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/* Copyright (c) 2012-2016 Stanislaw Halik
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*/
#include "ftnoir_filter_accela.h"
#include <algorithm>
#include <cmath>
#include <QDebug>
#include <QMutexLocker>
#include "api/plugin-api.hpp"
using std::fabs;
using std::sqrt;
using std::pow;
using std::copysign;
constexpr double settings_accela::rot_gains[16][2];
constexpr double settings_accela::pos_gains[16][2];
accela::accela() : first_run(true)
{
s.make_splines(spline_rot, spline_pos);
}
template <typename T>
static inline constexpr T signum(T x)
{
return T((T(0) < x) - (x < T(0)));
}
template<int N = 3, typename F>
static void do_deltas(const double* deltas, double* output, F&& fun)
{
double norm[N];
const double dist = progn(
double ret = 0;
for (unsigned k = 0; k < N; k++)
ret += deltas[k]*deltas[k];
return sqrt(ret);
);
const double value = double(fun(dist));
for (unsigned k = 0; k < N; k++)
{
const double c = dist > 1e-6 ? clamp((fabs(deltas[k]) / dist), 0., 1.) : 0;
norm[k] = c;
}
progn(
double n = 0;
for (unsigned k = 0; k < N; k++)
n += norm[k];
if (n > 1e-6)
{
const double ret = 1./n;
for (unsigned k = 0; k < N; k++)
norm[k] *= ret;
}
else
for (unsigned k = 0; k < N; k++)
norm[k] = 0;
);
for (unsigned k = 0; k < N; k++)
{
const double d = norm[k] * value;
output[k] = signum(deltas[k]) * d;
}
}
void accela::filter(const double* input, double *output)
{
if (first_run)
{
for (int i = 0; i < 6; i++)
{
const double f = input[i];
output[i] = f;
last_output[i] = f;
smoothed_input[i] = f;
}
first_run = false;
t.start();
return;
}
const double rot_thres = s.rot_sensitivity.to<double>();
const double pos_thres = s.pos_sensitivity.to<double>();
const double dt = t.elapsed_seconds();
t.start();
const double RC = s.ewma.to<double>() / 1000.; // seconds
const double alpha = dt/(dt+RC);
const double rot_dz = s.rot_deadzone.to<double>();
const double pos_dz = s.pos_deadzone.to<double>();
const double nl = s.rot_nonlinearity.to<double>();
for (unsigned i = 0; i < 6; i++)
smoothed_input[i] = smoothed_input[i] * (1-alpha) + input[i] * alpha;
// rot
for (unsigned i = 3; i < 6; i++)
{
double d = smoothed_input[i] - last_output[i];
if (fabs(d) > rot_dz)
d -= copysign(rot_dz, d);
else
d = 0;
deltas[i] = d / rot_thres;
}
if (nl > 1.)
{
for (unsigned k = 3; k < 6; k++)
{
static constexpr double nl_end = 1.5;
if (fabs(deltas[k]) <= nl_end)
deltas[k] = copysign(pow(fabs(deltas[k]/nl_end), nl) * nl_end, deltas[k]);
}
}
do_deltas(&deltas[Yaw], &output[Yaw], [this](double x) { return spline_rot.get_value_no_save(x); });
// pos
for (unsigned i = 0; i < 3; i++)
{
double d = smoothed_input[i] - last_output[i];
if (fabs(d) > pos_dz)
d -= copysign(pos_dz, d);
else
d = 0;
deltas[i] = d / pos_thres;
}
do_deltas(&deltas[TX], &output[TX], [this](double x) { return spline_pos.get_value_no_save(x); });
// end
for (unsigned k = 0; k < 6; k++)
{
output[k] *= dt;
output[k] += last_output[k];
last_output[k] = output[k];
}
}
void settings_accela::make_splines(spline& rot, spline& trans)
{
rot = spline();
trans = spline();
rot.set_max_input(rot_gains[0][0]);
trans.set_max_input(pos_gains[0][0]);
rot.set_max_output(rot_gains[0][1]);
trans.set_max_output(pos_gains[0][1]);
for (int i = 0; rot_gains[i][0] >= 0; i++)
rot.add_point(QPointF(rot_gains[i][0], rot_gains[i][1]));
for (int i = 0; pos_gains[i][0] >= 0; i++)
trans.add_point(QPointF(pos_gains[i][0], pos_gains[i][1]));
}
OPENTRACK_DECLARE_FILTER(accela, dialog_accela, accelaDll)
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