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Remove RealMotionDevice

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This commit is contained in:
german 2020-09-02 19:59:34 -05:00
parent 8e18b61972
commit 0774b17846
7 changed files with 41 additions and 35 deletions
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17
src/input_common/motion_emu.cpp
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@ -56,7 +56,7 @@ public:
is_tilting = false;
}
std::tuple<Common::Vec3<float>, Common::Vec3<float>> GetStatus() {
Input::MotionStatus GetStatus() {
std::lock_guard guard{status_mutex};
return status;
}
@ -76,7 +76,7 @@ private:
Common::Event shutdown_event;
std::tuple<Common::Vec3<float>, Common::Vec3<float>> status;
Input::MotionStatus status;
std::mutex status_mutex;
// Note: always keep the thread declaration at the end so that other objects are initialized
@ -113,10 +113,19 @@ private:
gravity = QuaternionRotate(inv_q, gravity);
angular_rate = QuaternionRotate(inv_q, angular_rate);
// TODO: Calculate the correct rotation vector and orientation matrix
const auto matrix4x4 = q.ToMatrix();
const auto rotation = Common::MakeVec(0.0f, 0.0f, 0.0f);
const std::array orientation{
Common::Vec3f(matrix4x4[0], matrix4x4[1], -matrix4x4[2]),
Common::Vec3f(matrix4x4[4], matrix4x4[5], -matrix4x4[6]),
Common::Vec3f(-matrix4x4[8], -matrix4x4[9], matrix4x4[10]),
};
// Update the sensor state
{
std::lock_guard guard{status_mutex};
status = std::make_tuple(gravity, angular_rate);
status = std::make_tuple(gravity, angular_rate, rotation, orientation);
}
}
}
@ -131,7 +140,7 @@ public:
device = std::make_shared<MotionEmuDevice>(update_millisecond, sensitivity);
}
std::tuple<Common::Vec3<float>, Common::Vec3<float>> GetStatus() const override {
Input::MotionStatus GetStatus() const override {
return device->GetStatus();
}