From 520e00c5531f92bd9dca36901835bc546fbe1dd9 Mon Sep 17 00:00:00 2001
From: wheremyfoodat <44909372+wheremyfoodat@users.noreply.github.com>
Date: Wed, 14 Aug 2024 22:57:45 +0300
Subject: [PATCH] Qt: Add controller gyroscope

---
 include/panda_qt/main_window.hpp |  1 +
 src/panda_qt/main_window.cpp     | 28 ++++++++++++++++++++++++++++
 src/panda_sdl/frontend_sdl.cpp   |  2 +-
 3 files changed, 30 insertions(+), 1 deletion(-)

diff --git a/include/panda_qt/main_window.hpp b/include/panda_qt/main_window.hpp
index ecdbc02e..3ff16a1d 100644
--- a/include/panda_qt/main_window.hpp
+++ b/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);
 
diff --git a/src/panda_qt/main_window.cpp b/src/panda_qt/main_window.cpp
index 65769116..f1949da7 100644
--- a/src/panda_qt/main_window.cpp
+++ b/src/panda_qt/main_window.cpp
@@ -9,6 +9,7 @@
 
 #include "cheats.hpp"
 #include "input_mappings.hpp"
+#include "sdl_gyro.hpp"
 #include "services/dsp.hpp"
 
 MainWindow::MainWindow(QApplication* app, QWidget* parent) : QMainWindow(parent), keyboardMappings(InputMappings::defaultKeyboardMappings()) {
@@ -521,6 +522,8 @@ void MainWindow::initControllers() {
 			SDL_Joystick* stick = SDL_GameControllerGetJoystick(gameController);
 			gameControllerID = SDL_JoystickInstanceID(stick);
 		}
+
+		setupControllerSensors(gameController);
 	}
 }
 
@@ -558,6 +561,8 @@ void MainWindow::pollControllers() {
 				if (gameController == nullptr) {
 					gameController = SDL_GameControllerOpen(event.cdevice.which);
 					gameControllerID = event.cdevice.which;
+
+					setupControllerSensors(gameController);
 				}
 				break;
 
@@ -598,6 +603,29 @@ void MainWindow::pollControllers() {
 				}
 				break;
 			}
+
+			case SDL_CONTROLLERSENSORUPDATE: {
+				if (event.csensor.sensor == SDL_SENSOR_GYRO) {
+					auto rotation = Gyro::SDL::convertRotation({
+						event.csensor.data[0],
+						event.csensor.data[1],
+						event.csensor.data[2],
+					});
+
+					hid.setPitch(s16(rotation.x));
+					hid.setRoll(s16(rotation.y));
+					hid.setYaw(s16(rotation.z));
+				}
+				break;
+			}
 		}
 	}
 }
+
+void MainWindow::setupControllerSensors(SDL_GameController* controller) {
+	bool haveGyro = SDL_GameControllerHasSensor(controller, SDL_SENSOR_GYRO) == SDL_TRUE;
+
+	if (haveGyro) {
+		SDL_GameControllerSetSensorEnabled(controller, SDL_SENSOR_GYRO, SDL_TRUE);
+	}
+}
\ No newline at end of file
diff --git a/src/panda_sdl/frontend_sdl.cpp b/src/panda_sdl/frontend_sdl.cpp
index 703fb1c7..8f9f4240 100644
--- a/src/panda_sdl/frontend_sdl.cpp
+++ b/src/panda_sdl/frontend_sdl.cpp
@@ -289,7 +289,7 @@ void FrontendSDL::run() {
 									
 				case SDL_CONTROLLERSENSORUPDATE: {
 					if (event.csensor.sensor == SDL_SENSOR_GYRO) {
-						glm::vec3 rotation = Gyro::SDL::convertRotation({
+						auto rotation = Gyro::SDL::convertRotation({
 							event.csensor.data[0],
 							event.csensor.data[1],
 							event.csensor.data[2],