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63 lines
1.5 KiB
C++
63 lines
1.5 KiB
C++
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// Copyright 2014 Dolphin Emulator Project
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// Licensed under GPLv2+
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// Refer to the license.txt file included.
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#pragma once
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#include "common/common_types.h"
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#include "common/quaternion.h"
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#include "common/vector_math.h"
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namespace InputCommon {
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class MotionInput {
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public:
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MotionInput(f32 new_kp, f32 new_ki, f32 new_kd);
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void SetAcceleration(Common::Vec3f acceleration);
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void SetGyroscope(Common::Vec3f acceleration);
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void SetQuaternion(Common::Quaternion<f32> quaternion);
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void SetGyroDrift(Common::Vec3f drift);
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void SetGyroThreshold(f32 threshold);
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void EnableReset(bool reset);
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void ResetRotations();
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void UpdateRotation(u64 elapsed_time);
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void UpdateOrientation(u64 elapsed_time);
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std::array<Common::Vec3f, 3> GetOrientation();
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Common::Vec3f GetAcceleration();
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Common::Vec3f GetGyroscope();
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Common::Vec3f GetRotations();
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Common::Quaternion<f32> GetQuaternion();
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bool IsMoving(f32 sensitivity);
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bool IsCalibrated(f32 sensitivity);
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// PID constants
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const f32 kp;
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const f32 ki;
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const f32 kd;
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private:
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void resetOrientation();
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// PID errors
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Common::Vec3f real_error;
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Common::Vec3f integral_error;
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Common::Vec3f derivative_error;
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Common::Quaternion<f32> quat;
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Common::Vec3f rotations;
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Common::Vec3f accel;
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Common::Vec3f gyro;
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Common::Vec3f gyro_drift;
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f32 gyro_threshold;
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f32 reset_counter;
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bool reset_enabled;
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};
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} // namespace InputCommon
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