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WiimoteEmu: Improve emulated swing.

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jordan-woyak committed Apr 7, 2019
1 parent 4374600 commit ba1b3351184864ed3d5692a461b00edd2f3a21f6
@@ -24,6 +24,18 @@ constexpr T Clamp(const T val, const T& min, const T& max)
return std::max(min, std::min(max, val));
}

template <typename T>
constexpr auto Sign(const T& val) -> decltype((T{} < val) - (val < T{}))
{
return (T{} < val) - (val < T{});
}

template <typename T, typename F>
constexpr auto Lerp(const T& x, const T& y, const F& a) -> decltype(x + (y - x) * a)
{
return x + (y - x) * a;
}

template <typename T>
constexpr bool IsPow2(T imm)
{
@@ -6,6 +6,7 @@

#include <array>
#include <cmath>
#include <functional>
#include <type_traits>

// Tiny matrix/vector library.
@@ -58,6 +59,25 @@ union TVec3

TVec3 operator-() const { return {-x, -y, -z}; }

// Apply function to each element and return the result.
template <typename F>
auto Map(F&& f) const -> TVec3<decltype(f(T{}))>
{
return {f(x), f(y), f(z)};
}

template <typename F, typename T2>
auto Map(F&& f, const TVec3<T2>& t) const -> TVec3<decltype(f(T{}, t.x))>
{
return {f(x, t.x), f(y, t.y), f(z, t.z)};
}

template <typename F, typename T2>
auto Map(F&& f, T2 scalar) const -> TVec3<decltype(f(T{}, scalar))>
{
return {f(x, scalar), f(y, scalar), f(z, scalar)};
}

std::array<T, 3> data = {};

struct
@@ -69,39 +89,45 @@ union TVec3
};

template <typename T>
TVec3<T> operator+(TVec3<T> lhs, const TVec3<T>& rhs)
TVec3<bool> operator<(const TVec3<T>& lhs, const TVec3<T>& rhs)
{
return lhs += rhs;
return lhs.Map(std::less<T>{}, rhs);
}

template <typename T>
TVec3<T> operator-(TVec3<T> lhs, const TVec3<T>& rhs)
auto operator+(const TVec3<T>& lhs, const TVec3<T>& rhs) -> TVec3<decltype(lhs.x + rhs.x)>
{
return lhs -= rhs;
return lhs.Map(std::plus<decltype(lhs.x + rhs.x)>{}, rhs);
}

template <typename T>
TVec3<T> operator*(TVec3<T> lhs, const TVec3<T>& rhs)
auto operator-(const TVec3<T>& lhs, const TVec3<T>& rhs) -> TVec3<decltype(lhs.x - rhs.x)>
{
return lhs *= rhs;
return lhs.Map(std::minus<decltype(lhs.x - rhs.x)>{}, rhs);
}

template <typename T>
inline TVec3<T> operator/(TVec3<T> lhs, const TVec3<T>& rhs)
template <typename T1, typename T2>
auto operator*(const TVec3<T1>& lhs, const TVec3<T2>& rhs) -> TVec3<decltype(lhs.x * rhs.x)>
{
return lhs /= rhs;
return lhs.Map(std::multiplies<decltype(lhs.x * rhs.x)>{}, rhs);
}

template <typename T>
TVec3<T> operator*(TVec3<T> lhs, std::common_type_t<T> scalar)
auto operator/(const TVec3<T>& lhs, const TVec3<T>& rhs) -> TVec3<decltype(lhs.x / rhs.x)>
{
return lhs *= TVec3<T>{scalar, scalar, scalar};
return lhs.Map(std::divides<decltype(lhs.x / rhs.x)>{}, rhs);
}

template <typename T>
TVec3<T> operator/(TVec3<T> lhs, std::common_type_t<T> scalar)
template <typename T1, typename T2>
auto operator*(const TVec3<T1>& lhs, T2 scalar) -> TVec3<decltype(lhs.x * scalar)>
{
return lhs.Map(std::multiplies<decltype(lhs.x * scalar)>{}, scalar);
}

