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WiimoteEmu: Allow Recenter button to adjust the pitch.

This commit is contained in:
Jordan Woyak 2020-01-03 18:08:45 -06:00
parent 72c2be52ed
commit 723115b7b6
4 changed files with 40 additions and 22 deletions
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28
Source/Core/Core/HW/WiimoteEmu/Dynamics.cpp
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@ -66,8 +66,6 @@ Common::Matrix33 ComplementaryFilter(const Common::Vec3& accelerometer,
const auto abs_cos_angle = std::abs(cos_angle); const auto abs_cos_angle = std::abs(cos_angle);
if (abs_cos_angle > 0 && abs_cos_angle < 1) if (abs_cos_angle > 0 && abs_cos_angle < 1)
{ {
INFO_LOG(WIIMOTE, "angle diff: %lf", std::acos(cos_angle) * 360 / MathUtil::TAU);
const auto axis = gyro_vec.Cross(normalized_accel).Normalized(); const auto axis = gyro_vec.Cross(normalized_accel).Normalized();
return Common::Matrix33::Rotate(std::acos(cos_angle) * accel_weight, axis) * gyroscope; return Common::Matrix33::Rotate(std::acos(cos_angle) * accel_weight, axis) * gyroscope;
} }
@ -294,31 +292,41 @@ void ApproachAngleWithAccel(RotationalState* state, const Common::Vec3& angle_ta
} }
} }
void EmulateIMUCursor(Common::Matrix33* state, ControllerEmu::IMUCursor* imu_ir_group, void EmulateIMUCursor(IMUCursorState* state, ControllerEmu::IMUCursor* imu_ir_group,
ControllerEmu::IMUAccelerometer* imu_accelerometer_group, ControllerEmu::IMUAccelerometer* imu_accelerometer_group,
ControllerEmu::IMUGyroscope* imu_gyroscope_group, float time_elapsed) ControllerEmu::IMUGyroscope* imu_gyroscope_group, float time_elapsed)
{ {
auto ang_vel = imu_gyroscope_group->GetState(); auto ang_vel = imu_gyroscope_group->GetState();
// Recenter if we have no gyro data or the "Recenter" button is pressed. // Reset if we have no gyro data.
if (!ang_vel.has_value() || imu_ir_group->controls[0]->control_ref->State() > if (!ang_vel.has_value())
ControllerEmu::Buttons::ACTIVATION_THRESHOLD)
{ {
*state = Common::Matrix33::Identity(); state->recentered_pitch = 0;
state->rotation = Common::Matrix33::Identity();
return; return;
} }
// Apply rotation from gyro data. // Apply rotation from gyro data.
const auto rotation = Common::Matrix33::FromQuaternion(ang_vel->x * time_elapsed / -2, const auto gyro_rotation = Common::Matrix33::FromQuaternion(ang_vel->x * time_elapsed / -2,
ang_vel->y * time_elapsed / -2, ang_vel->y * time_elapsed / -2,
ang_vel->z * time_elapsed / -2, 1); ang_vel->z * time_elapsed / -2, 1);
*state = rotation * *state; state->rotation = gyro_rotation * state->rotation;
const auto yaw = std::asin((state->rotation * Common::Vec3{0, 1, 0}).x);
// Handle the "Recenter" button being pressed.
if (imu_ir_group->controls[0]->control_ref->State() >
ControllerEmu::Buttons::ACTIVATION_THRESHOLD)
{
state->recentered_pitch = -std::asin((state->rotation * Common::Vec3{0, 1, 0}).z);
state->rotation *= Common::Matrix33::RotateZ(yaw);
}
// If we have usable accel data use it to adjust gyro drift. // If we have usable accel data use it to adjust gyro drift.
constexpr float accel_weight = 0.02; constexpr float accel_weight = 0.02;
auto const accel = imu_accelerometer_group->GetState().value_or(Common::Vec3{}); auto const accel = imu_accelerometer_group->GetState().value_or(Common::Vec3{});
if (accel.LengthSquared()) if (accel.LengthSquared())
*state = ComplementaryFilter(accel, *state, accel_weight); state->rotation = ComplementaryFilter(accel, state->rotation, accel_weight);
} }
void ApproachPositionWithJerk(PositionalState* state, const Common::Vec3& position_target, void ApproachPositionWithJerk(PositionalState* state, const Common::Vec3& position_target,

8
Source/Core/Core/HW/WiimoteEmu/Dynamics.h
View File

@ -39,6 +39,12 @@ struct RotationalState
Common::Vec3 angular_velocity; Common::Vec3 angular_velocity;
}; };
struct IMUCursorState
{
Common::Matrix33 rotation;
float recentered_pitch;
};
// Contains both positional and rotational state. // Contains both positional and rotational state.
struct MotionState : PositionalState, RotationalState struct MotionState : PositionalState, RotationalState
{ {
@ -60,7 +66,7 @@ void EmulateShake(PositionalState* state, ControllerEmu::Shake* shake_group, flo
void EmulateTilt(RotationalState* state, ControllerEmu::Tilt* tilt_group, float time_elapsed); void EmulateTilt(RotationalState* state, ControllerEmu::Tilt* tilt_group, float time_elapsed);
void EmulateSwing(MotionState* state, ControllerEmu::Force* swing_group, float time_elapsed); void EmulateSwing(MotionState* state, ControllerEmu::Force* swing_group, float time_elapsed);
void EmulateCursor(MotionState* state, ControllerEmu::Cursor* ir_group, float time_elapsed); void EmulateCursor(MotionState* state, ControllerEmu::Cursor* ir_group, float time_elapsed);
void EmulateIMUCursor(Common::Matrix33* state, ControllerEmu::IMUCursor* imu_ir_group, void EmulateIMUCursor(IMUCursorState* state, ControllerEmu::IMUCursor* imu_ir_group,
ControllerEmu::IMUAccelerometer* imu_accelerometer_group, ControllerEmu::IMUAccelerometer* imu_accelerometer_group,
ControllerEmu::IMUGyroscope* imu_gyroscope_group, float time_elapsed); ControllerEmu::IMUGyroscope* imu_gyroscope_group, float time_elapsed);

