Implement a basic class for motion devices

src/input_common/motion_input.h

@@ -0,0 +1,62 @@
+// Copyright 2014 Dolphin Emulator Project
+// Licensed under GPLv2+
+// Refer to the license.txt file included.
+
+#pragma once
+
+#include "common/common_types.h"
+#include "common/quaternion.h"
+#include "common/vector_math.h"
+
+namespace InputCommon {
+
+class MotionInput {
+public:
+    MotionInput(f32 new_kp, f32 new_ki, f32 new_kd);
+
+    void SetAcceleration(Common::Vec3f acceleration);
+    void SetGyroscope(Common::Vec3f acceleration);
+    void SetQuaternion(Common::Quaternion<f32> quaternion);
+    void SetGyroDrift(Common::Vec3f drift);
+    void SetGyroThreshold(f32 threshold);
+
+    void EnableReset(bool reset);
+    void ResetRotations();
+
+    void UpdateRotation(u64 elapsed_time);
+    void UpdateOrientation(u64 elapsed_time);
+
+    std::array<Common::Vec3f, 3> GetOrientation();
+    Common::Vec3f GetAcceleration();
+    Common::Vec3f GetGyroscope();
+    Common::Vec3f GetRotations();
+    Common::Quaternion<f32> GetQuaternion();
+
+    bool IsMoving(f32 sensitivity);
+    bool IsCalibrated(f32 sensitivity);
+
+    // PID constants
+    const f32 kp;
+    const f32 ki;
+    const f32 kd;
+
+private:
+    void resetOrientation();
+
+    // PID errors
+    Common::Vec3f real_error;
+    Common::Vec3f integral_error;
+    Common::Vec3f derivative_error;
+
+    Common::Quaternion<f32> quat;
+    Common::Vec3f rotations;
+    Common::Vec3f accel;
+    Common::Vec3f gyro;
+    Common::Vec3f gyro_drift;
+
+    f32 gyro_threshold;
+    f32 reset_counter;
+    bool reset_enabled;
+};
+
+} // namespace InputCommon