From 2d207ec609d1280bbfcdb822cceb8adc42afac3a Mon Sep 17 00:00:00 2001
From: german <german@thesoftwareartisans.com>
Date: Sun, 23 Aug 2020 19:26:47 -0500
Subject: [PATCH] Implement a basic class for motion devices
---
src/common/quaternion.h | 30 +++++
src/input_common/CMakeLists.txt | 2 +
src/input_common/motion_input.cpp | 185 ++++++++++++++++++++++++++++++
src/input_common/motion_input.h | 62 ++++++++++
4 files changed, 279 insertions(+)
create mode 100644 src/input_common/motion_input.cpp
create mode 100644 src/input_common/motion_input.h
diff --git a/src/common/quaternion.h b/src/common/quaternion.h
index da44f35cdc..4d0871eb46 100644
--- a/src/common/quaternion.h
+++ b/src/common/quaternion.h
@@ -36,6 +36,36 @@ public:
T length = std::sqrt(xyz.Length2() + w * w);
return {xyz / length, w / length};
}
+
+ [[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];
+
+ return {1.0f - 2.0f * (y2 + z2),
+ 2.0f * (xy + wz),
+ 2.0f * (xz - wy),
+ 0.0f,
+ 2.0f * (xy - wz),
+ 1.0f - 2.0f * (x2 + z2),
+ 2.0f * (yz + wx),
+ 0.0f,
+ 2.0f * (xz + wy),
+ 2.0f * (yz - wx),
+ 1.0f - 2.0f * (x2 + y2),
+ 0.0f,
+ 0.0f,
+ 0.0f,
+ 0.0f,
+ 1.0f};
+ }
};
template <typename T>
diff --git a/src/input_common/CMakeLists.txt b/src/input_common/CMakeLists.txt
index 56267c8a81..c673b83890 100644
--- a/src/input_common/CMakeLists.txt
+++ b/src/input_common/CMakeLists.txt
@@ -7,6 +7,8 @@ add_library(input_common STATIC
main.h
motion_emu.cpp
motion_emu.h
+ motion_input.cpp
+ motion_input.h
settings.cpp
settings.h
gcadapter/gc_adapter.cpp
diff --git a/src/input_common/motion_input.cpp b/src/input_common/motion_input.cpp
new file mode 100644
index 0000000000..e3aec04e19
--- /dev/null
+++ b/src/input_common/motion_input.cpp
@@ -0,0 +1,185 @@
+#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) {
+ accel = {};
+ gyro = {};
+ gyro_drift = {};
+ gyro_threshold = 0;
+ rotations = {};
+
+ quat.w = 0;
+ quat.xyz[0] = 0;
+ quat.xyz[1] = 0;
+ quat.xyz[2] = -1;
+
+ real_error = {};
+ integral_error = {};
+ derivative_error = {};
+
+ reset_counter = 0;
+ reset_enabled = true;
+}
+
+void MotionInput::SetAcceleration(Common::Vec3f acceleration) {
+ accel = acceleration;
+}
+
+void MotionInput::SetGyroscope(Common::Vec3f gyroscope) {
+ gyro = gyroscope - gyro_drift;
+ if (gyro.Length2() < gyro_threshold) {
+ gyro = {};
+ }
+}
+
+void MotionInput::SetQuaternion(Common::Quaternion<f32> quaternion) {
+ quat = quaternion;
+}
+
+void MotionInput::SetGyroDrift(Common::Vec3f drift) {
+ drift = gyro_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) {
+ return gyro.Length2() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f;
+}
+
+bool MotionInput::IsCalibrated(f32 sensitivity) {
+ return real_error.Length() > sensitivity;
+}
+
+void MotionInput::UpdateRotation(u64 elapsed_time) {
+ rotations += gyro * elapsed_time;
+}
+
+void MotionInput::UpdateOrientation(u64 elapsed_time) {
+ // Short name local variable for readability
+ f32 q1 = quat.w, q2 = quat.xyz[0], q3 = quat.xyz[1], q4 = quat.xyz[2];
+ f32 sample_period = elapsed_time / 1000000.0f;
+
+ auto normal_accel = accel.Normalized();
+ auto rad_gyro = gyro * 3.1415926535f;
+ rad_gyro.z = -rad_gyro.z;
+
+ // Ignore drift correction if acceleration is not present
+ if (normal_accel.Length() == 1.0f) {
+ f32 ax = -normal_accel.x;
+ f32 ay = normal_accel.y;
+ f32 az = -normal_accel.z;
+ f32 vx, vy, vz;
+ Common::Vec3f new_real_error;
+
+ // Estimated direction of gravity
+ vx = 2.0f * (q2 * q4 - q1 * q3);
+ vy = 2.0f * (q1 * q2 + q3 * q4);
+ vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
+
