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Initial implementation of gyro aim with GamepadMotionHelpers for sensor fusion

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This commit is contained in:
Mr-Wiseguy
2024-01-22 23:08:59 -05:00
parent 992bdb67e9
commit e04865c715
14 changed files with 1589 additions and 6 deletions
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src/game/input.cpp
+75 -5
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@@ -6,15 +6,30 @@
#include "recomp_ui.h"
#include "SDL.h"
#include "rt64_layer.h"
#include "GamepadMotion.hpp"
constexpr float axis_threshold = 0.5f;
struct ControllerState {
SDL_GameController* controller;
std::array<float, 3> latest_accelerometer;
GamepadMotion motion;
uint32_t prev_gyro_timestamp;
ControllerState() : controller{}, latest_accelerometer{}, motion{}, prev_gyro_timestamp{} {
motion.Reset();
motion.SetCalibrationMode(GamepadMotionHelpers::CalibrationMode::Stillness | GamepadMotionHelpers::CalibrationMode::SensorFusion);
};
};
static struct {
const Uint8* keys = nullptr;
int numkeys = 0;
std::atomic_int32_t mouse_wheel_pos = 0;
std::vector<SDL_JoystickID> controller_ids{};
std::vector<SDL_GameController*> cur_controllers{};
std::unordered_map<SDL_JoystickID, ControllerState> controller_states;
std::array<float, 2> rotation_delta{};
std::mutex pending_rotation_mutex;
std::array<float, 2> pending_rotation_delta{};
} InputState;
std::atomic<recomp::InputDevice> scanning_device = recomp::InputDevice::COUNT;
@@ -72,7 +87,13 @@ bool sdl_event_filter(void* userdata, SDL_Event* event) {
printf("Controller added: %d\n", controller_event->which);
if (controller != nullptr) {
printf(" Instance ID: %d\n", SDL_JoystickInstanceID(SDL_GameControllerGetJoystick(controller)));
InputState.controller_ids.push_back(SDL_JoystickInstanceID(SDL_GameControllerGetJoystick(controller)));
ControllerState& state = InputState.controller_states[SDL_JoystickInstanceID(SDL_GameControllerGetJoystick(controller))];
state.controller = controller;
if (SDL_GameControllerHasSensor(controller, SDL_SensorType::SDL_SENSOR_GYRO) && SDL_GameControllerHasSensor(controller, SDL_SensorType::SDL_SENSOR_ACCEL)) {
SDL_GameControllerSetSensorEnabled(controller, SDL_SensorType::SDL_SENSOR_GYRO, SDL_TRUE);
SDL_GameControllerSetSensorEnabled(controller, SDL_SensorType::SDL_SENSOR_ACCEL, SDL_TRUE);
}
}
}
break;
@@ -80,7 +101,7 @@ bool sdl_event_filter(void* userdata, SDL_Event* event) {
{
SDL_ControllerDeviceEvent* controller_event = &event->cdevice;
printf("Controller removed: %d\n", controller_event->which);
std::erase(InputState.controller_ids, controller_event->which);
InputState.controller_states.erase(controller_event->which);
}
break;
case SDL_EventType::SDL_QUIT:
@@ -113,6 +134,41 @@ bool sdl_event_filter(void* userdata, SDL_Event* event) {
}
queue_if_enabled(event);
break;
case SDL_EventType::SDL_CONTROLLERSENSORUPDATE:
if (event->csensor.sensor == SDL_SensorType::SDL_SENSOR_ACCEL) {
// Convert acceleration to g's.
float x = event->csensor.data[0] / SDL_STANDARD_GRAVITY;
float y = event->csensor.data[1] / SDL_STANDARD_GRAVITY;
float z = event->csensor.data[2] / SDL_STANDARD_GRAVITY;
ControllerState& state = InputState.controller_states[event->csensor.which];
state.latest_accelerometer[0] = x;
state.latest_accelerometer[1] = y;
state.latest_accelerometer[2] = z;
}
else if (event->csensor.sensor == SDL_SensorType::SDL_SENSOR_GYRO) {
// constexpr float gyro_threshold = 0.05f;
// Convert rotational velocity to degrees per second.
constexpr float rad_to_deg = 180.0f / M_PI;
float x = event->csensor.data[0] * rad_to_deg;
float y = event->csensor.data[1] * rad_to_deg;
float z = event->csensor.data[2] * rad_to_deg;
ControllerState& state = InputState.controller_states[event->csensor.which];
uint64_t cur_timestamp = event->csensor.timestamp;
uint32_t delta_ms = cur_timestamp - state.prev_gyro_timestamp;
state.motion.ProcessMotion(x, y, z, state.latest_accelerometer[0], state.latest_accelerometer[1], state.latest_accelerometer[2], delta_ms * 0.001f);
state.prev_gyro_timestamp = cur_timestamp;
float rot_x = 0.0f;
float rot_y = 0.0f;
state.motion.GetPlayerSpaceGyro(rot_x, rot_y);
{
std::lock_guard lock{ InputState.pending_rotation_mutex };
InputState.pending_rotation_delta[0] += rot_x;
InputState.pending_rotation_delta[1] += rot_y;
}
}
break;
default:
queue_if_enabled(event);
break;
@@ -254,13 +310,21 @@ void recomp::poll_inputs() {
InputState.cur_controllers.clear();
for (SDL_JoystickID id : InputState.controller_ids) {
SDL_GameController* controller = SDL_GameControllerFromInstanceID(id);
for (const auto& [id, state] : InputState.controller_states) {
(void)id; // Avoid unused variable warning.
SDL_GameController* controller = state.controller;
if (controller != nullptr) {
InputState.cur_controllers.push_back(controller);
}
}
// Read the deltas while resetting them to zero.
{
std::lock_guard lock{ InputState.pending_rotation_mutex };
InputState.rotation_delta = InputState.pending_rotation_delta;
InputState.pending_rotation_delta = { 0.0f, 0.0f };
}
// Quicksaving is disabled for now and will likely have more limited functionality
// when restored, rather than allowing saving and loading at any point in time.
#if 0
@@ -368,6 +432,12 @@ bool recomp::get_input_digital(const std::span<const recomp::InputField> fields)
return ret;
}
void recomp::get_gyro_deltas(float* x, float* y) {
std::array<float, 2> cur_rotation_delta = InputState.rotation_delta;
*x = cur_rotation_delta[0];
*y = cur_rotation_delta[1];
}
bool recomp::game_input_disabled() {
// Disable input if any menu is open.
return recomp::get_current_menu() != recomp::Menu::None;