hid_core: Move hid to it's own subproject

1 files changed, 0 insertions, 357 deletions

diff --git a/src/core/hid/motion_input.cpp b/src/core/hid/motion_input.cpp
deleted file mode 100644
index f56f2ae1d..000000000
--- a/src/core/hid/motion_input.cpp
+++ /dev/null
@@ -1,357 +0,0 @@
-// SPDX-FileCopyrightText: Copyright 2020 yuzu Emulator Project
-// SPDX-License-Identifier: GPL-2.0-or-later
-
-#include <cmath>
-
-#include "common/math_util.h"
-#include "core/hid/motion_input.h"
-
-namespace Core::HID {
-
-MotionInput::MotionInput() {
-    // Initialize PID constants with default values
-    SetPID(0.3f, 0.005f, 0.0f);
-    SetGyroThreshold(ThresholdStandard);
-    ResetQuaternion();
-    ResetRotations();
-}
-
-void MotionInput::SetPID(f32 new_kp, f32 new_ki, f32 new_kd) {
-    kp = new_kp;
-    ki = new_ki;
-    kd = new_kd;
-}
-
-void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
-    accel = acceleration;
-
-    accel.x = std::clamp(accel.x, -AccelMaxValue, AccelMaxValue);
-    accel.y = std::clamp(accel.y, -AccelMaxValue, AccelMaxValue);
-    accel.z = std::clamp(accel.z, -AccelMaxValue, AccelMaxValue);
-}
-
-void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
-    gyro = gyroscope - gyro_bias;
-
-    gyro.x = std::clamp(gyro.x, -GyroMaxValue, GyroMaxValue);
-    gyro.y = std::clamp(gyro.y, -GyroMaxValue, GyroMaxValue);
-    gyro.z = std::clamp(gyro.z, -GyroMaxValue, GyroMaxValue);
-
-    // Auto adjust gyro_bias to minimize drift
-    if (!IsMoving(IsAtRestRelaxed)) {
-        gyro_bias = (gyro_bias * 0.9999f) + (gyroscope * 0.0001f);
-    }
-
-    // Adjust drift when calibration mode is enabled
-    if (calibration_mode) {
-        gyro_bias = (gyro_bias * 0.99f) + (gyroscope * 0.01f);
-        StopCalibration();
-    }
-
-    if (gyro.Length() < gyro_threshold * user_gyro_threshold) {
-        gyro = {};
-    } else {
-        only_accelerometer = false;
-    }
-}
-
-void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
-    quat = quaternion;
-}
-
-void MotionInput::SetEulerAngles(const Common::Vec3f& euler_angles) {
-    const float cr = std::cos(euler_angles.x * 0.5f);
-    const float sr = std::sin(euler_angles.x * 0.5f);
-    const float cp = std::cos(euler_angles.y * 0.5f);
-    const float sp = std::sin(euler_angles.y * 0.5f);
-    const float cy = std::cos(euler_angles.z * 0.5f);
-    const float sy = std::sin(euler_angles.z * 0.5f);
-
-    quat.w = cr * cp * cy + sr * sp * sy;
-    quat.xyz.x = sr * cp * cy - cr * sp * sy;
-    quat.xyz.y = cr * sp * cy + sr * cp * sy;
-    quat.xyz.z = cr * cp * sy - sr * sp * cy;
-}
-
-void MotionInput::SetGyroBias(const Common::Vec3f& bias) {
-    gyro_bias = bias;
-}
-
-void MotionInput::SetGyroThreshold(f32 threshold) {
-    gyro_threshold = threshold;
-}
-
-void MotionInput::SetUserGyroThreshold(f32 threshold) {
-    user_gyro_threshold = threshold / ThresholdStandard;
-}
-
-void MotionInput::EnableReset(bool reset) {
-    reset_enabled = reset;
-}
-
-void MotionInput::ResetRotations() {
-    rotations = {};
-}
-
-void MotionInput::ResetQuaternion() {
-    quat = {{0.0f, 0.0f, -1.0f}, 0.0f};
-}
-
-bool MotionInput::IsMoving(f32 sensitivity) const {
-    return gyro.Length() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f;
-}
-
-bool MotionInput::IsCalibrated(f32 sensitivity) const {
-    return real_error.Length() < sensitivity;
-}
-
-void MotionInput::UpdateRotation(u64 elapsed_time) {
-    const auto sample_period = static_cast<f32>(elapsed_time) / 1000000.0f;
-    if (sample_period > 0.1f) {
-        return;
-    }
-    rotations += gyro * sample_period;
-}
-
-void MotionInput::Calibrate() {
-    calibration_mode = true;
-    calibration_counter = 0;
-}
-
-void MotionInput::StopCalibration() {
-    if (calibration_counter++ > CalibrationSamples) {
-        calibration_mode = false;
-        ResetQuaternion();
-        ResetRotations();
-    }
-}
-
-// Based on Madgwick's implementation of Mayhony's AHRS algorithm.
