InputCommon: Add real Wii Remote support to ControllerInterface. Add …

…option to connect additional Wii Remotes.

Source/Core/Core/ConfigManager.cpp

@@ -234,6 +234,7 @@ void SConfig::SaveCoreSettings(IniFile& ini)
   core->Set("WiiKeyboard", m_WiiKeyboard);
   core->Set("WiimoteContinuousScanning", m_WiimoteContinuousScanning);
   core->Set("WiimoteEnableSpeaker", m_WiimoteEnableSpeaker);
+  core->Set("WiimoteControllerInterface", connect_wiimotes_for_ciface);
   core->Set("RunCompareServer", bRunCompareServer);
   core->Set("RunCompareClient", bRunCompareClient);
   core->Set("MMU", bMMU);
@@ -511,6 +512,7 @@ void SConfig::LoadCoreSettings(IniFile& ini)
   core->Get("WiiKeyboard", &m_WiiKeyboard, false);
   core->Get("WiimoteContinuousScanning", &m_WiimoteContinuousScanning, false);
   core->Get("WiimoteEnableSpeaker", &m_WiimoteEnableSpeaker, false);
+  core->Get("WiimoteControllerInterface", &connect_wiimotes_for_ciface, false);
   core->Get("RunCompareServer", &bRunCompareServer, false);
   core->Get("RunCompareClient", &bRunCompareClient, false);
   core->Get("MMU", &bMMU, bMMU);

Source/Core/Core/ConfigManager.h

@@ -72,6 +72,7 @@ struct SConfig
   bool m_WiiKeyboard;
   bool m_WiimoteContinuousScanning;
   bool m_WiimoteEnableSpeaker;
+  bool connect_wiimotes_for_ciface;
 
   // ISO folder
   std::vector<std::string> m_ISOFolder;

Source/Core/Core/HW/WiimoteEmu/Camera.cpp

@@ -60,14 +60,6 @@ void CameraLogic::Update(const Common::Matrix44& transform)
   using Common::Vec3;
   using Common::Vec4;
 
-  constexpr int CAMERA_WIDTH = 1024;
-  constexpr int CAMERA_HEIGHT = 768;
-
-  // Wiibrew claims the camera FOV is about 33 deg by 23 deg.
-  // Unconfirmed but it seems to work well enough.
-  constexpr int CAMERA_FOV_X_DEG = 33;
-  constexpr int CAMERA_FOV_Y_DEG = 23;
-
   constexpr auto CAMERA_FOV_Y = float(CAMERA_FOV_Y_DEG * MathUtil::TAU / 360);
   constexpr auto CAMERA_ASPECT_RATIO = float(CAMERA_FOV_X_DEG) / CAMERA_FOV_Y_DEG;
 
@@ -112,12 +104,12 @@ void CameraLogic::Update(const Common::Matrix44& transform)
       if (point.z > 0)
       {
         // FYI: Casting down vs. rounding seems to produce more symmetrical output.
-        const auto x = s32((1 - point.x / point.w) * CAMERA_WIDTH / 2);
-        const auto y = s32((1 - point.y / point.w) * CAMERA_HEIGHT / 2);
+        const auto x = s32((1 - point.x / point.w) * CAMERA_RES_X / 2);
+        const auto y = s32((1 - point.y / point.w) * CAMERA_RES_Y / 2);
 
         const auto point_size = std::lround(MAX_POINT_SIZE / point.w / 2);
 
-        if (x >= 0 && y >= 0 && x < CAMERA_WIDTH && y < CAMERA_HEIGHT)
+        if (x >= 0 && y >= 0 && x < CAMERA_RES_X && y < CAMERA_RES_Y)
           return CameraPoint{u16(x), u16(y), u8(point_size)};
       }
 
@@ -165,7 +157,7 @@ void CameraLogic::Update(const Common::Matrix44& transform)
       for (std::size_t i = 0; i != camera_points.size(); ++i)
       {
         const auto& p = camera_points[i];
-        if (p.x < CAMERA_WIDTH)
+        if (p.x < CAMERA_RES_X)
         {
           IRExtended irdata = {};
 
@@ -186,7 +178,7 @@ void CameraLogic::Update(const Common::Matrix44& transform)
       for (std::size_t i = 0; i != camera_points.size(); ++i)
       {
         const auto& p = camera_points[i];
-        if (p.x < CAMERA_WIDTH)
+        if (p.x < CAMERA_RES_X)
         {
           IRFull irdata = {};
 
