move ps_move_data to own file

rpcs3/Emu/CMakeLists.txt

@@ -411,6 +411,7 @@ target_sources(rpcs3_emu PRIVATE
     Io/pad_config_types.cpp
     Io/pad_types.cpp
     Io/PadHandler.cpp
+    Io/ps_move_data.cpp
     Io/rb3drums_config.cpp
     Io/RB3MidiDrums.cpp
     Io/RB3MidiGuitar.cpp

rpcs3/Emu/Io/pad_types.cpp

@@ -159,134 +159,6 @@ u32 get_axis_keycode(u32 offset, u16 value)
 	}
 }
 
-void ps_move_data::reset_sensors()
-{
-	quaternion = default_quaternion;
-	accelerometer = {};
-	gyro = {};
-	prev_gyro = {};
-	angular_acceleration = {};
-	magnetometer = {};
-	//prev_pos_world = {}; // probably no reset needed ?
-	vel_world = {};
-	prev_vel_world = {};
-	accel_world = {};
-	angvel_world = {};
-	angaccel_world = {};
-}
-
-void ps_move_data::update_orientation(f32 delta_time)
-{
-	if (!delta_time)
-		return;
-
-	// Rotate vector v by quaternion q
-	const auto rotate_vector = [](const vect<4>& q, const vect<3>& v)
-	{
-		const vect<4> qv({0.0f, v.x(), v.y(), v.z()});
-		const vect<4> q_inv({q.w(), -q.x(), -q.y(), -q.z()});
-
-		// t = q * v
-		vect<4> t;
-		t.w() = -q.x() * qv.x() - q.y() * qv.y() - q.z() * qv.z();
-		t.x() =  q.w() * qv.x() + q.y() * qv.z() - q.z() * qv.y();
-		t.y() =  q.w() * qv.y() - q.x() * qv.z() + q.z() * qv.x();
-		t.z() =  q.w() * qv.z() + q.x() * qv.y() - q.y() * qv.x();
-
-		// r = t * q_inv
-		vect<4> r;
-		r.w() = -t.x() * q_inv.x() - t.y() * q_inv.y() - t.z() * q_inv.z();
-		r.x() =  t.w() * q_inv.x() + t.y() * q_inv.z() - t.z() * q_inv.y();
-		r.y() =  t.w() * q_inv.y() - t.x() * q_inv.z() + t.z() * q_inv.x();
-		r.z() =  t.w() * q_inv.z() + t.x() * q_inv.y() - t.y() * q_inv.x();
-
-		return vect<3>({r.x(), r.y(), r.z()});
-	};
-
-	if constexpr (use_imu_for_velocity)
-	{
-		// Gravity in world frame
-		constexpr f32 gravity = 9.81f;
-		constexpr vect<3> g({0.0f, 0.0f, -gravity});
-
-		// Rotate gravity into sensor frame
-		const vect<3> g_sensor = rotate_vector(quaternion, g);
-
-		// Remove gravity
-		vect<3> linear_local;
-		for (u32 i = 0; i < 3; i++)
-		{