+ // Error is cross product between estimated direction and measured direction of gravity
+ new_real_error.x = ay * vz - az * vy;
+ new_real_error.y = az * vx - ax * vz;
+ new_real_error.x = ax * vy - ay * vx;
+
+ derivative_error = new_real_error - real_error;
+ real_error = new_real_error;
+
+ // Prevent integral windup
+ if (ki != 0.0f) {
+ integral_error += real_error;
+ } else {
+ integral_error = {};
+ }
+
+ // Apply feedback terms
+ rad_gyro += kp * real_error;
+ rad_gyro += ki * integral_error;
+ rad_gyro += kd * derivative_error;
+ }
+
+ f32 gx = rad_gyro.y;
+ f32 gy = rad_gyro.x;
+ f32 gz = rad_gyro.z;
+
+ // Integrate rate of change of quaternion
+ f32 pa, pb, pc;
+ pa = q2;
+ pb = q3;
+ 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() {
+ std::array<Common::Vec3f, 3> orientation = {};
+ Common::Quaternion<float> quad;
+
+ quad.w = -quat.xyz[2];
+ quad.xyz[0] = -quat.xyz[1];
+ quad.xyz[1] = -quat.xyz[0];
+ quad.xyz[2] = -quat.w;
+
+ std::array<float, 16> matrix4x4 = quad.ToMatrix();
+
+ orientation[0] = Common::Vec3f(matrix4x4[0], matrix4x4[1], matrix4x4[2]);
+ orientation[1] = Common::Vec3f(matrix4x4[4], matrix4x4[5], matrix4x4[6]);
+ orientation[2] = Common::Vec3f(matrix4x4[8], matrix4x4[9], matrix4x4[10]);
+
+ return orientation;
+}
+
+Common::Vec3f MotionInput::GetAcceleration() {
+ return accel;
+}
+
+Common::Vec3f MotionInput::GetGyroscope() {
+ return gyro;
+}
+
+Common::Quaternion<f32> MotionInput::GetQuaternion() {
+ return quat;
+}
+
+Common::Vec3f MotionInput::GetRotations() {
+ return rotations;
+}
+
+void MotionInput::resetOrientation() {
+ if (!reset_enabled) {
+ return;
+ }
+ if (!IsMoving(0.5f) && accel.z <= -0.9f) {
+ ++reset_counter;
+ if (reset_counter > 900) {
+ // TODO: calculate quaternion from gravity vector
+ quat.w = 0;
+ quat.xyz[0] = 0;
+ quat.xyz[1] = 0;
+ quat.xyz[2] = -1;
+ integral_error = {};
+ reset_counter = 0;
+ }
+ } else {
+ reset_counter = 0;
+ }
+}
+} // namespace InputCommon
\ No newline at end of file
diff --git a/src/input_common/motion_input.h b/src/input_common/motion_input.h
new file mode 100644
index 0000000000..4b8093d8c5
--- /dev/null
+++ b/src/input_common/motion_input.h
@@ -0,0 +1,62 @@
+// Copyright 2014 Dolphin Emulator Project
+// Licensed under GPLv2+
+// Refer to the license.txt file included.
+
+#pragma once
+
+#include "common/common_types.h"
+#include "common/quaternion.h"
+#include "common/vector_math.h"
+
+namespace InputCommon {
+
+class MotionInput {
+public:
+ MotionInput(f32 new_kp, f32 new_ki, f32 new_kd);
+
+ void SetAcceleration(Common::Vec3f acceleration);
+ void SetGyroscope(Common::Vec3f acceleration);
+ void SetQuaternion(Common::Quaternion<f32> quaternion);
+ void SetGyroDrift(Common::Vec3f drift);
+ void SetGyroThreshold(f32 threshold);
+
+ void EnableReset(bool reset);
+ void ResetRotations();
+
+ void UpdateRotation(u64 elapsed_time);
+ void UpdateOrientation(u64 elapsed_time);
+
+ std::array<Common::Vec3f, 3> GetOrientation();
+ Common::Vec3f GetAcceleration();
+ Common::Vec3f GetGyroscope();
+ Common::Vec3f GetRotations();
+ Common::Quaternion<f32> GetQuaternion();
+
+ bool IsMoving(f32 sensitivity);
+ bool IsCalibrated(f32 sensitivity);
+
+ // PID constants
+ const f32 kp;
+ const f32 ki;
+ const f32 kd;
+
+private:
+ void resetOrientation();
+
+ // PID errors
+ Common::Vec3f real_error;
+ Common::Vec3f integral_error;
+ Common::Vec3f derivative_error;
+
+ Common::Quaternion<f32> quat;
+ Common::Vec3f rotations;
+ Common::Vec3f accel;
+ Common::Vec3f gyro;
+ Common::Vec3f gyro_drift;
+
+ f32 gyro_threshold;
+ f32 reset_counter;
+ bool reset_enabled;
+};
+
+} // namespace InputCommon