@@ -203,8 +195,8 @@ void CameraLogic::Update(const Common::Matrix44& transform)
 
           irdata.xmin = std::max(p.x - p.size, 0);
           irdata.ymin = std::max(p.y - p.size, 0);
-          irdata.xmax = std::min(p.x + p.size, CAMERA_WIDTH);
-          irdata.ymax = std::min(p.y + p.size, CAMERA_HEIGHT);
+          irdata.xmax = std::min(p.x + p.size, CAMERA_RES_X);
+          irdata.ymax = std::min(p.y + p.size, CAMERA_RES_Y);
 
           // TODO: Is this maybe MSbs of the "intensity" value?
           irdata.zero = 0;

Source/Core/Core/HW/WiimoteEmu/Camera.h

@@ -20,6 +20,8 @@ namespace WiimoteEmu
 // Four bytes for two objects. Filled with 0xFF if empty
 struct IRBasic
 {
+  using IRObject = Common::TVec2<u16>;
+
   u8 x1;
   u8 y1;
   u8 x2hi : 2;
@@ -28,6 +30,9 @@ struct IRBasic
   u8 y1hi : 2;
   u8 x2;
   u8 y2;
+
+  auto GetObject1() const { return IRObject(x1hi << 8 | x1, y1hi << 8 | y1); }
+  auto GetObject2() const { return IRObject(x2hi << 8 | x2, y2hi << 8 | y2); }
 };
 static_assert(sizeof(IRBasic) == 5, "Wrong size");
 
@@ -62,6 +67,14 @@ static_assert(sizeof(IRFull) == 9, "Wrong size");
 class CameraLogic : public I2CSlave
 {
 public:
+  static constexpr int CAMERA_RES_X = 1024;
+  static constexpr int CAMERA_RES_Y = 768;
+
+  // Wiibrew claims the camera FOV is about 33 deg by 23 deg.
+  // Unconfirmed but it seems to work well enough.
+  static constexpr int CAMERA_FOV_X_DEG = 33;
+  static constexpr int CAMERA_FOV_Y_DEG = 23;
+
   enum : u8
   {
     IR_MODE_BASIC = 1,

Source/Core/Core/HW/WiimoteEmu/Dynamics.cpp

@@ -54,11 +54,15 @@ double CalculateStopDistance(double velocity, double max_accel)
   return velocity * velocity / (2 * std::copysign(max_accel, velocity));
 }
 
-// Note that 'gyroscope' is rotation of world around device.
-Common::Matrix33 ComplementaryFilter(const Common::Vec3& accelerometer,
-                                     const Common::Matrix33& gyroscope, float accel_weight)
+}  // namespace
+
+namespace WiimoteEmu
 {
-  const auto gyro_vec = gyroscope * Common::Vec3{0, 0, 1};
+Common::Matrix33 ComplementaryFilter(const Common::Matrix33& gyroscope,
+                                     const Common::Vec3& accelerometer, float accel_weight,
+                                     const Common::Vec3& accelerometer_normal)
+{
+  const auto gyro_vec = gyroscope * accelerometer_normal;
   const auto normalized_accel = accelerometer.Normalized();
 
   const auto cos_angle = normalized_accel.Dot(gyro_vec);
@@ -76,10 +80,6 @@ Common::Matrix33 ComplementaryFilter(const Common::Vec3& accelerometer,
   }
 }
 
-}  // namespace
-
-namespace WiimoteEmu
-{
 IMUCursorState::IMUCursorState() : rotation{Common::Matrix33::Identity()}
 {
 }
@@ -203,17 +203,17 @@ void EmulateSwing(MotionState* state, ControllerEmu::Force* swing_group, float t
   }
 }
 
-WiimoteCommon::DataReportBuilder::AccelData ConvertAccelData(const Common::Vec3& accel, u16 zero_g,
-                                                             u16 one_g)
+WiimoteCommon::AccelData ConvertAccelData(const Common::Vec3& accel, u16 zero_g, u16 one_g)
 {
   const auto scaled_accel = accel * (one_g - zero_g) / float(GRAVITY_ACCELERATION);
 
   // 10-bit integers.
   constexpr long MAX_VALUE = (1 << 10) - 1;
 
