9/10-bit accelerometer data interleaved with buttons
some useless IR pointer math... It still doesn't make rotation work a sign fix when tilting along y axis (twisting the wiimote) git-svn-id: https://dolphin-emu.googlecode.com/svn/trunk@6121 8ced0084-cf51-0410-be5f-012b33b47a6e
This commit is contained in:
dapetcu21
parent
cf5088c37e
commit
b7ecd01686
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@ -68,8 +68,8 @@ THREAD_RETURN UDPWiiThread(void* arg)
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UDPWiimote::UDPWiimote(const char *_port, const char * name, int _index) :
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port(_port), displayName(name),
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d(new _d) ,x(0),y(0),z(0),naX(0),naY(0),naZ(0),nunX(0),nunY(0),
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pointerX(-0.1),pointerY(-0.1),nunMask(0),mask(0),index(_index), int_port(atoi(_port))
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d(new _d) ,x(0),y(0),z(1.0f),naX(0),naY(0),naZ(-1.0f),nunX(0),nunY(0),
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pointerX(1001.0f/2),pointerY(0),nunMask(0),mask(0),index(_index), int_port(atoi(_port))
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{
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static bool sranded=false;
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@ -541,6 +541,10 @@
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RelativePath=".\Src\WiimoteEmu\Encryption.h"
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>
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</File>
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<File
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RelativePath=".\Src\WiimoteEmu\MatrixMath.h"
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>
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</File>
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<File
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RelativePath=".\Src\WiimoteEmu\Speaker.cpp"
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>
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@ -66,14 +66,16 @@ void Nunchuk::GetState(u8* const data, const bool focus)
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// stick / not using calibration data for stick, o well
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m_stick->GetState(&ncdata->jx, &ncdata->jy, 0x80, focus ? 127 : 0);
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AccelData accel;
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// tilt
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EmulateTilt((wm_accel*)&ncdata->ax, m_tilt, (accel_cal*)®[0x20], focus);
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EmulateTilt(&accel, m_tilt, focus);
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if (focus)
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{
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// swing
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EmulateSwing((wm_accel*)&ncdata->ax, m_swing, (accel_cal*)®[0x20]);
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EmulateSwing(&accel, m_swing);
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// shake
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EmulateShake(&ncdata->ax, m_shake, m_shake_step);
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// buttons
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@ -105,16 +107,20 @@ void Nunchuk::GetState(u8* const data, const bool focus)
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}
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if (m_udpWrap->updNunAccel)
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{
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const accel_cal * const calib = (accel_cal*)®[0x20];
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wm_accel * const accel = (wm_accel*)&ncdata->ax;
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float x,y,z;
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m_udpWrap->inst->getNunchuckAccel(x,y,z);
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accel->x=u8(x*(calib->one_g.x-calib->zero_g.x)+calib->zero_g.x);
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accel->y=u8(y*(calib->one_g.y-calib->zero_g.y)+calib->zero_g.y);
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accel->z=u8(z*(calib->one_g.z-calib->zero_g.z)+calib->zero_g.z);
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accel.x=x;
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accel.y=y;
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accel.z=z;
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}
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}
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//End UDPNunchuck
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wm_accel* dt = (wm_accel*)&ncdata->ax;
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accel_cal* calib = (accel_cal*)®[0x20];
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dt->x=u8(accel.x*(calib->one_g.x-calib->zero_g.x)+calib->zero_g.x);
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dt->y=u8(accel.y*(calib->one_g.y-calib->zero_g.y)+calib->zero_g.y);
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dt->z=u8(accel.z*(calib->one_g.z-calib->zero_g.z)+calib->zero_g.z);
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}
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@ -0,0 +1,84 @@
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#ifndef MATRIXMATH_H
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#define MATRIXMATH_H
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#include <math.h>
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typedef double Matrix[4][4];
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typedef struct
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{
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double x,y,z;
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} Vertex;
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inline void MatrixIdentity(Matrix & m)
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{
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m[0][0]=1; m[0][1]=0; m[0][2]=0; m[0][3]=0;
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m[1][0]=0; m[1][1]=1; m[1][2]=0; m[1][3]=0;
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m[2][0]=0; m[2][1]=0; m[2][2]=1; m[2][3]=0;
