229 lines
6.8 KiB
C
229 lines
6.8 KiB
C
/*
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* wiiuse
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*
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* Written By:
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* Michael Laforest < para >
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* Email: < thepara (--AT--) g m a i l [--DOT--] com >
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*
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* Copyright 2006-2007
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*
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* This file is part of wiiuse.
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* $Header$
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*
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*/
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/**
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* @file
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* @brief Handles the dynamics of the wiimote.
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*
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* The file includes functions that handle the dynamics
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* of the wiimote. Such dynamics include orientation and
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* motion sensing.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <math.h>
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#ifdef WIN32
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#include <float.h>
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#endif
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#include "definitions.h"
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#include "wiiuse_internal.h"
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#include "ir.h"
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#include "dynamics.h"
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/**
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* @brief Calculate the roll, pitch, yaw.
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*
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* @param ac An accelerometer (accel_t) structure.
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* @param accel [in] Pointer to a vec3b_t structure that holds the raw acceleration data.
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* @param orient [out] Pointer to a orient_t structure that will hold the orientation data.
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* @param rorient [out] Pointer to a orient_t structure that will hold the non-smoothed orientation data.
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* @param smooth If smoothing should be performed on the angles calculated. 1 to enable, 0 to disable.
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*
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* Given the raw acceleration data from the accelerometer struct, calculate
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* the orientation of the device and set it in the \a orient parameter.
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*/
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void calculate_orientation(struct accel_t* ac, struct vec3b_t* accel, struct orient_t* orient, int smooth) {
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float xg, yg, zg;
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float x, y, z;
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/*
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* roll - use atan(z / x) [ ranges from -180 to 180 ]
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* pitch - use atan(z / y) [ ranges from -180 to 180 ]
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* yaw - impossible to tell without IR
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*/
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/* yaw - set to 0, IR will take care of it if it's enabled */
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orient->yaw = 0.0f;
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/* find out how much it has to move to be 1g */
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xg = (float)ac->cal_g.x;
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yg = (float)ac->cal_g.y;
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zg = (float)ac->cal_g.z;
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/* find out how much it actually moved and normalize to +/- 1g */
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x = ((float)accel->x - (float)ac->cal_zero.x) / xg;
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y = ((float)accel->y - (float)ac->cal_zero.y) / yg;
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z = ((float)accel->z - (float)ac->cal_zero.z) / zg;
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/* make sure x,y,z are between -1 and 1 for the tan functions */
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if (x < -1.0f) x = -1.0f;
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else if (x > 1.0f) x = 1.0f;
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if (y < -1.0f) y = -1.0f;
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else if (y > 1.0f) y = 1.0f;
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if (z < -1.0f) z = -1.0f;
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else if (z > 1.0f) z = 1.0f;
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/* if it is over 1g then it is probably accelerating and not reliable */
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if (abs(accel->x - ac->cal_zero.x) <= ac->cal_g.x) {
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/* roll */
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x = RAD_TO_DEGREE(atan2f(x, z));
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orient->roll = x;
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orient->a_roll = x;
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}
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if (abs(accel->y - ac->cal_zero.y) <= ac->cal_g.y) {
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/* pitch */
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y = RAD_TO_DEGREE(atan2f(y, z));
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orient->pitch = y;
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orient->a_pitch = y;
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}
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/* smooth the angles if enabled */
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if (smooth) {
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apply_smoothing(ac, orient, SMOOTH_ROLL);
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apply_smoothing(ac, orient, SMOOTH_PITCH);
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}
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}
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/**
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* @brief Calculate the gravity forces on each axis.
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*
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* @param ac An accelerometer (accel_t) structure.
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* @param accel [in] Pointer to a vec3b_t structure that holds the raw acceleration data.
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* @param gforce [out] Pointer to a gforce_t structure that will hold the gravity force data.
