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using Ryujinx.Input.Motion;
using System;
using System.Numerics;
namespace Ryujinx.Input
{
public class MotionInput
{
public ulong TimeStamp { get; set; }
public Vector3 Accelerometer { get; set; }
public Vector3 Gyroscrope { get; set; }
public Vector3 Rotation { get; set; }
private readonly MotionSensorFilter _filter;
private int _calibrationFrame = 0;
public MotionInput()
{
TimeStamp = 0;
Accelerometer = new Vector3();
Gyroscrope = new Vector3();
Rotation = new Vector3();
// TODO: RE the correct filter.
_filter = new MotionSensorFilter(0f);
}
public void Update(Vector3 accel, Vector3 gyro, ulong timestamp, int sensitivity, float deadzone)
{
if (TimeStamp != 0)
{
if (gyro.Length() <= 1f && accel.Length() >= 0.8f && accel.Z >= 0.8f)
{
_calibrationFrame++;
if (_calibrationFrame >= 90)
{
gyro = Vector3.Zero;
Rotation = Vector3.Zero;
_filter.Reset();
_calibrationFrame = 0;
}
}
else
{
_calibrationFrame = 0;
}
Accelerometer = -accel;
if (gyro.Length() < deadzone)
{
gyro = Vector3.Zero;
}
gyro *= (sensitivity / 100f);
Gyroscrope = gyro;
float deltaTime = MathF.Abs((long)(timestamp - TimeStamp) / 1000000f);
Vector3 deltaGyro = gyro * deltaTime;
Rotation += deltaGyro;
_filter.SamplePeriod = deltaTime;
_filter.Update(accel, DegreeToRad(gyro));
}
TimeStamp = timestamp;
}
public Matrix4x4 GetOrientation()
{
return Matrix4x4.CreateFromQuaternion(_filter.Quaternion);
}
private static Vector3 DegreeToRad(Vector3 degree)
{
return degree * (MathF.PI / 180);
}
}
}
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