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m[3][0]=0; m[3][1]=0; m[3][2]=0; m[3][3]=1;
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}
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inline void MatrixFrustum(Matrix &m, double l, double r, double b, double t, double n, double f)
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{
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m[0][0]=2*n/(r-l); m[0][1]=0; m[0][2]=0; m[0][3]=0;
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m[1][0]=0; m[1][1]=2*n/(t-b); m[1][2]=0; m[1][3]=0;
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m[2][0]=(r+l)/(r-l); m[2][1]=(t+b)/(t-b); m[2][2]=(f+n)/(f-n); m[2][3]=-1;
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m[3][0]=0; m[3][1]=0; m[3][2]=2*f*n/(f-n); m[3][3]=0;
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}
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inline void MatrixPerspective(Matrix & m, double fovy, double aspect, double nplane, double fplane)
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{
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double xmin,xmax,ymin,ymax;
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ymax = nplane * tan(fovy * M_PI / 360.0);
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ymin = -ymax;
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xmin = ymin * aspect;
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xmax = ymax * aspect;
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MatrixFrustum(m,xmin,xmax,ymin,ymax,nplane,fplane);
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}
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inline void MatrixRotationByZ(Matrix &m, double sin, double cos)
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{
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m[0][0]=cos; m[0][1]=-sin; m[0][2]=0; m[0][3]=0;
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m[1][0]=sin; m[1][1]=cos; m[1][2]=0; m[1][3]=0;
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m[2][0]=0; m[2][1]=0; m[2][2]=1; m[2][3]=0;
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m[3][0]=0; m[3][1]=0; m[3][2]=0; m[3][3]=1;
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}
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inline void MatrixScale(Matrix &m, double xfact, double yfact, double zfact)
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{
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m[0][0]=xfact; m[0][1]=0; m[0][2]=0; m[0][3]=0;
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m[1][0]=0; m[1][1]=yfact; m[1][2]=0; m[1][3]=0;
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m[2][0]=0; m[2][1]=0; m[2][2]=zfact; m[2][3]=0;
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m[3][0]=0; m[3][1]=0; m[3][2]=0; m[3][3]=1;
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}
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inline void MatrixMultiply(Matrix &r, const Matrix &a, const Matrix &b)
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{
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for (int i=0; i<16; i++)
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r[i>>2][i&3]=0.0f;
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for (int i=0; i<4; i++)
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for (int j=0; j<4; j++)
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for (int k=0; k<4; k++)
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r[i][j]+=a[i][k]*b[k][j];
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}
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inline void MatrixTransformVertex(Matrix const & m, Vertex & v)
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{
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Vertex ov;
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double w;
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ov.x=v.x;
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ov.y=v.y;
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ov.z=v.z;
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v.x = m[0][0] * ov.x + m[0][1] * ov.y + m[0][2] * ov.z + m[0][3];
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v.y = m[1][0] * ov.x + m[1][1] * ov.y + m[1][2] * ov.z + m[1][3];
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v.z = m[2][0] * ov.x + m[2][1] * ov.y + m[2][2] * ov.z + m[2][3];
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w = m[3][0] * ov.x + m[3][1] * ov.y + m[3][2] * ov.z + m[3][3];
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if (w!=0)
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{
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v.x/=w;
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v.y/=w;
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v.z/=w;
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}
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}
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#endif
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@ -28,22 +28,22 @@ namespace UDPTLayer
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*butt|=(mask&UDPWM_BR)?Wiimote::PAD_RIGHT:0;
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}
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void GetAcceleration(UDPWrapper * m , wm_accel * data, accel_cal * calib)
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void GetAcceleration(UDPWrapper * m , WiimoteEmu::AccelData * const data)
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{
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if (!(m->inst)) return;
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if (!(m->updAccel)) return;
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float x,y,z;
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m->inst->getAccel(x,y,z);
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data->x=u8(x*(calib->one_g.x-calib->zero_g.x)+calib->zero_g.x);
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data->y=u8(y*(calib->one_g.y-calib->zero_g.y)+calib->zero_g.y);
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data->z=u8(z*(calib->one_g.z-calib->zero_g.z)+calib->zero_g.z);
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data->x=x;
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data->y=y;
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data->z=z;
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}