-// https://github.com/xioTechnologies/Open-Source-AHRS-With-x-IMU/blob/master/x-IMU%20IMU%20and%20AHRS%20Algorithms/x-IMU%20IMU%20and%20AHRS%20Algorithms/AHRS/MahonyAHRS.cs
-void MotionInput::UpdateOrientation(u64 elapsed_time) {
-    if (!IsCalibrated(0.1f)) {
-        ResetOrientation();
-    }
-    // Short name local variable for readability
-    f32 q1 = quat.w;
-    f32 q2 = quat.xyz[0];
-    f32 q3 = quat.xyz[1];
-    f32 q4 = quat.xyz[2];
-    const auto sample_period = static_cast<f32>(elapsed_time) / 1000000.0f;
-
-    // Ignore invalid elapsed time
-    if (sample_period > 0.1f) {
-        return;
-    }
-
-    const auto normal_accel = accel.Normalized();
-    auto rad_gyro = gyro * Common::PI * 2;
-    const f32 swap = rad_gyro.x;
-    rad_gyro.x = rad_gyro.y;
-    rad_gyro.y = -swap;
-    rad_gyro.z = -rad_gyro.z;
-
-    // Clear gyro values if there is no gyro present
-    if (only_accelerometer) {
-        rad_gyro.x = 0;
-        rad_gyro.y = 0;
-        rad_gyro.z = 0;
-    }
-
-    // Ignore drift correction if acceleration is not reliable
-    if (accel.Length() >= 0.75f && accel.Length() <= 1.25f) {
-        const f32 ax = -normal_accel.x;
-        const f32 ay = normal_accel.y;
-        const f32 az = -normal_accel.z;
-
-        // Estimated direction of gravity
-        const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
-        const f32 vy = 2.0f * (q1 * q2 + q3 * q4);
-        const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
-
-        // Error is cross product between estimated direction and measured direction of gravity
-        const Common::Vec3f new_real_error = {
-            az * vx - ax * vz,
-            ay * vz - az * vy,
-            ax * vy - ay * vx,
-        };
-
-        derivative_error = new_real_error - real_error;
-        real_error = new_real_error;
-
-        // Prevent integral windup
-        if (ki != 0.0f && !IsCalibrated(0.05f)) {
-            integral_error += real_error;
-        } else {
-            integral_error = {};
-        }
-
-        // Apply feedback terms
-        if (!only_accelerometer) {
-            rad_gyro += kp * real_error;
-            rad_gyro += ki * integral_error;
-            rad_gyro += kd * derivative_error;
-        } else {
-            // Give more weight to accelerometer values to compensate for the lack of gyro
-            rad_gyro += 35.0f * kp * real_error;
-            rad_gyro += 10.0f * ki * integral_error;
-            rad_gyro += 10.0f * kd * derivative_error;
-
-            // Emulate gyro values for games that need them
-            gyro.x = -rad_gyro.y;
-            gyro.y = rad_gyro.x;
-            gyro.z = -rad_gyro.z;
-            UpdateRotation(elapsed_time);
-        }
-    }
-
-    const f32 gx = rad_gyro.y;
-    const f32 gy = rad_gyro.x;
-    const f32 gz = rad_gyro.z;
-
-    // Integrate rate of change of quaternion
-    const f32 pa = q2;
-    const f32 pb = q3;
-    const f32 pc = q4;
-    q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period);
-    q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period);
-    q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period);
-    q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * sample_period);
-
-    quat.w = q1;
-    quat.xyz[0] = q2;
-    quat.xyz[1] = q3;
-    quat.xyz[2] = q4;
-    quat = quat.Normalized();
-}
-
-std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const {
-    const Common::Quaternion<float> quad{
-        .xyz = {-quat.xyz[1], -quat.xyz[0], -quat.w},
-        .w = -quat.xyz[2],
-    };
-    const std::array<float, 16> matrix4x4 = quad.ToMatrix();
-
-    return {Common::Vec3f(matrix4x4[0], matrix4x4[1], -matrix4x4[2]),
-            Common::Vec3f(matrix4x4[4], matrix4x4[5], -matrix4x4[6]),
-            Common::Vec3f(-matrix4x4[8], -matrix4x4[9], matrix4x4[10])};