-			linear_local[i] = (accelerometer[i] * gravity) - g_sensor[i];
-		}
-
-		// Linear acceleration (rotate to world coordinates)
-		accel_world = rotate_vector(quaternion, linear_local);
-
-		// convert to mm/s²
-		for (u32 i = 0; i < 3; i++)
-		{
-			accel_world[i] *= 1000.0f;
-		}
-
-		// Linear velocity (integrate acceleration)
-		for (u32 i = 0; i < 3; i++)
-		{
-			vel_world[i] = prev_vel_world[i] + accel_world[i] * delta_time;
-		}
-
-		prev_vel_world = vel_world;
-	}
-
-	// Compute raw angular acceleration
-	for (u32 i = 0; i < 3; i++)
-	{
-		const f32 alpha = (gyro[i] - prev_gyro[i]) / delta_time;
-
-		// Filtering
-		constexpr f32 weight = 0.8f;
-		constexpr f32 weight_inv = 1.0f - weight;
-		angular_acceleration[i] = weight * angular_acceleration[i] + weight_inv * alpha;
-	}
-
-	// Angular velocity (rotate to world coordinates)
-	angvel_world = rotate_vector(quaternion, gyro);
-
-	// Angular acceleration (rotate to world coordinates)
-	angaccel_world = rotate_vector(quaternion, angular_acceleration);
-
-	prev_gyro = gyro;
-}
-
-void ps_move_data::update_velocity(u64 timestamp, be_t<f32> pos_world[4])
-{
-	if constexpr (use_imu_for_velocity)
-		return;
-
-	if (last_velocity_update_time_us == timestamp)
-		return;
-
-	// Get elapsed time since last update
-	const f32 delta_time = (last_velocity_update_time_us == 0) ? 0.0f : ((timestamp - last_velocity_update_time_us) / 1'000'000.0f);
-	last_velocity_update_time_us = timestamp;
-
-	if (!delta_time)
-		return;
-
-	for (u32 i = 0; i < 3; i++)
-	{
-		// Linear velocity
-		constexpr f32 weight = 0.8f;
-		constexpr f32 weight_inv = 1.0f - weight;
-		vel_world[i] = weight * ((pos_world[i] - prev_pos_world[i]) / delta_time) + weight_inv * prev_vel_world[i];
-		prev_pos_world[i] = pos_world[i];
-
-		// Linear acceleration
-		accel_world[i] = (vel_world[i] - prev_vel_world[i]) / delta_time;
-	}
-
-	prev_vel_world = vel_world;
-}
-
 bool Pad::get_pressure_intensity_button_active(bool is_toggle_mode, u32 player_id)
 {
 	if (m_pressure_intensity_button_index < 0)