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void GetIR( UDPWrapper * m, float * x, float * y, float * z)
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{
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if (!(m->inst)) return;
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if (!(m->updIR)) return;
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if ((*x>-1)&&(*x<1)&&(*y>-1)&&(*y<1)) return; //the recieved values are used ONLY when the normal pointer is offscreen
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if ((*x>=-0.999)&&(*x<=0.999)&&(*y>=-0.999)&&(*y<=0.999)) return; //the recieved values are used ONLY when the normal pointer is offscreen
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float _x,_y;
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m->inst->getIR(_x,_y);
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*x=_x*2-1;
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@ -14,6 +14,10 @@
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#include "UDPTLayer.h"
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inline double round(double x) { return (x-floor(x))>0.5 ? ceil(x) : floor(x); } //because damn MSVSC doesen't comply to C99
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#include "MatrixMath.h"
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namespace WiimoteEmu
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{
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@ -38,8 +42,6 @@ static const u8 eeprom_data_16D0[] = {
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0x77, 0x88, 0x00, 0x00, 0x2B, 0x01, 0xE8, 0x13
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};
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#define SWING_INTENSITY 0x40
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const ReportFeatures reporting_mode_features[] =
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{
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//0x30: Core Buttons
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@ -58,6 +60,11 @@ const ReportFeatures reporting_mode_features[] =
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{ 2, 0, 4, 14, 23 },
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//0x37: Core Buttons and Accelerometer with 10 IR bytes and 6 Extension Bytes
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{ 2, 4, 7, 17, 23 },
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//0x3d: 21 Extension Bytes
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{ 0, 0, 0, 2, 23 },
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//0x3e / 0x3f: Interleaved Core Buttons and Accelerometer with 36 IR bytes
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// UNSUPPORTED
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{ 0, 0, 0, 0, 23 },
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};
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void EmulateShake( u8* const accel
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@ -79,21 +86,13 @@ void EmulateShake( u8* const accel
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shake_step[i] = 0;
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}
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void EmulateTilt(wm_accel* const accel
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void EmulateTilt(AccelData* const accel
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, ControllerEmu::Tilt* const tilt_group
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, const accel_cal* const cal
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, const bool focus, const bool sideways, const bool upright)
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{
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float roll, pitch;
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tilt_group->GetState( &roll, &pitch, 0, focus ? (PI / 2) : 0 ); // 90 degrees
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// this isn't doing anything with those low bits in the calib data, o well
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const u8* const zero_g = &cal->zero_g.x;
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s8 one_g[3];
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for ( unsigned int i=0; i<3; ++i )
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one_g[i] = (&cal->one_g.x)[i] - zero_g[i];
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unsigned int ud = 0, lr = 0, fb = 0;
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// some notes that no one will understand but me :p
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@ -107,20 +106,22 @@ void EmulateTilt(wm_accel* const accel
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lr = sideways;
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fb = upright ? 2 : (sideways ? 0 : 1);
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if (sideways && !upright)
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one_g[fb] *= -1;
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if (!sideways && upright)
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one_g[ud] *= -1;
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int sgn[3]={-1,1,1}; //sign fix
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(&accel->x)[ud] = u8(sin((PI / 2) -
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std::max(fabsf(roll), fabsf(pitch))) * one_g[ud] + zero_g[ud]);
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(&accel->x)[lr] = u8(sin(roll) * -one_g[lr] + zero_g[lr]);
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(&accel->x)[fb] = u8(sin(pitch) * one_g[fb] + zero_g[fb]);
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if (sideways && !upright)
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sgn[fb] *= -1;
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if (!sideways && upright)
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sgn[ud] *= -1;
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(&accel->x)[ud] = (sin((PI / 2) - std::max(fabsf(roll), fabsf(pitch))))*sgn[ud];
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(&accel->x)[lr] = -sin(roll)*sgn[lr];
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(&accel->x)[fb] = sin(pitch)*sgn[fb];
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}
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void EmulateSwing(wm_accel* const accel