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*/
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void calculate_gforce(struct accel_t* ac, struct vec3b_t* accel, struct gforce_t* gforce) {
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float xg, yg, zg;
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/* find out how much it has to move to be 1g */
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xg = (float)ac->cal_g.x;
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yg = (float)ac->cal_g.y;
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zg = (float)ac->cal_g.z;
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/* find out how much it actually moved and normalize to +/- 1g */
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gforce->x = ((float)accel->x - (float)ac->cal_zero.x) / xg;
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gforce->y = ((float)accel->y - (float)ac->cal_zero.y) / yg;
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gforce->z = ((float)accel->z - (float)ac->cal_zero.z) / zg;
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}
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/**
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* @brief Calculate the angle and magnitude of a joystick.
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*
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* @param js [out] Pointer to a joystick_t structure.
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* @param x The raw x-axis value.
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* @param y The raw y-axis value.
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*/
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void calc_joystick_state(struct joystick_t* js, float x, float y) {
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float rx, ry, ang;
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/*
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* Since the joystick center may not be exactly:
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* (min + max) / 2
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* Then the range from the min to the center and the center to the max
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* may be different.
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* Because of this, depending on if the current x or y value is greater
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* or less than the assoicated axis center value, it needs to be interpolated
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* between the center and the minimum or maxmimum rather than between
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* the minimum and maximum.
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*
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* So we have something like this:
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* (x min) [-1] ---------*------ [0] (x center) [0] -------- [1] (x max)
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* Where the * is the current x value.
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* The range is therefore -1 to 1, 0 being the exact center rather than
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* the middle of min and max.
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*/
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if (x == js->center.x)
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rx = 0;
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else if (x >= js->center.x)
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rx = ((float)(x - js->center.x) / (float)(js->max.x - js->center.x));
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else
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rx = ((float)(x - js->min.x) / (float)(js->center.x - js->min.x)) - 1.0f;
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if (y == js->center.y)
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ry = 0;
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else if (y >= js->center.y)
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ry = ((float)(y - js->center.y) / (float)(js->max.y - js->center.y));
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else
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ry = ((float)(y - js->min.y) / (float)(js->center.y - js->min.y)) - 1.0f;
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/* calculate the joystick angle and magnitude */
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ang = RAD_TO_DEGREE(atanf(ry / rx));
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ang -= 90.0f;
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if (rx < 0.0f)
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ang -= 180.0f;
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js->ang = absf(ang);
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js->mag = (float) sqrt((rx * rx) + (ry * ry));
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}
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void apply_smoothing(struct accel_t* ac, struct orient_t* orient, int type) {
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switch (type) {
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case SMOOTH_ROLL:
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{
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/* it's possible last iteration was nan or inf, so set it to 0 if that happened */
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if (isnan(ac->st_roll) || isinf(ac->st_roll))
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ac->st_roll = 0.0f;
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/*
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* If the sign changes (which will happen if going from -180 to 180)
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* or from (-1 to 1) then don't smooth, just use the new angle.
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*/
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if (((ac->st_roll < 0) && (orient->roll > 0)) || ((ac->st_roll > 0) && (orient->roll < 0))) {
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ac->st_roll = orient->roll;
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} else {
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orient->roll = ac->st_roll + (ac->st_alpha * (orient->a_roll - ac->st_roll));
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ac->st_roll = orient->roll;
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}
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return;
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}
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case SMOOTH_PITCH:
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{
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if (isnan(ac->st_pitch) || isinf(ac->st_pitch))
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ac->st_pitch = 0.0f;
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if (((ac->st_pitch < 0) && (orient->pitch > 0)) || ((ac->st_pitch > 0) && (orient->pitch < 0))) {
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ac->st_pitch = orient->pitch;
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} else {
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orient->pitch = ac->st_pitch + (ac->st_alpha * (orient->a_pitch - ac->st_pitch));
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ac->st_pitch = orient->pitch;
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}
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return;
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}
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}
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}
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