Merge branch 'master' into shader-decomp

include/panda_qt/main_window.hpp

@@ -122,6 +122,7 @@ class MainWindow : public QMainWindow {
 	void showAboutMenu();
 	void initControllers();
 	void pollControllers();
+	void setupControllerSensors(SDL_GameController* controller);
 	void sendMessage(const EmulatorMessage& message);
 	void dispatchMessage(const EmulatorMessage& message);
 

include/panda_sdl/frontend_sdl.hpp

@@ -37,4 +37,6 @@ class FrontendSDL {
 	// And so the user can still use the keyboard to control the analog
 	bool keyboardAnalogX = false;
 	bool keyboardAnalogY = false;
+
+	void setupControllerSensors(SDL_GameController* controller);
 };

include/sdl_sensors.hpp

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <cmath>
+#include <glm/glm.hpp>
+#include <numbers>
+
+#include "helpers.hpp"
+#include "services/hid.hpp"
+
+namespace Sensors::SDL {
+	// Convert the rotation data we get from SDL sensor events to rotation data we can feed right to HID
+	// Returns [pitch, roll, yaw]
+	static glm::vec3 convertRotation(glm::vec3 rotation) {
+		// Convert the rotation from rad/s to deg/s and scale by the gyroscope coefficient in HID
+		constexpr float scale = 180.f / std::numbers::pi * HIDService::gyroscopeCoeff;
+		// The axes are also inverted, so invert scale before the multiplication.
+		return rotation * -scale;
+	}
+
+	static glm::vec3 convertAcceleration(float* data) {
+		// Set our cap to ~9 m/s^2. The 3DS sensors cap at -930 and +930, so values above this value will get clamped to 930
+		// At rest (3DS laid flat on table), hardware reads around ~0 for x and z axis, and around ~480 for y axis due to gravity.
+		// This code tries to mimic this approximately, with offsets based on measurements from my DualShock 4.
+		static constexpr float accelMax = 9.f;
+
+		s16 x = std::clamp<s16>(s16(data[0] / accelMax * 930.f), -930, +930);
+		s16 y = std::clamp<s16>(s16(data[1] / (SDL_STANDARD_GRAVITY * accelMax) * 930.f - 350.f), -930, +930);
+		s16 z = std::clamp<s16>(s16((data[2] - 2.1f) / accelMax * 930.f), -930, +930);
+
+		return glm::vec3(x, y, z);
+	}
+}  // namespace Sensors::SDL

include/services/hid.hpp

@@ -56,6 +56,7 @@ class HIDService {
 	s16 circlePadX, circlePadY;      // Circlepad state
 	s16 touchScreenX, touchScreenY;  // Touchscreen state
 	s16 roll, pitch, yaw;            // Gyroscope state
+	s16 accelX, accelY, accelZ;      // Accelerometer state
 
 	bool accelerometerEnabled;
 	bool eventsInitialized;
@@ -87,7 +88,14 @@ class HIDService {
 		*(T*)&sharedMem[offset] = value;
 	}
 
+	template <typename T>
+	T* getSharedMemPointer(size_t offset) {
+		return (T*)&sharedMem[offset];
+	}
+
   public:
+	static constexpr float gyroscopeCoeff = 14.375f;  // Same as retail 3DS
+
 	HIDService(Memory& mem, Kernel& kernel) : mem(mem), kernel(kernel) {}
 	void reset();
 	void handleSyncRequest(u32 messagePointer);
@@ -128,6 +136,12 @@ class HIDService {
 	void setPitch(s16 value) { pitch = value; }
 	void setYaw(s16 value) { yaw = value; }
 
+	void setAccel(s16 x, s16 y, s16 z) {
+		accelX = x;
+		accelY = y;
+		accelZ = z;
+	}
+
 	void updateInputs(u64 currentTimestamp);
 
 	void setSharedMem(u8* ptr) {