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#define SWING_INTENSITY 2.5f//-uncalibrated(aprox) 0x40-calibrated
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void EmulateSwing(AccelData* const accel
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, ControllerEmu::Force* const swing_group
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, const accel_cal* const cal
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, const bool sideways, const bool upright)
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{
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float swing[3];
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@ -383,27 +384,41 @@ void Wiimote::GetCoreData(u8* const data)
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*(wm_core*)data |= m_status.buttons;
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}
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void Wiimote::GetAccelData(u8* const data)
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void Wiimote::GetAccelData(u8* const data, u8* const buttons)
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{
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const bool has_focus = HAS_FOCUS;
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const bool is_sideways = m_options->settings[1]->value != 0;
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const bool is_upright = m_options->settings[2]->value != 0;
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// ----TILT----
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EmulateTilt((wm_accel*)data, m_tilt, (accel_cal*)&m_eeprom[0x16], has_focus, is_sideways, is_upright);
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EmulateTilt(&m_accel, m_tilt, has_focus, is_sideways, is_upright);
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// ----SWING----
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// ----SHAKE----
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if (has_focus)
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{
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EmulateSwing((wm_accel*)data, m_swing, (accel_cal*)&m_eeprom[0x16], is_sideways, is_upright);
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EmulateSwing(&m_accel, m_swing, is_sideways, is_upright);
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EmulateShake(data, m_shake, m_shake_step);
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// UDP Wiimote
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UDPTLayer::GetAcceleration(m_udp, (wm_accel*)data, (accel_cal*)&m_eeprom[0x16]);
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UDPTLayer::GetAcceleration(m_udp, &m_accel);
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}
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wm_accel* dt = (wm_accel*)data;
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accel_cal* calib = (accel_cal*)&m_eeprom[0x16];
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double cx,cy,cz;
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cx=m_accel.x*(calib->one_g.x-calib->zero_g.x)+calib->zero_g.x;
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cy=m_accel.y*(calib->one_g.y-calib->zero_g.y)+calib->zero_g.y;
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cz=m_accel.z*(calib->one_g.z-calib->zero_g.z)+calib->zero_g.z;
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dt->x=u8(cx);
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dt->y=u8(cy);
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dt->z=u8(cz);
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if (buttons)
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{
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buttons[0]|=(u8(cx*4)&3)<<5;
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buttons[1]|=((u8(cy*4)&1)<<5)|((u8(cz*4)&1)<<6);
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}
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}
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void Wiimote::GetIRData(u8* const data)
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void Wiimote::GetIRData(u8* const data, bool use_accel)
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{
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const bool has_focus = HAS_FOCUS;
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@ -413,40 +428,82 @@ void Wiimote::GetIRData(u8* const data)
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if (has_focus)
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{
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float xx = 10000, yy = 0, zz = 0;
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float tx, ty;
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double sin,cos;
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if (use_accel)
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{
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double ax,az,len;
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ax=m_accel.x;
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az=m_accel.z;
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len=sqrt(ax*ax+az*az);
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if (len)
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{
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ax/=len;
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az/=len; //normalizing the vector
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sin=-ax;
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cos=az;
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} else
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{
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sin=0;
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cos=1;
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}
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// PanicAlert("%d %d %d\nx:%f\nz:%f\nsin:%f\ncos:%f",accel->x,accel->y,accel->z,ax,az,sin,cos);
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//PanicAlert("%d %d %d\n%d %d %d\n%d %d %d",accel->x,accel->y,accel->z,calib->zero_g.x,calib->zero_g.y,calib->zero_g.z,
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// calib->one_g.x,calib->one_g.y,calib->one_g.z);
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} else
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{
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sin=0; //m_tilt stuff here (can't figure it out yet....)
