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// Copyright 2020 yuzu Emulator Project
// Licensed under GPLv2 or any later version
// Refer to the license.txt file included
#pragma once
#include "common/common_types.h"
#include "common/quaternion.h"
#include "common/vector_math.h"
namespace InputCommon {
class MotionInput {
public:
MotionInput(f32 new_kp, f32 new_ki, f32 new_kd);
MotionInput(const MotionInput&) = default;
MotionInput& operator=(const MotionInput&) = default;
MotionInput(MotionInput&&) = default;
MotionInput& operator=(MotionInput&&) = default;
void SetAcceleration(const Common::Vec3f& acceleration);
void SetGyroscope(const Common::Vec3f& acceleration);
void SetQuaternion(const Common::Quaternion<f32>& quaternion);
void SetGyroDrift(const Common::Vec3f& drift);
void SetGyroThreshold(f32 threshold);
void EnableReset(bool reset);
void ResetRotations();
void UpdateRotation(u64 elapsed_time);
void UpdateOrientation(u64 elapsed_time);
std::array<Common::Vec3f, 3> GetOrientation() const;
Common::Vec3f GetAcceleration() const;
Common::Vec3f GetGyroscope() const;
Common::Vec3f GetRotations() const;
Common::Quaternion<f32> GetQuaternion() const;
bool IsMoving(f32 sensitivity) const;
bool IsCalibrated(f32 sensitivity) const;
private:
void ResetOrientation();
// PID constants
const f32 kp;
const f32 ki;
const f32 kd;
// PID errors
Common::Vec3f real_error;
Common::Vec3f integral_error;
Common::Vec3f derivative_error;
Common::Quaternion<f32> quat;
Common::Vec3f rotations;
Common::Vec3f accel;
Common::Vec3f gyro;
Common::Vec3f gyro_drift;
f32 gyro_threshold = 0.0f;
u32 reset_counter = 0;
bool reset_enabled = true;
};
} // namespace InputCommon
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