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InputCommon/WiimoteEmu: Replace stateful rotational matrices with quaternions.

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This commit is contained in:
Jordan Woyak
2020-10-19 15:29:16 -05:00
parent 39030ea33c
commit 09431635f3
7 changed files with 43 additions and 35 deletions
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7
Source/Core/InputCommon/ControllerInterface/Wiimote/Wiimote.cpp
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@ -1179,7 +1179,7 @@ void Device::UpdateOrientation()
// Apply M+ gyro data to our orientation.
m_orientation =
WiimoteEmu::GetMatrixFromGyroscope(m_mplus_state.gyro_data * -1 * elapsed_time.count()) *
WiimoteEmu::GetRotationFromGyroscope(m_mplus_state.gyro_data * -1 * elapsed_time.count()) *
m_orientation;
// When M+ data is not available give accel/ir data more weight.
@ -1204,7 +1204,7 @@ void Device::UpdateOrientation()
m_ir_state.center_position.x * WiimoteEmu::CameraLogic::CAMERA_FOV_X) /
2;
const auto ir_normal = Common::Vec3(0, 1, 0);
const auto ir_vector = WiimoteEmu::GetMatrixFromGyroscope(-ir_rotation) * ir_normal;
const auto ir_vector = WiimoteEmu::GetRotationFromGyroscope(-ir_rotation) * ir_normal;
// Pitch correction will be slightly wrong based on sensorbar height.
// Keep weight below accelerometer weight for that reason.
@ -1214,6 +1214,9 @@ void Device::UpdateOrientation()
m_orientation = WiimoteEmu::ComplementaryFilter(m_orientation, ir_vector, ir_weight, ir_normal);
}
// Normalize for floating point inaccuracies.
m_orientation = m_orientation.Normalized();
// Update our (pitch, roll, yaw) inputs now that orientation has been adjusted.
m_rotation_inputs =
Common::Vec3{WiimoteEmu::GetPitch(m_orientation), WiimoteEmu::GetRoll(m_orientation),