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cos=1;
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}
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m_ir->GetState(&xx, &yy, &zz, true);
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UDPTLayer::GetIR(m_udp, &xx, &yy, &zz);
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m_tilt->GetState(&tx, &ty, 0, PI/2, false);
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// disabled cause my math still fails
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const float rsin = 0;//sin(tx);
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const float rcos = 1;//cos(tx);
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Vertex v[4];
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static const int camWidth=1024;
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static const int camHeight=768;
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static const double bndup=-0.315447;
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static const double bnddown=0.85;
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static const double bndleft=0.443364;
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static const double bndright=-0.443364;
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static const double dist1=250.0f/camWidth; //this seems the optimal distance for zelda
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static const double dist2=1.2f*dist1;
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for (int i=0; i<4; i++)
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{
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const float xxx = (xx * -256 * 0.95f);
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const float yyy = (yy * -256 * 0.90f);
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xx = 512 + xxx * rcos + (144 + yyy) * rsin;
|
||||
yy = 384 + (108 + yyy) * rcos - xxx * rsin;
|
||||
v[i].x=xx*(bndright-bndleft)/2+(bndleft+bndright)/2;
|
||||
v[i].y=yy*(bndup-bnddown)/2+(bndup+bnddown)/2;
|
||||
v[i].z=0;
|
||||
}
|
||||
|
||||
// dot distance of 25 is too little
|
||||
const unsigned int distance = (unsigned int)(150 + 100 * zz);
|
||||
v[0].x-=(zz*0.5+1)*dist1;
|
||||
v[1].x+=(zz*0.5+1)*dist1;
|
||||
v[2].x-=(zz*0.5+1)*dist2;
|
||||
v[3].x+=(zz*0.5+1)*dist2;
|
||||
|
||||
x[0] = (unsigned int)(xx - distance * rcos);
|
||||
x[1] = (unsigned int)(xx + distance * rcos);
|
||||
x[2] = (unsigned int)(xx - 1.2f * distance * rcos);
|
||||
x[3] = (unsigned int)(xx + 1.2f * distance * rcos);
|
||||
|
||||
y[0] = (unsigned int)(yy - 0.75 * distance * rsin);
|
||||
y[1] = (unsigned int)(yy + 0.75 * distance * rsin);
|
||||
y[2] = (unsigned int)(yy - 0.75 * 1.2f * distance * rsin);
|
||||
y[3] = (unsigned int)(yy + 0.75 * 1.2f * distance * rsin);
|
||||
#define printmatrix(m) PanicAlert("%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n",m[0][0],m[0][1],m[0][2],m[0][3],m[1][0],m[1][1],m[1][2],m[1][3],m[2][0],m[2][1],m[2][2],m[2][3],m[3][0],m[3][1],m[3][2],m[3][3])
|
||||
Matrix rot,tot;
|
||||
static Matrix scale;
|
||||