template <typename T1, typename T2>
auto operator/(const TVec3<T1>& lhs, T2 scalar) -> TVec3<decltype(lhs.x / scalar)>
{
return lhs /= TVec3<T>{scalar, scalar, scalar};
return lhs.Map(std::divides<decltype(lhs.x / scalar)>{}, scalar);
}

using Vec3 = TVec3<float>;
@@ -57,7 +57,7 @@ namespace WiimoteEmu
void EmulateShake(PositionalState* state, ControllerEmu::Shake* const shake_group,
float time_elapsed)
{
auto target_position = shake_group->GetState() * shake_group->GetIntensity() / 2;
auto target_position = shake_group->GetState() * float(shake_group->GetIntensity() / 2);
for (std::size_t i = 0; i != target_position.data.size(); ++i)
{
if (state->velocity.data[i] * std::copysign(1.f, target_position.data[i]) < 0 ||
@@ -90,30 +90,90 @@ void EmulateTilt(RotationalState* state, ControllerEmu::Tilt* const tilt_group,
const ControlState roll = target.x * MathUtil::PI;
const ControlState pitch = target.y * MathUtil::PI;

// TODO: expose this setting in UI:
// Higher values will be more responsive but will increase rate of M+ "desync".
// I'd rather not expose this value in the UI if not needed.
// Desync caused by tilt seems not as severe as accelerometer data can estimate pitch/yaw.
constexpr auto MAX_ACCEL = float(MathUtil::TAU * 50);

ApproachAngleWithAccel(state, Common::Vec3(pitch, -roll, 0), MAX_ACCEL, time_elapsed);
}

void EmulateSwing(MotionState* state, ControllerEmu::Force* swing_group, float time_elapsed)
{
const auto target = swing_group->GetState();
const auto input_state = swing_group->GetState();
const float max_distance = swing_group->GetMaxDistance();
const float max_angle = swing_group->GetTwistAngle();

// Note. Y/Z swapped because X/Y axis to the swing_group is X/Z to the wiimote.
// Note: Y/Z swapped because X/Y axis to the swing_group is X/Z to the wiimote.
// X is negated because Wiimote X+ is to the left.
ApproachPositionWithJerk(state, {-target.x, -target.z, target.y},
Common::Vec3{1, 1, 1} * swing_group->GetMaxJerk(), time_elapsed);
const auto target_position = Common::Vec3{-input_state.x, -input_state.z, input_state.y};

// Just jump to our target angle scaled by our progress to the target position.
// TODO: If we wanted to be less hacky we could use ApproachAngleWithAccel.
const auto angle = state->position / swing_group->GetMaxDistance() * swing_group->GetTwistAngle();
// Jerk is scaled based on input distance from center.
// X and Z scale is connected for sane movement about the circle.
const auto xz_target_dist = Common::Vec2{target_position.x, target_position.z}.Length();
const auto y_target_dist = std::abs(target_position.y);
const auto target_dist = Common::Vec3{xz_target_dist, y_target_dist, xz_target_dist};
const auto speed = MathUtil::Lerp(Common::Vec3{1, 1, 1} * float(swing_group->GetReturnSpeed()),
Common::Vec3{1, 1, 1} * float(swing_group->GetSpeed()),
target_dist / max_distance);

const auto old_angle = state->angle;
state->angle = {-angle.z, 0, angle.x};
// Convert our m/s "speed" to the jerk required to reach this speed when traveling 1 meter.
const auto max_jerk = speed * speed * speed * 4;

// Update velocity based on change in angle.
state->angular_velocity = state->angle - old_angle;
// Rotational acceleration to approximately match the completion time of our swing.
const auto max_accel = max_angle * speed.x * speed.x;

// Apply rotation based on amount of swing.
const auto target_angle =
Common::Vec3{-target_position.z, 0, target_position.x} / max_distance * max_angle;

// Angular acceleration * 2 seems to reduce "spurious stabs" in ZSS.
// TODO: Fix properly.
ApproachAngleWithAccel(state, target_angle, max_accel * 2, time_elapsed);

