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Merge pull request #13334 from jordan-woyak/mplus-lround

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WiimoteEmu/MotionPlus: Gyro data calculation cleanup.
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Admiral H. Curtiss 2025-02-06 22:20:24 +01:00 committed by GitHub
commit c6be362a8c
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1 changed files with 14 additions and 27 deletions
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41
Source/Core/Core/HW/WiimoteEmu/MotionPlus.cpp
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@ -14,10 +14,8 @@
#include "Common/Hash.h" #include "Common/Hash.h"
#include "Common/Logging/Log.h" #include "Common/Logging/Log.h"
#include "Common/MathUtil.h" #include "Common/MathUtil.h"
#include "Common/MsgHandler.h"
#include "Core/HW/Wiimote.h" #include "Core/HW/Wiimote.h"
#include "Core/HW/WiimoteEmu/Dynamics.h"
#include "Core/HW/WiimoteEmu/Extension/DesiredExtensionState.h" #include "Core/HW/WiimoteEmu/Extension/DesiredExtensionState.h"
namespace namespace
@ -530,37 +528,26 @@ void MotionPlus::Update(const DesiredExtensionState& target_state)
MotionPlus::DataFormat::Data MotionPlus::GetGyroscopeData(const Common::Vec3& angular_velocity) MotionPlus::DataFormat::Data MotionPlus::GetGyroscopeData(const Common::Vec3& angular_velocity)
{ {
// Slow (high precision) scaling can be used if it fits in the sensor range. DataFormat::Data result;
const float yaw = angular_velocity.z; for (size_t i = 0; i != angular_velocity.data.size(); ++i)
const bool yaw_slow = (std::abs(yaw) < SLOW_MAX_RAD_PER_SEC); {
const s32 yaw_value = yaw * (yaw_slow ? SLOW_SCALE : FAST_SCALE); const float rad_per_sec = angular_velocity.data[i];
const float roll = angular_velocity.y; // Slow (high precision) scaling can be used if it fits in the sensor range.
const bool roll_slow = (std::abs(roll) < SLOW_MAX_RAD_PER_SEC); const bool is_slow = std::abs(rad_per_sec) < SLOW_MAX_RAD_PER_SEC;
const s32 roll_value = roll * (roll_slow ? SLOW_SCALE : FAST_SCALE); result.is_slow.data[i] = is_slow;
const float pitch = angular_velocity.x; const s32 value = std::lround(rad_per_sec * (is_slow ? SLOW_SCALE : FAST_SCALE));
const bool pitch_slow = (std::abs(pitch) < SLOW_MAX_RAD_PER_SEC); result.gyro.value.data[i] = u16(std::clamp(value + ZERO_VALUE, 0, MAX_VALUE));
const s32 pitch_value = pitch * (pitch_slow ? SLOW_SCALE : FAST_SCALE); }
return result;
const u16 clamped_yaw_value = u16(std::llround(std::clamp(yaw_value + ZERO_VALUE, 0, MAX_VALUE)));
const u16 clamped_roll_value =
u16(std::llround(std::clamp(roll_value + ZERO_VALUE, 0, MAX_VALUE)));
const u16 clamped_pitch_value =
u16(std::llround(std::clamp(pitch_value + ZERO_VALUE, 0, MAX_VALUE)));
return MotionPlus::DataFormat::Data{
MotionPlus::DataFormat::GyroRawValue{MotionPlus::DataFormat::GyroType(
clamped_pitch_value, clamped_roll_value, clamped_yaw_value)},
MotionPlus::DataFormat::SlowType(pitch_slow, roll_slow, yaw_slow)};
} }
MotionPlus::DataFormat::Data MotionPlus::GetDefaultGyroscopeData() MotionPlus::DataFormat::Data MotionPlus::GetDefaultGyroscopeData()
{ {
return MotionPlus::DataFormat::Data{ return DataFormat::Data{DataFormat::GyroRawValue{DataFormat::GyroType{
MotionPlus::DataFormat::GyroRawValue{ u16(ZERO_VALUE), u16(ZERO_VALUE), u16(ZERO_VALUE)}},
MotionPlus::DataFormat::GyroType(u16(ZERO_VALUE), u16(ZERO_VALUE), u16(ZERO_VALUE))}, DataFormat::SlowType{true, true, true}};
MotionPlus::DataFormat::SlowType(true, true, true)};
} }
// This is something that is triggered by a read of 0x00 on real hardware. // This is something that is triggered by a read of 0x00 on real hardware.