16
Source/Core/Core/HW/WiimoteEmu/WiimoteEmu.cpp
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@ -190,7 +190,10 @@ void Wiimote::Reset()
m_tilt_state = {}; m_tilt_state = {};
m_cursor_state = {}; m_cursor_state = {};
m_shake_state = {}; m_shake_state = {};
m_imu_cursor_state = Common::Matrix33::Identity();
// TODO: save state these
m_imu_cursor_state.rotation = Common::Matrix33::Identity();
m_imu_cursor_state.recentered_pitch = 0;
} }
Wiimote::Wiimote(const unsigned int index) : m_index(index) Wiimote::Wiimote(const unsigned int index) : m_index(index)
@ -809,7 +812,7 @@ Common::Vec3 Wiimote::GetAngularVelocity(Common::Vec3 extra_angular_velocity)
m_cursor_state.angular_velocity + extra_angular_velocity); m_cursor_state.angular_velocity + extra_angular_velocity);
} }
Common::Matrix44 Wiimote::GetTransformation(Common::Vec3 extra_rotation) const Common::Matrix44 Wiimote::GetTransformation(const Common::Matrix33& extra_rotation) const
{ {
// Includes positional and rotational effects of: // Includes positional and rotational effects of:
// Point, Swing, Tilt, Shake // Point, Swing, Tilt, Shake
@ -817,8 +820,8 @@ Common::Matrix44 Wiimote::GetTransformation(Common::Vec3 extra_rotation) const
// TODO: Think about and clean up matrix order + make nunchuk match. // TODO: Think about and clean up matrix order + make nunchuk match.
return Common::Matrix44::Translate(-m_shake_state.position) * return Common::Matrix44::Translate(-m_shake_state.position) *
Common::Matrix44::FromMatrix33( Common::Matrix44::FromMatrix33(
m_imu_cursor_state * GetRotationalMatrix(-m_tilt_state.angle - m_swing_state.angle - extra_rotation * GetRotationalMatrix(-m_tilt_state.angle - m_swing_state.angle -
m_cursor_state.angle - extra_rotation)) * m_cursor_state.angle)) *
Common::Matrix44::Translate(-m_swing_state.position - m_cursor_state.position); Common::Matrix44::Translate(-m_swing_state.position - m_cursor_state.position);
} }
@ -837,7 +840,6 @@ Common::Vec3 Wiimote::GetTotalAcceleration()
return GetAcceleration(); return GetAcceleration();
} }
// TODO: Kill this function.
Common::Vec3 Wiimote::GetTotalAngularVelocity() Common::Vec3 Wiimote::GetTotalAngularVelocity()
{ {
auto ang_vel = m_imu_gyroscope->GetState(); auto ang_vel = m_imu_gyroscope->GetState();
@ -847,10 +849,10 @@ Common::Vec3 Wiimote::GetTotalAngularVelocity()
return GetAngularVelocity(); return GetAngularVelocity();
} }
// TODO: Kill this function.
Common::Matrix44 Wiimote::GetTotalTransformation() const Common::Matrix44 Wiimote::GetTotalTransformation() const
{ {
return GetTransformation(); return GetTransformation(Common::Matrix33::RotateX(m_imu_cursor_state.recentered_pitch) *
m_imu_cursor_state.rotation);
} }
} // namespace WiimoteEmu } // namespace WiimoteEmu

6
Source/Core/Core/HW/WiimoteEmu/WiimoteEmu.h
View File

@ -159,7 +159,8 @@ private:
// Returns the transformation of the world around the wiimote. // Returns the transformation of the world around the wiimote.
// Used for simulating camera data and for rotating acceleration data. // Used for simulating camera data and for rotating acceleration data.
// Does not include orientation transformations. // Does not include orientation transformations.
Common::Matrix44 GetTransformation(Common::Vec3 extra_rotation = {}) const; Common::Matrix44
GetTransformation(const Common::Matrix33& extra_rotation = Common::Matrix33::Identity()) const;
// Returns the world rotation from the effects of sideways/upright settings. // Returns the world rotation from the effects of sideways/upright settings.
Common::Matrix33 GetOrientation() const; Common::Matrix33 GetOrientation() const;
@ -300,6 +301,7 @@ private:
RotationalState m_tilt_state; RotationalState m_tilt_state;
MotionState m_cursor_state; MotionState m_cursor_state;
PositionalState m_shake_state; PositionalState m_shake_state;
Common::Matrix33 m_imu_cursor_state;
IMUCursorState m_imu_cursor_state;
}; };
} // namespace WiimoteEmu } // namespace WiimoteEmu