rpcs3/Emu/Io/pad_types.h

@@ -2,7 +2,8 @@
 
 #include "util/types.hpp"
 #include "util/endian.hpp"
-#include "Emu/Io/pad_config_types.h"
+#include "pad_config_types.h"
+#include "ps_move_data.h"
 
 #include <map>
 #include <set>
@@ -469,78 +470,6 @@ struct VibrateMotor
 	{}
 };
 
-struct ps_move_data
-{
-	template <int Size, typename T = f32>
-	struct vect
-	{
-	public:
-		vect() = default;
-		constexpr vect(const std::array<T, Size>& vec) : data(vec) {};
-
-		template <typename I>
-		T& operator[](I i) { return data[i]; }
-
-		template <typename I>
-		const T& operator[](I i) const { return data[i]; }
-
-		T x() const requires (Size >= 1) { return data[0]; }
-		T y() const requires (Size >= 2) { return data[1]; }
-		T z() const requires (Size >= 3) { return data[2]; }
-		T w() const requires (Size >= 4) { return data[3]; }
-
-		T& x() requires (Size >= 1) { return data[0]; }
-		T& y() requires (Size >= 2) { return data[1]; }
-		T& z() requires (Size >= 3) { return data[2]; }
-		T& w() requires (Size >= 4) { return data[3]; }
-
-	private:
-		std::array<T, Size> data {};
-	};
-
-	u32 external_device_id = 0;
-	std::array<u8, 38> external_device_read{};  // CELL_GEM_EXTERNAL_PORT_DEVICE_INFO_SIZE
-	std::array<u8, 40> external_device_write{}; // CELL_GEM_EXTERNAL_PORT_OUTPUT_SIZE
-	std::array<u8, 5> external_device_data{};
-	bool external_device_connected = false;
-	bool external_device_read_requested = false;
-	bool external_device_write_requested = false;
-
-	bool calibration_requested = false;
-	bool calibration_succeeded = false;
-
-	bool magnetometer_enabled = false;
-	bool orientation_enabled = false;
-
-	// Disable IMU tracking of velocity and acceleration (massive drift)
-	static constexpr bool use_imu_for_velocity = false;
-	u64 last_velocity_update_time_us = 0;
-
-	static constexpr vect<4> default_quaternion = vect<4>({ 0.0f, 0.0f, 0.0f, 1.0f });
-	vect<4> quaternion = default_quaternion; // quaternion orientation (x,y,z,w) of controller relative to default (facing the camera with buttons up)
-
-	// Raw values (local)
-	vect<3> accelerometer {}; // linear acceleration in G units (9.81 = 1 unit)
-	vect<3> gyro {}; // angular velocity in rad/s
-	vect<3> prev_gyro {}; // previous angular velocity in rad/s
-	vect<3> angular_acceleration {}; // angular acceleration in rad/s²
-	vect<3> magnetometer {};
-
-	// In world coordinates
-	vect<3> prev_pos_world {};
-	vect<3> vel_world {};      // velocity of sphere in world coordinates (mm/s)
-	vect<3> prev_vel_world {}; // previous velocity of sphere in world coordinates (mm/s)
-	vect<3> accel_world {};    // acceleration of sphere in world coordinates (mm/s²)
-	vect<3> angvel_world {};   // angular velocity of controller in world coordinates (radians/s)
-	vect<3> angaccel_world {}; // angular acceleration of controller in world coordinates (radians/s²)
-
-	s16 temperature = 0;
-
-	void reset_sensors();
-	void update_orientation(f32 delta_time);
-	void update_velocity(u64 timestamp, be_t<f32> pos_world[4]);
-};
-
 struct Pad
 {
 	const pad_handler m_pad_handler;

