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-rw-r--r--src/input_common/motion_input.cpp112
-rw-r--r--src/input_common/motion_input.h6
2 files changed, 106 insertions, 12 deletions
diff --git a/src/input_common/motion_input.cpp b/src/input_common/motion_input.cpp
index 22a849866..d3e736044 100644
--- a/src/input_common/motion_input.cpp
+++ b/src/input_common/motion_input.cpp
@@ -16,8 +16,16 @@ void MotionInput::SetAcceleration(const Common::Vec3f& 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;
}
}
@@ -49,7 +57,7 @@ bool MotionInput::IsCalibrated(f32 sensitivity) const {
return real_error.Length() < sensitivity;
}
-void MotionInput::UpdateRotation(u64 elapsed_time) {
+void MotionInput::UpdateRotation(const u64 elapsed_time) {
const f32 sample_period = elapsed_time / 1000000.0f;
if (sample_period > 0.1f) {
return;
@@ -57,7 +65,7 @@ void MotionInput::UpdateRotation(u64 elapsed_time) {
rotations += gyro * sample_period;
}
-void MotionInput::UpdateOrientation(u64 elapsed_time) {
+void MotionInput::UpdateOrientation(const u64 elapsed_time) {
if (!IsCalibrated(0.1f)) {
ResetOrientation();
}
@@ -68,7 +76,7 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
f32 q4 = quat.xyz[2];
const f32 sample_period = elapsed_time / 1000000.0f;
- // ignore invalid elapsed time
+ // Ignore invalid elapsed time
if (sample_period > 0.1f) {
return;
}
@@ -80,6 +88,13 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
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;
@@ -92,8 +107,11 @@ 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 = {az * vx - ax * vz, ay * vz - az * vy,
- ax * vy - ay * vx};
+ 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;
@@ -106,9 +124,22 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
}
// Apply feedback terms
- rad_gyro += kp * real_error;
- rad_gyro += ki * integral_error;
- rad_gyro += kd * derivative_error;
+ if (!only_accelerometer) {
+ rad_gyro += kp * real_error;
+ rad_gyro += ki * integral_error;
+ rad_gyro += kd * derivative_error;
+ } else {
+ // Give more weight to acelerometer 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;
@@ -143,6 +174,67 @@ std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const {
Common::Vec3f(-matrix4x4[8], -matrix4x4[9], matrix4x4[10])};
}
+void MotionInput::SetOrientationFromAccelerometer() {
+ int iterations = 0;
+ const f32 sample_period = 0.015f;
+
+ const auto normal_accel = accel.Normalized();
+ const f32 ax = -normal_accel.x;
+ const f32 ay = normal_accel.y;
+ const f32 az = -normal_accel.z;
+
+ 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();
+ }
+}
+
Common::Vec3f MotionInput::GetAcceleration() const {
return accel;
}
@@ -160,17 +252,17 @@ Common::Vec3f MotionInput::GetRotations() const {
}
void MotionInput::ResetOrientation() {
- if (!reset_enabled) {
+ if (!reset_enabled || only_accelerometer) {
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;
+ SetOrientationFromAccelerometer();
integral_error = {};
reset_counter = 0;
}
diff --git a/src/input_common/motion_input.h b/src/input_common/motion_input.h
index 54b4439d9..f6c1fece7 100644
--- a/src/input_common/motion_input.h
+++ b/src/input_common/motion_input.h
@@ -29,8 +29,8 @@ public:
void EnableReset(bool reset);
void ResetRotations();
- void UpdateRotation(u64 elapsed_time);
- void UpdateOrientation(u64 elapsed_time);
+ void UpdateRotation(const u64 elapsed_time);
+ void UpdateOrientation(const u64 elapsed_time);
std::array<Common::Vec3f, 3> GetOrientation() const;
Common::Vec3f GetAcceleration() const;
@@ -43,6 +43,7 @@ public:
private:
void ResetOrientation();
+ void SetOrientationFromAccelerometer();
// PID constants
const f32 kp;
@@ -63,6 +64,7 @@ private:
f32 gyro_threshold = 0.0f;
u32 reset_counter = 0;
bool reset_enabled = true;
+ bool only_accelerometer = true;
};
} // namespace InputCommon
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-14 05:59:15 +0100