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move ps_move_data to own file

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Megamouse 2025-12-11 16:22:27 +01:00
parent 757e9a0493
commit c2284c962b
7 changed files with 223 additions and 201 deletions
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1
rpcs3/Emu/CMakeLists.txt
View File

@ -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

128
rpcs3/Emu/Io/pad_types.cpp
View File

@ -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)

75
rpcs3/Emu/Io/pad_types.h
View File

@ -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;

137
rpcs3/Emu/Io/ps_move_data.cpp Normal file
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@ -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;
}

75
rpcs3/Emu/Io/ps_move_data.h Normal file
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@ -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]);
};

2
rpcs3/emucore.vcxproj
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@ -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" />

6
rpcs3/emucore.vcxproj.filters
View File

@ -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">