// Clamp X and Z rotation.
for (const int c : {0, 2})
{
if (std::abs(state->angle.data[c] / max_angle) > 1 &&
MathUtil::Sign(state->angular_velocity.data[c]) == MathUtil::Sign(state->angle.data[c]))
{
state->angular_velocity.data[c] = 0;
}
}

// Adjust target position backwards based on swing progress and max angle
// to simulate a swing with an outstretched arm.
const auto backwards_angle = std::max(std::abs(state->angle.x), std::abs(state->angle.z));
const auto backwards_movement = (1 - std::cos(backwards_angle)) * max_distance;

// TODO: Backswing jerk should be based on x/z speed.

ApproachPositionWithJerk(state, target_position + Common::Vec3{0, backwards_movement, 0},
max_jerk, time_elapsed);

// Clamp Left/Right/Up/Down movement within the configured circle.
const auto xz_progress =
Common::Vec2{state->position.x, state->position.z}.Length() / max_distance;
if (xz_progress > 1)
{
state->position.x /= xz_progress;
state->position.z /= xz_progress;

state->acceleration.x = state->acceleration.z = 0;
state->velocity.x = state->velocity.z = 0;
}

// Clamp Forward/Backward movement within the configured distance.
// We allow additional backwards movement for the back swing.
const auto y_progress = state->position.y / max_distance;
const auto max_y_progress = 2 - std::cos(max_angle);
if (y_progress > max_y_progress || y_progress < -1)
{
state->position.y =
MathUtil::Clamp(state->position.y, -1.f * max_distance, max_y_progress * max_distance);
state->velocity.y = 0;
state->acceleration.y = 0;
}
}

WiimoteCommon::DataReportBuilder::AccelData ConvertAccelData(const Common::Vec3& accel, u16 zero_g,
@@ -174,8 +234,10 @@ void EmulateCursor(MotionState* state, ControllerEmu::Cursor* ir_group, float ti
state->acceleration = new_position - state->position;
state->position = new_position;

// TODO: expose this setting in UI:
constexpr auto MAX_ACCEL = float(MathUtil::TAU * 100);
// Higher values will be more responsive but increase rate of M+ "desync".
// I'd rather not expose this value in the UI if not needed.
// At this value, sync is very good and responsiveness still appears instant.
constexpr auto MAX_ACCEL = float(MathUtil::TAU * 8);

ApproachAngleWithAccel(state, target_angle, MAX_ACCEL, time_elapsed);
}
@@ -190,10 +252,7 @@ void ApproachAngleWithAccel(RotationalState* state, const Common::Vec3& angle_ta

const auto offset = angle_target - state->angle;
const auto stop_offset = offset - stop_distance;

const Common::Vec3 accel{std::copysign(max_accel, stop_offset.x),
std::copysign(max_accel, stop_offset.y),
std::copysign(max_accel, stop_offset.z)};
const auto accel = MathUtil::Sign(stop_offset) * max_accel;

state->angular_velocity += accel * time_elapsed;

@@ -202,11 +261,11 @@ void ApproachAngleWithAccel(RotationalState* state, const Common::Vec3& angle_ta

for (std::size_t i = 0; i != offset.data.size(); ++i)
{
// If new velocity will overshoot assume we would have stopped right on target.
// TODO: Improve check to see if less accel would have caused undershoot.
if ((change_in_angle.data[i] / offset.data[i]) > 1.0)
// If new angle will overshoot stop right on target.
if (std::abs(offset.data[i]) < 0.0001 || (change_in_angle.data[i] / offset.data[i] > 1.0))
{
state->angular_velocity.data[i] = 0;
state->angular_velocity.data[i] =
(angle_target.data[i] - state->angle.data[i]) / time_elapsed;
state->angle.data[i] = angle_target.data[i];
}
else
@@ -226,10 +285,7 @@ void ApproachPositionWithJerk(PositionalState* state, const Common::Vec3& positi

const auto offset = position_target - state->position;
const auto stop_offset = offset - stop_distance;

const Common::Vec3 jerk{std::copysign(max_jerk.x, stop_offset.x),
std::copysign(max_jerk.y, stop_offset.y),
std::copysign(max_jerk.z, stop_offset.z)};
const auto jerk = MathUtil::Sign(stop_offset) * max_jerk;

state->acceleration += jerk * time_elapsed;