rpcs3/Emu/Io/ps_move_data.cpp

@@ -0,0 +1,137 @@
+#include "stdafx.h"
+#include "ps_move_data.h"
+
+const ps_move_data::vect<4> ps_move_data::default_quaternion = ps_move_data::vect<4>({ 0.0f, 0.0f, 0.0f, 1.0f });
+
+ps_move_data::ps_move_data()
+	: quaternion(default_quaternion)
+{
+}
+
+void ps_move_data::reset_sensors()
+{
+	quaternion = default_quaternion;
+	accelerometer = {};
+	gyro = {};
+	prev_gyro = {};
+	angular_acceleration = {};
+	magnetometer = {};
+	//prev_pos_world = {}; // probably no reset needed ?
+	vel_world = {};
+	prev_vel_world = {};
+	accel_world = {};
+	angvel_world = {};
+	angaccel_world = {};
+}
+
+void ps_move_data::update_orientation(f32 delta_time)
+{
+	if (!delta_time)
+		return;
+
+	// Rotate vector v by quaternion q
+	const auto rotate_vector = [](const vect<4>& q, const vect<3>& v)
+	{
+		const vect<4> qv({0.0f, v.x(), v.y(), v.z()});
+		const vect<4> q_inv({q.w(), -q.x(), -q.y(), -q.z()});
+
+		// t = q * v
+		vect<4> t;
+		t.w() = -q.x() * qv.x() - q.y() * qv.y() - q.z() * qv.z();
+		t.x() =  q.w() * qv.x() + q.y() * qv.z() - q.z() * qv.y();
+		t.y() =  q.w() * qv.y() - q.x() * qv.z() + q.z() * qv.x();
+		t.z() =  q.w() * qv.z() + q.x() * qv.y() - q.y() * qv.x();
+
+		// r = t * q_inv
+		vect<4> r;
+		r.w() = -t.x() * q_inv.x() - t.y() * q_inv.y() - t.z() * q_inv.z();
+		r.x() =  t.w() * q_inv.x() + t.y() * q_inv.z() - t.z() * q_inv.y();
+		r.y() =  t.w() * q_inv.y() - t.x() * q_inv.z() + t.z() * q_inv.x();
+		r.z() =  t.w() * q_inv.z() + t.x() * q_inv.y() - t.y() * q_inv.x();
+
+		return vect<3>({r.x(), r.y(), r.z()});
+	};
+
+	if constexpr (use_imu_for_velocity)
+	{
+		// Gravity in world frame
+		constexpr f32 gravity = 9.81f;
+		constexpr vect<3> g({0.0f, 0.0f, -gravity});
+
+		// Rotate gravity into sensor frame
+		const vect<3> g_sensor = rotate_vector(quaternion, g);
+
+		// Remove gravity
+		vect<3> linear_local;
+		for (u32 i = 0; i < 3; i++)
+		{
+			linear_local[i] = (accelerometer[i] * gravity) - g_sensor[i];
+		}
+
+		// Linear acceleration (rotate to world coordinates)
+		accel_world = rotate_vector(quaternion, linear_local);
+
+		// convert to mm/s²
+		for (u32 i = 0; i < 3; i++)
+		{
+			accel_world[i] *= 1000.0f;
+		}
+
+		// Linear velocity (integrate acceleration)
+		for (u32 i = 0; i < 3; i++)
+		{
+			vel_world[i] = prev_vel_world[i] + accel_world[i] * delta_time;
+		}
+
+		prev_vel_world = vel_world;
+	}
+
+	// Compute raw angular acceleration
+	for (u32 i = 0; i < 3; i++)
+	{
+		const f32 alpha = (gyro[i] - prev_gyro[i]) / delta_time;
+
+		// Filtering
+		constexpr f32 weight = 0.8f;
+		constexpr f32 weight_inv = 1.0f - weight;
+		angular_acceleration[i] = weight * angular_acceleration[i] + weight_inv * alpha;
+	}
+
+	// Angular velocity (rotate to world coordinates)
+	angvel_world = rotate_vector(quaternion, gyro);
+
+	// Angular acceleration (rotate to world coordinates)
+	angaccel_world = rotate_vector(quaternion, angular_acceleration);
+
+	prev_gyro = gyro;
+}
+
+void ps_move_data::update_velocity(u64 timestamp, be_t<f32> pos_world[4])
+{
+	if constexpr (use_imu_for_velocity)
+		return;
+
+	if (last_velocity_update_time_us == timestamp)
+		return;
+
+	// Get elapsed time since last update
+	const f32 delta_time = (last_velocity_update_time_us == 0) ? 0.0f : ((timestamp - last_velocity_update_time_us) / 1'000'000.0f);
+	last_velocity_update_time_us = timestamp;
+
+	if (!delta_time)
+		return;
+
+	for (u32 i = 0; i < 3; i++)
+	{
+		// Linear velocity
+		constexpr f32 weight = 0.8f;
+		constexpr f32 weight_inv = 1.0f - weight;
+		vel_world[i] = weight * ((pos_world[i] - prev_pos_world[i]) / delta_time) + weight_inv * prev_vel_world[i];
+		prev_pos_world[i] = pos_world[i];
+
+		// Linear acceleration
+		accel_world[i] = (vel_world[i] - prev_vel_world[i]) / delta_time;
+	}
+
+	prev_vel_world = vel_world;
+}

