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Reset gravity baseline on aim start

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This commit is contained in:
Luke Street
2026-04-22 12:20:44 -06:00
parent ac3d3314c4
commit ca247095da
1 changed files with 43 additions and 9 deletions
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src/dusk/gyro.cpp
+43 -9
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@@ -15,11 +15,15 @@ constexpr float kRollAimBoostMax = 2.0f;
bool s_sensor_enabled = false;
bool s_accel_enabled = false;
bool s_was_aiming = false;
bool s_have_gravity_baseline = false;
float s_smooth_gx = 0.0f;
float s_smooth_gy = 0.0f;
float s_smooth_gz = 0.0f;
float s_gravity_y = 0.0f;
float s_gravity_z = 0.0f;
float s_baseline_gravity_y = 0.0f;
float s_baseline_gravity_z = 0.0f;
float s_yaw_rad = 0.0f;
float s_pitch_rad = 0.0f;
float s_roll_rad = 0.0f;
@@ -29,6 +33,9 @@ s32 s_rollgoal_az = 0;
void reset_filter_state() {
s_smooth_gx = s_smooth_gy = s_smooth_gz = 0.0f;
s_gravity_y = s_gravity_z = 0.0f;
s_baseline_gravity_y = s_baseline_gravity_z = 0.0f;
s_was_aiming = false;
s_have_gravity_baseline = false;
s_yaw_rad = s_pitch_rad = s_roll_rad = 0.0f;
s_rollgoal_ax = s_rollgoal_az = 0;
}
@@ -59,7 +66,12 @@ bool queryGyroAimContext() {
}
void read(float dt) {
if (!s_sensor_keep_alive && !queryGyroAimContext()) {
const bool aim_active = queryGyroAimContext();
const bool aim_just_started = aim_active && !s_was_aiming;
const bool aim_just_ended = !aim_active && s_was_aiming;
s_was_aiming = aim_active;
if (!s_sensor_keep_alive && !aim_active) {
if (s_sensor_enabled) {
PADSetSensorEnabled(PAD_CHAN0, PAD_SENSOR_GYRO, FALSE);
s_sensor_enabled = false;
@@ -72,6 +84,12 @@ void read(float dt) {
return;
}
if (aim_just_started || aim_just_ended) {
s_gravity_y = s_gravity_z = 0.0f;
s_baseline_gravity_y = s_baseline_gravity_z = 0.0f;
s_have_gravity_baseline = false;
}
if (!s_sensor_enabled) {
if (!PADHasSensor(PAD_CHAN0, PAD_SENSOR_GYRO)) {
return;
@@ -109,19 +127,35 @@ void read(float dt) {
s_roll_rad = roll_rate * dt * dusk::getSettings().game.gyroSensitivityX; // GYRO NOTE: Exposing Z sensitivity seems unusual, so I'm just using X
float horizontal_rate = yaw_rate;
if (s_accel_enabled) {
if (aim_active && s_accel_enabled) {
f32 accel[3];
if (PADGetSensorData(PAD_CHAN0, PAD_SENSOR_ACCEL, accel, 3)) {
s_gravity_y += kGravityEmaAlpha * (accel[1] - s_gravity_y);
s_gravity_z += kGravityEmaAlpha * (accel[2] - s_gravity_z);
if (!s_have_gravity_baseline) {
s_gravity_y = accel[1];
s_gravity_z = accel[2];
} else {
s_gravity_y += kGravityEmaAlpha * (accel[1] - s_gravity_y);
s_gravity_z += kGravityEmaAlpha * (accel[2] - s_gravity_z);
}
// Project gravity onto the controller's yaw/roll plane to infer which axis
// should dominate horizontal aim at the current pitch.
// Compare the current gravity projection against the gravity vector from
// aim start so the user's resting hold angle becomes the neutral baseline.
const float gravity_yz_len = std::sqrt((s_gravity_y * s_gravity_y) + (s_gravity_z * s_gravity_z));
if (gravity_yz_len >= kMinGravityProjection) {
const float yaw_weight = s_gravity_y / gravity_yz_len;
const float roll_mix = std::fabs(s_gravity_z) / gravity_yz_len;
const float roll_weight = s_gravity_z / gravity_yz_len;
const float current_gravity_y = s_gravity_y / gravity_yz_len;
const float current_gravity_z = s_gravity_z / gravity_yz_len;
if (!s_have_gravity_baseline) {
s_baseline_gravity_y = current_gravity_y;
s_baseline_gravity_z = current_gravity_z;
s_have_gravity_baseline = true;
}
const float yaw_weight =
(s_baseline_gravity_y * current_gravity_y) + (s_baseline_gravity_z * current_gravity_z);
const float roll_weight =
(s_baseline_gravity_y * current_gravity_z) - (s_baseline_gravity_z * current_gravity_y);
const float roll_mix = std::fabs(roll_weight);
const float roll_boost = 1.0f + (roll_mix * (kRollAimBoostMax - 1.0f));
horizontal_rate = (yaw_rate * yaw_weight) + (roll_rate * roll_weight * roll_boost);
}