::Create(const Common::ParamPackage& params) {
|
||||
auto key = Input::CreateDevice<Input::ButtonDevice>(params.Serialize());
|
||||
return std::make_unique<MotionKey>(std::move(key));
|
||||
}
|
||||
|
||||
} // namespace InputCommon
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
// Copyright 2020 yuzu Emulator Project
|
||||
// Licensed under GPLv2 or any later version
|
||||
// Refer to the license.txt file included.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "core/frontend/input.h"
|
||||
|
||||
namespace InputCommon {
|
||||
|
||||
/**
|
||||
* An motion device factory that takes a keyboard button and uses it as a random
|
||||
* motion device.
|
||||
*/
|
||||
class MotionFromButton final : public Input::Factory<Input::MotionDevice> {
|
||||
public:
|
||||
/**
|
||||
* Creates an motion device from button devices
|
||||
* @param params contains parameters for creating the device:
|
||||
* - "key": a serialized ParamPackage for creating a button device
|
||||
*/
|
||||
std::unique_ptr<Input::MotionDevice> Create(const Common::ParamPackage& params) override;
|
||||
};
|
||||
|
||||
} // namespace InputCommon
|
||||
|
|
@ -1,307 +0,0 @@
|
|||
// Copyright 2020 yuzu Emulator Project
|
||||
// Licensed under GPLv2 or any later version
|
||||
// Refer to the license.txt file included
|
||||
|
||||
#include <random>
|
||||
#include "common/math_util.h"
|
||||
#include "input_common/motion_input.h"
|
||||
|
||||
namespace InputCommon {
|
||||
|
||||
MotionInput::MotionInput(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;
|
||||
}
|
||||
|
||||
Input::MotionStatus MotionInput::GetMotion() const {
|
||||
const Common::Vec3f gyroscope = GetGyroscope();
|
||||
const Common::Vec3f accelerometer = GetAcceleration();
|
||||
const Common::Vec3f rotation = GetRotations();
|
||||
const std::array<Common::Vec3f, 3> orientation = GetOrientation();
|
||||
const Common::Quaternion<f32> quaternion = GetQuaternion();
|
||||
return {accelerometer, gyroscope, rotation, orientation, quaternion};
|
||||
}
|
||||
|
||||
Input::MotionStatus MotionInput::GetRandomMotion(int accel_magnitude, int gyro_magnitude) const {
|
||||
std::random_device device;
|
||||
std::mt19937 gen(device());
|
||||
std::uniform_int_distribution<s16> distribution(-1000, 1000);
|
||||
const Common::Vec3f gyroscope{
|
||||
static_cast<f32>(distribution(gen)) * 0.001f,
|
||||
static_cast<f32>(distribution(gen)) * 0.001f,
|
||||
static_cast<f32>(distribution(gen)) * 0.001f,
|
||||
};
|
||||
const Common::Vec3f accelerometer{
|
||||
static_cast<f32>(distribution(gen)) * 0.001f,
|
||||
static_cast<f32>(distribution(gen)) * 0.001f,
|
||||
static_cast<f32>(distribution(gen)) * 0.001f,
|
||||
};
|
||||
constexpr Common::Vec3f rotation;
|
||||
constexpr std::array orientation{
|
||||
Common::Vec3f{1.0f, 0.0f, 0.0f},
|
||||
Common::Vec3f{0.0f, 1.0f, 0.0f},
|
||||
Common::Vec3f{0.0f, 0.0f, 1.0f},
|
||||
};
|
||||
constexpr Common::Quaternion<f32> quaternion{
|
||||
{0.0f, 0.0f, 0.0f},
|
||||
1.0f,
|
||||
};
|
||||
return {accelerometer * accel_magnitude, gyroscope * gyro_magnitude, rotation, orientation,
|
||||
quaternion};
|
||||
}
|
||||
|
||||
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 InputCommon
|
||||
|
|
@ -1,74 +0,0 @@
|
|||
// 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"
|
||||
#include "core/frontend/input.h"
|
||||
|
||||
namespace InputCommon {
|
||||
|
||||
class MotionInput {
|
||||
public:
|
||||
explicit MotionInput(f32 new_kp, f32 new_ki, f32 new_kd);
|
||||
|
||||
MotionInput(const MotionInput&) = default;
|
||||
MotionInput& operator=(const MotionInput&) = default;
|
||||
|
||||
MotionInput(MotionInput&&) = default;
|
||||
MotionInput& operator=(MotionInput&&) = default;
|
||||
|
||||
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]] Input::MotionStatus GetMotion() const;
|
||||
[[nodiscard]] Input::MotionStatus GetRandomMotion(int accel_magnitude,
|
||||
int gyro_magnitude) 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 InputCommon
|
||||
Loading…
Reference in a new issue