rpcs3/Emu/Io/ps_move_data.h

@@ -0,0 +1,75 @@
+#pragma once
+
+struct ps_move_data
+{
+	template <int Size, typename T = f32>
+	struct vect
+	{
+	public:
+		constexpr vect() = default;
+		constexpr vect(const std::array<T, Size>& vec) : data(vec) {};
+
+		template <typename I>
+		T& operator[](I i) { return data[i]; }
+
+		template <typename I>
+		const T& operator[](I i) const { return data[i]; }
+
+		T x() const requires (Size >= 1) { return data[0]; }
+		T y() const requires (Size >= 2) { return data[1]; }
+		T z() const requires (Size >= 3) { return data[2]; }
+		T w() const requires (Size >= 4) { return data[3]; }
+
+		T& x() requires (Size >= 1) { return data[0]; }
+		T& y() requires (Size >= 2) { return data[1]; }
+		T& z() requires (Size >= 3) { return data[2]; }
+		T& w() requires (Size >= 4) { return data[3]; }
+
+	private:
+		std::array<T, Size> data {};
+	};
+
+	ps_move_data();
+
+	u32 external_device_id = 0;
+	std::array<u8, 38> external_device_read{};  // CELL_GEM_EXTERNAL_PORT_DEVICE_INFO_SIZE
+	std::array<u8, 40> external_device_write{}; // CELL_GEM_EXTERNAL_PORT_OUTPUT_SIZE
+	std::array<u8, 5> external_device_data{};
+	bool external_device_connected = false;
+	bool external_device_read_requested = false;
+	bool external_device_write_requested = false;
+
+	bool calibration_requested = false;
+	bool calibration_succeeded = false;
+
+	bool magnetometer_enabled = false;
+	bool orientation_enabled = false;
+
+	// Disable IMU tracking of velocity and acceleration (massive drift)
+	static constexpr bool use_imu_for_velocity = false;
+	u64 last_velocity_update_time_us = 0;
+
+	static const vect<4> default_quaternion;
+	vect<4> quaternion {}; // quaternion orientation (x,y,z,w) of controller relative to default (facing the camera with buttons up)
+
+	// Raw values (local)
+	vect<3> accelerometer {}; // linear acceleration in G units (9.81 = 1 unit)
+	vect<3> gyro {}; // angular velocity in rad/s
+	vect<3> prev_gyro {}; // previous angular velocity in rad/s
+	vect<3> angular_acceleration {}; // angular acceleration in rad/s²
+	vect<3> magnetometer {};
+
+	// In world coordinates
+	vect<3> prev_pos_world {};
+	vect<3> vel_world {};      // velocity of sphere in world coordinates (mm/s)
+	vect<3> prev_vel_world {}; // previous velocity of sphere in world coordinates (mm/s)
+	vect<3> accel_world {};    // acceleration of sphere in world coordinates (mm/s²)
+	vect<3> angvel_world {};   // angular velocity of controller in world coordinates (radians/s)
+	vect<3> angaccel_world {}; // angular acceleration of controller in world coordinates (radians/s²)
+
+	s16 temperature = 0;
+
+	void reset_sensors();
+	void update_orientation(f32 delta_time);
+	void update_velocity(u64 timestamp, be_t<f32> pos_world[4]);
+};

rpcs3/emucore.vcxproj

@@ -91,6 +91,7 @@
     <ClCompile Include="Emu\Io\midi_config_types.cpp" />
     <ClCompile Include="Emu\Io\MouseHandler.cpp" />
     <ClCompile Include="Emu\Io\pad_types.cpp" />
+    <ClCompile Include="Emu\Io\ps_move_data.cpp" />
     <ClCompile Include="Emu\Io\rb3drums_config.cpp" />
     <ClCompile Include="Emu\Io\RB3MidiDrums.cpp" />
     <ClCompile Include="Emu\Io\RB3MidiGuitar.cpp" />
@@ -604,6 +605,7 @@
     <ClInclude Include="Emu\Io\pad_config.h" />
     <ClInclude Include="Emu\Io\pad_config_types.h" />
     <ClInclude Include="Emu\Io\pad_types.h" />
+    <ClInclude Include="Emu\Io\ps_move_data.h" />
     <ClInclude Include="Emu\Io\rb3drums_config.h" />
     <ClInclude Include="Emu\Io\RB3MidiDrums.h" />
     <ClInclude Include="Emu\Io\RB3MidiGuitar.h" />

rpcs3/emucore.vcxproj.filters

@@ -1393,6 +1393,9 @@
     <ClCompile Include="Emu\RSX\Program\Assembler\FPASM.cpp">
       <Filter>Emu\GPU\RSX\Program\Assembler</Filter>
     </ClCompile>
+    <ClCompile Include="Emu\Io\ps_move_data.cpp">
+      <Filter>Emu\Io</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="Crypto\aes.h">
@@ -2800,6 +2803,9 @@
     <ClInclude Include="Emu\RSX\Program\Assembler\FPASM.h">
       <Filter>Emu\GPU\RSX\Program\Assembler</Filter>
     </ClInclude>
+    <ClInclude Include="Emu\Io\ps_move_data.h">
+      <Filter>Emu\Io</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <None Include="Emu\RSX\Program\GLSLSnippets\GPUDeswizzle.glsl">