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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 "compat/math.hpp"
#include "api/plugin-api.hpp"
#include <algorithm>
#include <QDebug>
#include <QMutexLocker>
#include "compat/math-imports.hpp"
constexpr settings_accela::gains settings_accela::rot_gains[16];
constexpr settings_accela::gains settings_accela::pos_gains[16];
accela::accela() : first_run(true)
{
s.make_splines(spline_rot, spline_pos);
}
template<int N = 3, typename F>
never_inline
static void do_deltas(const double* deltas, double* output, double alpha, double& smoothed, 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 dist = fmin(dist_, alpha*dist_ + (1-alpha)*smoothed);
smoothed = dist;
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 (unlikely(first_run))
{
first_run = false;
for (int i = 0; i < 6; i++)
{
const double f = input[i];
output[i] = f;
last_output[i] = f;
}
smoothed_input[0] = 0;
smoothed_input[1] = 0;
t.start();
#if defined DEBUG_ACCELA
debug_max = 0;
debug_timer.start();
#endif
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>();
// rot
for (unsigned i = 3; i < 6; i++)
{
double d = input[i] - last_output[i];
if (fabs(d) > rot_dz)
d -= copysign(rot_dz, d);
else
d /= 2;
deltas[i] = d / rot_thres;
}
do_deltas(&deltas[Yaw], &output[Yaw], alpha, smoothed_input[0], [this](double x) { return spline_rot.get_value_no_save(x); });
#if defined DEBUG_ACCELA
var.input(fabs(smoothed_input[0]) + fabs(smoothed_input[1]) + fabs(smoothed_input[2]));
debug_max = fmax(debug_max, smoothed_input[0]);
using time_units::secs_;
if (debug_timer.is_elapsed(secs_(1)))
{
qDebug() << "accela:"
<< "max" << debug_max
<< "mean" << var.avg()
<< "stddev/mean" << var.stddev() / var.avg();
var.clear();
debug_max = 0;
}
#endif
// pos
for (unsigned i = 0; i < 3; i++)
{
double d = input[i] - last_output[i];
if (fabs(d) > pos_dz)
d -= copysign(pos_dz, d);
else
d /= 2;
deltas[i] = d / pos_thres;
}
do_deltas(&deltas[TX], &output[TX], alpha, smoothed_input[1], [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& pos)
{
rot = spline();
pos = spline();
for (const auto& val : rot_gains)
rot.add_point(QPointF(val.x, val.y));
for (const auto& val : pos_gains)
pos.add_point(QPointF(val.x, val.y));
}
OPENTRACK_DECLARE_FILTER(accela, dialog_accela, accelaDll)
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