diff options
Diffstat (limited to 'logic/pipeline.cpp')
| -rw-r--r-- | logic/pipeline.cpp | 77 |
1 files changed, 30 insertions, 47 deletions
diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp index 73f51509..4ebfedc8 100644 --- a/logic/pipeline.cpp +++ b/logic/pipeline.cpp @@ -77,29 +77,27 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, if (state != reltrans_disabled) { - { - bool in_zone_ = progn( - if (state == reltrans_non_center) - { - const bool looking_down = value(Pitch) < 20; - return looking_down ? std::fabs(value(Yaw)) > 35 : std::fabs(value(Yaw)) > 65; - } - else - return true; - ); - - if (!cur && in_zone != in_zone_) + const bool in_zone_ = progn( + if (state == reltrans_non_center) { - //qDebug() << "reltrans-interp: START" << tcomp_in_zone_; - cur = true; - interp_timer.start(); - interp_phase_timer.start(); - RC_phase = 0; + const bool looking_down = value(Pitch) < 20; + return looking_down ? std::fabs(value(Yaw)) > 35 : std::fabs(value(Yaw)) > 65; } + else + return true; + ); - in_zone = in_zone_; + if (!cur && in_zone != in_zone_) + { + //qDebug() << "reltrans-interp: START" << tcomp_in_zone_; + cur = true; + interp_timer.start(); + interp_phase_timer.start(); + RC_stage = 0; } + in_zone = in_zone_; + // only when looking behind or downward if (in_zone) { @@ -111,9 +109,9 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, rel = rotate(R, rel, &disable[TX]); // dynamic neck - if (neck_enable) + if (neck_enable && (state != reltrans_non_center || !in_zone)) { - const euler_t neck = apply_neck(value, -neck_z, disable(TZ)); + const euler_t neck = apply_neck(R, -neck_z, disable(TZ)); for (unsigned k = 0; k < 3; k++) rel(k) += neck(k); @@ -124,19 +122,19 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, { const double dt = interp_timer.elapsed_seconds(); - static constexpr float RC_phases[] = { 2, 1, .5, .1, .025 }; + static constexpr float RC_stages[] = { 2, 1, .5, .1, .05 }; static constexpr float RC_time_deltas[] = { 1, .25, .25, 2 }; interp_timer.start(); - if (RC_phase + 1 < std::size(RC_phases) && - interp_phase_timer.elapsed_seconds() > RC_time_deltas[RC_phase]) + if (RC_stage + 1 < std::size(RC_stages) && + interp_phase_timer.elapsed_seconds() > RC_time_deltas[RC_stage]) { - RC_phase++; + RC_stage++; interp_phase_timer.start(); } - const double RC = RC_phases[RC_phase]; + const double RC = RC_stages[RC_stage]; const double alpha = dt/(dt+RC); constexpr double eps = .01; @@ -162,15 +160,6 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, { cur = false; in_zone = false; - - // dynamic neck - if (neck_enable) - { - const euler_t neck = apply_neck(value, -neck_z, disable(TZ)); - - for (unsigned k = 0; k < 3; k++) - rel(k) += neck(k); - } } return { @@ -179,12 +168,11 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, }; } -euler_t reltrans::apply_neck(const Pose& value, int nz, bool disable_tz) const +euler_t reltrans::apply_neck(const rmat& R, int nz, bool disable_tz) const { euler_t neck; - const rmat R = euler_to_rmat(euler_t(&value[Yaw]) * d2r); - neck = rotate(R, { 0, 0, nz }, vec3_bool()); + neck = rotate(R, { 0, 0, nz }, {}); neck(TZ) = neck(TZ) - nz; if (disable_tz) @@ -194,12 +182,8 @@ euler_t reltrans::apply_neck(const Pose& value, int nz, bool disable_tz) const } pipeline::pipeline(Mappings& m, runtime_libraries& libs, event_handler& ev, TrackLogger& logger) : - m(m), - ev(ev), - libs(libs), - logger(logger) -{ -} + m(m), ev(ev), libs(libs), logger(logger) +{} pipeline::~pipeline() { @@ -346,11 +330,10 @@ Pose pipeline::clamp_value(Pose value) const Pose pipeline::apply_center(Pose value) const { euler_t T = euler_t(value) - scaled_state.t_center; - euler_t R = scale_c * r2d * rmat_to_euler(scaled_state.rotation * scaled_state.inv_rot_center); + euler_t R = d2r * scale_c * rmat_to_euler(scaled_state.rotation * scaled_state.inv_rot_center); // XXX check these lines, it's been here forever - T = rel.rotate(scaled_state.inv_rot_center, T, {}); - T = T * scale_c; + T = rel.rotate(euler_to_rmat(R), T, {}); for (int i = 0; i < 3; i++) { @@ -366,7 +349,7 @@ Pose pipeline::apply_center(Pose value) const for (int i = 0; i < 3; i++) { value(i) = T(i); - value(i+3) = R(i); + value(i+3) = R(i) * r2d; } return value; |