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38 lines
1.9 KiB
C++
38 lines
1.9 KiB
C++
#pragma once
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#include <cmath>
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#include <glm/glm.hpp>
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#include "helpers.hpp"
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#include "services/hid.hpp"
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// Convert SDL sensor readings to 3DS format
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// We use the same code for Android as well, since the values we get from Android are in the same format as SDL (m/s^2 for acceleration, rad/s for
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// rotation)
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namespace Sensors::SDL {
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// Convert the rotation data we get from SDL sensor events to rotation data we can feed right to HID
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// Returns [pitch, roll, yaw]
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static glm::vec3 convertRotation(glm::vec3 rotation) {
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// Annoyingly, Android doesn't support the <numbers> header yet so we define pi ourselves
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static constexpr double pi = 3.141592653589793;
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// Convert the rotation from rad/s to deg/s and scale by the gyroscope coefficient in HID
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constexpr float scale = 180.f / pi * HIDService::gyroscopeCoeff;
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// The axes are also inverted, so invert scale before the multiplication.
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return rotation * -scale;
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}
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static glm::vec3 convertAcceleration(float* data) {
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// 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
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// 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.
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// This code tries to mimic this approximately, with offsets based on measurements from my DualShock 4.
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static constexpr float accelMax = 9.f;
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// We define standard gravity(g) ourself instead of using the SDL one in order for the code to work on Android too.
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static constexpr float standardGravity = 9.80665f;
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s16 x = std::clamp<s16>(s16(data[0] / accelMax * 930.f), -930, +930);
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s16 y = std::clamp<s16>(s16(data[1] / (standardGravity * accelMax) * 930.f - 350.f), -930, +930);
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s16 z = std::clamp<s16>(s16((data[2] - 2.1f) / accelMax * 930.f), -930, +930);
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return glm::vec3(x, y, z);
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}
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} // namespace Sensors::SDL
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