-  return {u16(std::clamp(std::lround(scaled_accel.x + zero_g), 0l, MAX_VALUE)),
-          u16(std::clamp(std::lround(scaled_accel.y + zero_g), 0l, MAX_VALUE)),
-          u16(std::clamp(std::lround(scaled_accel.z + zero_g), 0l, MAX_VALUE))};
+  return WiimoteCommon::AccelData(
+      {u16(std::clamp(std::lround(scaled_accel.x + zero_g), 0l, MAX_VALUE)),
+       u16(std::clamp(std::lround(scaled_accel.y + zero_g), 0l, MAX_VALUE)),
+       u16(std::clamp(std::lround(scaled_accel.z + zero_g), 0l, MAX_VALUE))});
 }
 
 void EmulateCursor(MotionState* state, ControllerEmu::Cursor* ir_group, float time_elapsed)
@@ -311,28 +311,24 @@ void EmulateIMUCursor(IMUCursorState* state, ControllerEmu::IMUCursor* imu_ir_gr
   }
 
   // Apply rotation from gyro data.
-  const auto gyro_rotation = Common::Matrix33::FromQuaternion(ang_vel->x * time_elapsed / -2,
-                                                              ang_vel->y * time_elapsed / -2,
-                                                              ang_vel->z * time_elapsed / -2, 1);
+  const auto gyro_rotation = GetMatrixFromGyroscope(*ang_vel * -1 * time_elapsed);
   state->rotation = gyro_rotation * state->rotation;
 
   // If we have some non-zero accel data use it to adjust gyro drift.
   constexpr auto ACCEL_WEIGHT = 0.02f;
   auto const accel = imu_accelerometer_group->GetState().value_or(Common::Vec3{});
   if (accel.LengthSquared())
-    state->rotation = ComplementaryFilter(accel, state->rotation, ACCEL_WEIGHT);
-
-  const auto inv_rotation = state->rotation.Inverted();
+    state->rotation = ComplementaryFilter(state->rotation, accel, ACCEL_WEIGHT);
 
   // Clamp yaw within configured bounds.
-  const auto yaw = std::asin((inv_rotation * Common::Vec3{0, 1, 0}).x);
+  const auto yaw = GetYaw(state->rotation);
   const auto max_yaw = float(imu_ir_group->GetTotalYaw() / 2);
   auto target_yaw = std::clamp(yaw, -max_yaw, max_yaw);
 
   // Handle the "Recenter" button being pressed.
   if (imu_ir_group->controls[0]->GetState<bool>())
   {
-    state->recentered_pitch = std::asin((inv_rotation * Common::Vec3{0, 1, 0}).z);
+    state->recentered_pitch = GetPitch(state->rotation);
     target_yaw = 0;
   }
 
@@ -390,10 +386,33 @@ Common::Matrix33 GetMatrixFromAcceleration(const Common::Vec3& accel)
                                   axis.LengthSquared() ? axis.Normalized() : Common::Vec3{0, 1, 0});
 }
 
+Common::Matrix33 GetMatrixFromGyroscope(const Common::Vec3& gyro)
+{
+  return Common::Matrix33::FromQuaternion(gyro.x / 2, gyro.y / 2, gyro.z / 2, 1);
+}
+
 Common::Matrix33 GetRotationalMatrix(const Common::Vec3& angle)
 {
   return Common::Matrix33::RotateZ(angle.z) * Common::Matrix33::RotateY(angle.y) *
          Common::Matrix33::RotateX(angle.x);
 }
 
+float GetPitch(const Common::Matrix33& world_rotation)
+{
+  const auto vec = world_rotation * Common::Vec3{0, 0, 1};
+  return std::atan2(vec.y, Common::Vec2(vec.x, vec.z).Length());
+}
+
+float GetRoll(const Common::Matrix33& world_rotation)
+{
+  const auto vec = world_rotation * Common::Vec3{0, 0, 1};
+  return std::atan2(vec.x, vec.z);
+}
+
+float GetYaw(const Common::Matrix33& world_rotation)
+{
+  const auto vec = world_rotation.Inverted() * Common::Vec3{0, 1, 0};
+  return std::atan2(vec.x, vec.y);
+}
+
 }  // namespace WiimoteEmu

Source/Core/Core/HW/WiimoteEmu/Dynamics.h

@@ -54,12 +54,26 @@ struct MotionState : PositionalState, RotationalState
 {
 };
 
+// Note that 'gyroscope' is rotation of world around device.
+// Alternative accelerometer_normal can be supplied to correct from non-accelerometer data.
+// e.g. Used for yaw/pitch correction with IR data.
+Common::Matrix33 ComplementaryFilter(const Common::Matrix33& gyroscope,
+                                     const Common::Vec3& accelerometer, float accel_weight,
+                                     const Common::Vec3& accelerometer_normal = {0, 0, 1});
+
 // Estimate orientation from accelerometer data.
 Common::Matrix33 GetMatrixFromAcceleration(const Common::Vec3& accel);
 