@@ -646,11 +646,6 @@ void MotionPlus::PrepareInput(const Common::Vec3& angular_velocity)
roll_value = MathUtil::Clamp(roll_value + ZERO_VALUE, 0, MAX_VALUE);
pitch_value = MathUtil::Clamp(pitch_value + ZERO_VALUE, 0, MAX_VALUE);

// TODO: Remove before merge.
// INFO_LOG(WIIMOTE, "M+ YAW: 0x%x slow:%d", yaw_value, mplus_data.yaw_slow);
// INFO_LOG(WIIMOTE, "M+ ROL: 0x%x slow:%d", roll_value, mplus_data.roll_slow);
// INFO_LOG(WIIMOTE, "M+ PIT: 0x%x slow:%d", pitch_value, mplus_data.pitch_slow);

// Bits 0-7
mplus_data.yaw1 = u8(yaw_value);
mplus_data.roll1 = u8(roll_value);
@@ -688,15 +688,28 @@ void Wiimote::StepDynamics()

Common::Vec3 Wiimote::GetAcceleration()
{
// TODO: Cursor movement should produce acceleration.
// TODO: Cursor forward/backward movement should produce acceleration.

Common::Vec3 accel =
GetOrientation() *
GetTransformation().Transform(
m_swing_state.acceleration + Common::Vec3(0, 0, float(GRAVITY_ACCELERATION)), 0);

// Our shake effects have never been affected by orientation. Should they be?
accel += m_shake_state.acceleration;

// Simulate centripetal acceleration caused by an offset of the accelerometer sensor.
// Estimate of sensor position based on an image of the wii remote board:
constexpr float ACCELEROMETER_Y_OFFSET = 0.1f;

const auto angular_velocity = GetAngularVelocity();
const auto centripetal_accel =
// TODO: Is this the proper way to combine the x and z angular velocities?
std::pow(std::abs(angular_velocity.x) + std::abs(angular_velocity.z), 2) *
ACCELEROMETER_Y_OFFSET;

accel.y += centripetal_accel;

return accel;
}

@@ -709,7 +722,7 @@ Common::Vec3 Wiimote::GetAngularVelocity()
Common::Matrix44 Wiimote::GetTransformation() const
{
// Includes positional and rotational effects of:
// IR, Swing, Tilt, Shake
// Cursor, Swing, Tilt, Shake

// TODO: think about and clean up matrix order, make nunchuk match.
return Common::Matrix44::Translate(-m_shake_state.position) *
@@ -492,11 +492,19 @@ void MappingIndicator::DrawForce(ControllerEmu::Force& force)
QRectF(-scale, raw_coord.z * scale - INPUT_DOT_RADIUS / 2, scale * 2, INPUT_DOT_RADIUS));

// Adjusted Z:
if (adj_coord.y)
const auto curve_point =
std::max(std::abs(m_motion_state.angle.x), std::abs(m_motion_state.angle.z)) / MathUtil::TAU;
if (adj_coord.y || curve_point)
{
p.setBrush(GetAdjustedInputColor());
p.drawRect(
QRectF(-scale, adj_coord.y * -scale - INPUT_DOT_RADIUS / 2, scale * 2, INPUT_DOT_RADIUS));
// Show off the angle somewhat with a curved line.
QPainterPath path;
path.moveTo(-scale, (adj_coord.y + curve_point) * -scale);
path.quadTo({0, (adj_coord.y - curve_point) * -scale},
{scale, (adj_coord.y + curve_point) * -scale});

p.setBrush(Qt::NoBrush);
p.setPen(QPen(GetAdjustedInputColor(), INPUT_DOT_RADIUS));
p.drawPath(path);
}

// Draw "gate" shape.

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