static bool isscale=false;
|
||||
if (!isscale)
|
||||
MatrixScale(scale,1,camWidth/camHeight,1);
|
||||
//MatrixRotationByZ(rot,sin,cos);
|
||||
MatrixIdentity(rot);
|
||||
MatrixMultiply(tot,scale,rot);
|
||||
|
||||
for (int i=0; i<4; i++)
|
||||
{
|
||||
MatrixTransformVertex(tot,v[i]);
|
||||
if ((v[i].x<-1)||(v[i].x>1)||(v[i].y<-1)||(v[i].y>1))
|
||||
continue;
|
||||
x[i]=(u16)round((v[i].x+1)/2*(camWidth-1));
|
||||
y[i]=(u16)round((v[i].y+1)/2*(camHeight-1));
|
||||
}
|
||||
// PanicAlert("%f %f\n%f %f\n%f %f\n%f %f\n%d %d\n%d %d\n%d %d\n%d %d",
|
||||
// v[0].x,v[0].y,v[1].x,v[1].y,v[2].x,v[2].y,v[3].x,v[3].y,
|
||||
// x[0],y[0],x[1],y[1],x[2],y[2],x[3],y[38]);
|
||||
}
|
||||
|
||||
// Fill report with valid data when full handshake was done
|
||||
if (m_reg_ir->data[0x30])
|
||||
// ir mode
|
||||
|
|
@ -498,6 +555,7 @@ void Wiimote::GetIRData(u8* const data)
|
|||
break;
|
||||
// full
|
||||
case 5 :
|
||||
PanicAlert("Full IR report");
|
||||
// UNSUPPORTED
|
||||
break;
|
||||
}
|
||||
|
|
@ -570,11 +628,11 @@ void Wiimote::Update()
|
|||
|
||||
// acceleration
|
||||
if (rptf.accel)
|
||||
GetAccelData(data + rptf.accel);
|
||||
GetAccelData(data + rptf.accel, rptf.core?(data+rptf.core):NULL);
|
||||
|
||||
// IR
|
||||
if (rptf.ir)
|
||||
GetIRData(data + rptf.ir);
|
||||
GetIRData(data + rptf.ir, (rptf.accel!=NULL));
|
||||
|
||||
// extension
|
||||
if (rptf.ext)
|
||||
|
|
|
|||
|
|
@ -37,20 +37,23 @@ struct ReportFeatures
|
|||
u8 core, accel, ir, ext, size;
|
||||
};
|
||||
|
||||
struct AccelData
|
||||
{
|
||||
double x,y,z;
|
||||
};
|
||||
|
||||
extern const ReportFeatures reporting_mode_features[];
|
||||
|
||||
void EmulateShake(u8* const accel_data
|
||||
, ControllerEmu::Buttons* const buttons_group
|
||||
, unsigned int* const shake_step);
|
||||
|
||||
void EmulateTilt(wm_accel* const accel
|
||||
void EmulateTilt(AccelData* const accel
|
||||
, ControllerEmu::Tilt* const tilt_group
|
||||
, const accel_cal* const cal
|
||||
, const bool focus, const bool sideways = false, const bool upright = false);
|
||||
|
||||
void EmulateSwing(wm_accel* const accel
|
||||
void EmulateSwing(AccelData* const accel
|
||||
, ControllerEmu::Force* const tilt_group
|
||||
, const accel_cal* const cal
|
||||
, const bool sideways = false, const bool upright = false);
|
||||
|
||||
class Wiimote : public ControllerEmu
|
||||
|
|
@ -90,8 +93,8 @@ protected:
|
|||
void HandleExtensionSwap();
|
||||
|
||||
void GetCoreData(u8* const data);
|
||||
void GetAccelData(u8* const data);
|
||||
void GetIRData(u8* const data);
|
||||
void GetAccelData(u8* const data, u8* const buttons);
|
||||
void GetIRData(u8* const data, bool use_accel);
|
||||
void GetExtData(u8* const data);
|
||||
|
||||
bool HaveExtension() const { return m_extension->active_extension > 0; }
|
||||
|
|
@ -128,6 +131,8 @@ private:
|
|||
ControlGroup* m_rumble;
|
||||
Extension* m_extension;
|
||||
ControlGroup* m_options;
|
||||
// WiiMote accel data
|
||||
AccelData m_accel;
|
||||
|
||||
//UDPWiimote
|
||||
UDPWrapper* m_udp;
|
||||
|
|
|
|||
Loading…
Reference in New Issue