+// Get a rotation matrix from current gyro data.
+Common::Matrix33 GetMatrixFromGyroscope(const Common::Vec3& gyro);
+
 // Build a rotational matrix from euler angles.
 Common::Matrix33 GetRotationalMatrix(const Common::Vec3& angle);
 
+float GetPitch(const Common::Matrix33& world_rotation);
+float GetRoll(const Common::Matrix33& world_rotation);
+float GetYaw(const Common::Matrix33& world_rotation);
+
 void ApproachPositionWithJerk(PositionalState* state, const Common::Vec3& target,
                               const Common::Vec3& max_jerk, float time_elapsed);
 
@@ -75,7 +89,6 @@ void EmulateIMUCursor(IMUCursorState* state, ControllerEmu::IMUCursor* imu_ir_gr
                       ControllerEmu::IMUGyroscope* imu_gyroscope_group, float time_elapsed);
 
 // Convert m/s/s acceleration data to the format used by Wiimote/Nunchuk (10-bit unsigned integers).
-WiimoteCommon::DataReportBuilder::AccelData ConvertAccelData(const Common::Vec3& accel, u16 zero_g,
-                                                             u16 one_g);
+WiimoteCommon::AccelData ConvertAccelData(const Common::Vec3& accel, u16 zero_g, u16 one_g);
 
 }  // namespace WiimoteEmu

Source/Core/Core/HW/WiimoteEmu/EmuSubroutines.cpp

@@ -236,10 +236,6 @@ void Wiimote::HandleRequestStatus(const OutputReportRequestStatus&)
   // Update status struct
   m_status.extension = m_extension_port.IsDeviceConnected();
 
-  // Based on testing, old WiiLi.org docs, and WiiUse library:
-  // Max battery level seems to be 0xc8 (decimal 200)
-  constexpr u8 MAX_BATTERY_LEVEL = 0xc8;
-
   m_status.battery = u8(std::lround(m_battery_setting.GetValue() / 100 * MAX_BATTERY_LEVEL));
 
   if (Core::WantsDeterminism())

Source/Core/Core/HW/WiimoteReal/IOdarwin.mm

@@ -257,12 +257,13 @@ @interface ConnectBT : NSObject
 @implementation SearchBT
 - (void)deviceInquiryComplete:(IOBluetoothDeviceInquiry*)sender
                         error:(IOReturn)error
-                      aborted:(BOOL)aborted {
+                      aborted:(BOOL)aborted
+{
   done = true;
 }
 
-- (void)deviceInquiryDeviceFound:(IOBluetoothDeviceInquiry*)sender
-                          device:(IOBluetoothDevice*)device {
+- (void)deviceInquiryDeviceFound:(IOBluetoothDeviceInquiry*)sender device:(IOBluetoothDevice*)device
+{
   NOTICE_LOG(WIIMOTE, "Discovered Bluetooth device at %s: %s", [[device addressString] UTF8String],
              [[device name] UTF8String]);
 
@@ -274,11 +275,12 @@ - (void)deviceInquiryDeviceFound:(IOBluetoothDeviceInquiry*)sender
 @implementation ConnectBT
 - (void)l2capChannelData:(IOBluetoothL2CAPChannel*)l2capChannel
                     data:(unsigned char*)data
-                  length:(NSUInteger)length {
+                  length:(NSUInteger)length
+{
   IOBluetoothDevice* device = [l2capChannel device];
   WiimoteReal::WiimoteDarwin* wm = nullptr;
 
-  std::lock_guard<std::mutex> lk(WiimoteReal::g_wiimotes_mutex);
+  std::lock_guard lk(WiimoteReal::g_wiimotes_mutex);
 
   for (int i = 0; i < MAX_WIIMOTES; i++)
   {
@@ -314,11 +316,12 @@ - (void)l2capChannelData:(IOBluetoothL2CAPChannel*)l2capChannel
   CFRunLoopStop(CFRunLoopGetCurrent());
 }
 
-- (void)l2capChannelClosed:(IOBluetoothL2CAPChannel*)l2capChannel {
+- (void)l2capChannelClosed:(IOBluetoothL2CAPChannel*)l2capChannel
+{
   IOBluetoothDevice* device = [l2capChannel device];
   WiimoteReal::WiimoteDarwin* wm = nullptr;
 
-  std::lock_guard<std::mutex> lk(WiimoteReal::g_wiimotes_mutex);
+  std::lock_guard lk(WiimoteReal::g_wiimotes_mutex);
 
   for (int i = 0; i < MAX_WIIMOTES; i++)
   {