-}
-
-Common::Vec3f MotionInput::GetAcceleration() const {
-    return accel;
-}
-
-Common::Vec3f MotionInput::GetGyroscope() const {
-    return gyro;
-}
-
-Common::Vec3f MotionInput::GetGyroBias() const {
-    return gyro_bias;
-}
-
-Common::Quaternion<f32> MotionInput::GetQuaternion() const {
-    return quat;
-}
-
-Common::Vec3f MotionInput::GetRotations() const {
-    return rotations;
-}
-
-Common::Vec3f MotionInput::GetEulerAngles() const {
-    // roll (x-axis rotation)
-    const float sinr_cosp = 2 * (quat.w * quat.xyz.x + quat.xyz.y * quat.xyz.z);
-    const float cosr_cosp = 1 - 2 * (quat.xyz.x * quat.xyz.x + quat.xyz.y * quat.xyz.y);
-
-    // pitch (y-axis rotation)
-    const float sinp = std::sqrt(1 + 2 * (quat.w * quat.xyz.y - quat.xyz.x * quat.xyz.z));
-    const float cosp = std::sqrt(1 - 2 * (quat.w * quat.xyz.y - quat.xyz.x * quat.xyz.z));
-
-    // yaw (z-axis rotation)
-    const float siny_cosp = 2 * (quat.w * quat.xyz.z + quat.xyz.x * quat.xyz.y);
-    const float cosy_cosp = 1 - 2 * (quat.xyz.y * quat.xyz.y + quat.xyz.z * quat.xyz.z);
-
-    return {
-        std::atan2(sinr_cosp, cosr_cosp),
-        2 * std::atan2(sinp, cosp) - Common::PI / 2,
-        std::atan2(siny_cosp, cosy_cosp),
-    };
-}
-
-void MotionInput::ResetOrientation() {
-    if (!reset_enabled || only_accelerometer) {
-        return;
-    }
-    if (!IsMoving(IsAtRestRelaxed) && accel.z <= -0.9f) {
-        ++reset_counter;
-        if (reset_counter > 900) {
-            quat.w = 0;
-            quat.xyz[0] = 0;
-            quat.xyz[1] = 0;
-            quat.xyz[2] = -1;
-            SetOrientationFromAccelerometer();
-            integral_error = {};
-            reset_counter = 0;
-        }
-    } else {
-        reset_counter = 0;
-    }
-}
-
-void MotionInput::SetOrientationFromAccelerometer() {
-    int iterations = 0;
-    const f32 sample_period = 0.015f;
-
-    const auto normal_accel = accel.Normalized();
-
-    while (!IsCalibrated(0.01f) && ++iterations < 100) {
-        // Short name local variable for readability
-        f32 q1 = quat.w;
-        f32 q2 = quat.xyz[0];
-        f32 q3 = quat.xyz[1];
-        f32 q4 = quat.xyz[2];
-
-        Common::Vec3f rad_gyro;
-        const f32 ax = -normal_accel.x;
-        const f32 ay = normal_accel.y;
-        const f32 az = -normal_accel.z;
-
-        // Estimated direction of gravity
-        const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
-        const f32 vy = 2.0f * (q1 * q2 + q3 * q4);
-        const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
-
-        // Error is cross product between estimated direction and measured direction of gravity
-        const Common::Vec3f new_real_error = {
-            az * vx - ax * vz,
-            ay * vz - az * vy,
-            ax * vy - ay * vx,
-        };
-
-        derivative_error = new_real_error - real_error;
-        real_error = new_real_error;
-
-        rad_gyro += 10.0f * kp * real_error;
-        rad_gyro += 5.0f * ki * integral_error;
-        rad_gyro += 10.0f * kd * derivative_error;
-
-        const f32 gx = rad_gyro.y;
-        const f32 gy = rad_gyro.x;
-        const f32 gz = rad_gyro.z;
-
-        // Integrate rate of change of quaternion
-        const f32 pa = q2;
-        const f32 pb = q3;
-        const f32 pc = q4;
-        q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period);
-        q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period);
-        q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period);
-        q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * sample_period);
-
-        quat.w = q1;
-        quat.xyz[0] = q2;
-        quat.xyz[1] = q3;
-        quat.xyz[2] = q4;
-        quat = quat.Normalized();
-    }
-}
-} // namespace Core::HID