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Gyro instrumentation for test controller (#13287)

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This adds several minor changes to the gyro instruments.

* The HID Sensor Time display is now throttled to 10hz.
* Calibration for the gyro is now time based, not sample count based. Different polling rates will have drift calibrated over the same space of time.
* Pitch/Yaw/Roll readout: Yaw is prioritized, and then pitch, and then roll. This gives a more human-readable pitch/yaw/roll display, closely matching game engines.
* Pitch/Yaw/Roll text is colorized to match the axes in the 3D gizmo.
* Added set of axes to the 3D gizmo to show the "Left Hand Space" positive axis directions.
This commit is contained in:
Aubrey Hesselgren
2025-06-26 19:56:06 -07:00
committed by GitHub
parent 89eef1bd34
commit e960bf6904
2 changed files with 123 additions and 71 deletions
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73
test/gamepadutils.c
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@@ -101,8 +101,9 @@ static SDL_FPoint ProjectVec3ToRect(const Vector3 *v, const SDL_FRect *rect)
float fovScaleX = fovScaleY * aspect;
float relZ = cameraZ - v->z;
if (relZ < 0.01f)
if (relZ < 0.01f) {
relZ = 0.01f; /* Prevent division by 0 or negative depth */
}
float ndc_x = (v->x / relZ) / fovScaleX;
float ndc_y = (v->y / relZ) / fovScaleY;
@@ -207,6 +208,39 @@ void DrawGyroDebugCircle(SDL_Renderer *renderer, const Quaternion *orientation,
SDL_SetRenderDrawColor(renderer, r, g, b, a);
}
void DrawGyroDebugAxes(SDL_Renderer *renderer, const Quaternion *orientation, const SDL_FRect *bounds)
{
/* Store current color */
Uint8 r, g, b, a;
SDL_GetRenderDrawColor(renderer, &r, &g, &b, &a);
Vector3 origin = { 0.0f, 0.0f, 0.0f };
Vector3 right = { 1.0f, 0.0f, 0.0f };
Vector3 up = { 0.0f, 1.0f, 0.0f };
Vector3 back = { 0.0f, 0.0f, 1.0f };
Vector3 world_right = RotateVectorByQuaternion(&right, orientation);
Vector3 world_up = RotateVectorByQuaternion(&up, orientation);
Vector3 world_back = RotateVectorByQuaternion(&back, orientation);
SDL_FPoint origin_screen = ProjectVec3ToRect(&origin, bounds);
SDL_FPoint right_screen = ProjectVec3ToRect(&world_right, bounds);
SDL_FPoint up_screen = ProjectVec3ToRect(&world_up, bounds);
SDL_FPoint back_screen = ProjectVec3ToRect(&world_back, bounds);
SDL_SetRenderDrawColor(renderer, GYRO_COLOR_RED);
SDL_RenderLine(renderer, origin_screen.x, origin_screen.y, right_screen.x, right_screen.y);
SDL_SetRenderDrawColor(renderer, GYRO_COLOR_GREEN);
SDL_RenderLine(renderer, origin_screen.x, origin_screen.y, up_screen.x, up_screen.y);
SDL_SetRenderDrawColor(renderer, GYRO_COLOR_BLUE);
SDL_RenderLine(renderer, origin_screen.x, origin_screen.y, back_screen.x, back_screen.y);
/* Restore current color */
SDL_SetRenderDrawColor(renderer, r, g, b, a);
}
void DrawAccelerometerDebugArrow(SDL_Renderer *renderer, const Quaternion *gyro_quaternion, const float *accel_data, const SDL_FRect *bounds)
{
/* Store current color */
@@ -990,6 +1024,8 @@ struct GyroDisplay
/* This part displays extra info from the IMUstate in order to figure out actual polling rates. */
float gyro_drift_solution[3];
int reported_sensor_rate_hz; /*hz - comes from HIDsdl implementation. Could be fixed, platform time, or true sensor time*/
Uint64 next_reported_sensor_time; /* SDL ticks used to throttle the display */
int estimated_sensor_rate_hz; /*hz - our estimation of the actual polling rate by observing packets received*/
float euler_displacement_angles[3]; /* pitch, yaw, roll */
Quaternion gyro_quaternion; /* Rotation since startup/reset, comprised of each gyro speed packet times sensor delta time. */
@@ -1009,7 +1045,8 @@ GyroDisplay *CreateGyroDisplay(SDL_Renderer *renderer)
SDL_zeroa(ctx->gyro_drift_solution);
Quaternion quat_identity = { 0.0f, 0.0f, 0.0f, 1.0f };
ctx->gyro_quaternion = quat_identity;
ctx->reported_sensor_rate_hz = 0;
ctx->next_reported_sensor_time = 0;
ctx->reset_gyro_button = CreateGamepadButton(renderer, "Reset View");
ctx->calibrate_gyro_button = CreateGamepadButton(renderer, "Recalibrate Drift");
}
@@ -1024,7 +1061,6 @@ void SetGyroDisplayArea(GyroDisplay *ctx, const SDL_FRect *area)
}
SDL_copyp(&ctx->area, area);
/* Place the reset button to the bottom right of the gyro display area.*/
SDL_FRect reset_button_area;
reset_button_area.w = SDL_max(MINIMUM_BUTTON_WIDTH, GetGamepadButtonLabelWidth(ctx->reset_gyro_button) + 2 * BUTTON_PADDING);
@@ -1340,12 +1376,17 @@ void SetGamepadDisplayIMUValues(GyroDisplay *ctx, float *gyro_drift_solution, fl
return;
}
const int SENSOR_UPDATE_INTERVAL_MS = 100;
Uint64 now = SDL_GetTicks();
if (now > ctx->next_reported_sensor_time) {
ctx->estimated_sensor_rate_hz = estimated_sensor_rate_hz;
if (reported_senor_rate_hz != 0) {
ctx->reported_sensor_rate_hz = reported_senor_rate_hz;
}
ctx->next_reported_sensor_time = now + SENSOR_UPDATE_INTERVAL_MS;
}
SDL_memcpy(ctx->gyro_drift_solution, gyro_drift_solution, sizeof(ctx->gyro_drift_solution));
ctx->estimated_sensor_rate_hz = estimated_sensor_rate_hz;
if (reported_senor_rate_hz != 0)
ctx->reported_sensor_rate_hz = reported_senor_rate_hz;
SDL_memcpy(ctx->euler_displacement_angles, euler_displacement_angles, sizeof(ctx->euler_displacement_angles));
ctx->gyro_quaternion = *gyro_quaternion;
ctx->drift_calibration_progress_frac = drift_calibration_progress_frac;
@@ -1637,7 +1678,7 @@ void RenderGamepadDisplay(GamepadDisplay *ctx, SDL_Gamepad *gamepad)
SDLTest_DrawString(ctx->renderer, x + center - SDL_strlen(text) * FONT_CHARACTER_SIZE, y, text);
SDL_snprintf(text, sizeof(text), "[%.2f,%.2f,%.2f]%s/s", ctx->gyro_data[0] * RAD_TO_DEG, ctx->gyro_data[1] * RAD_TO_DEG, ctx->gyro_data[2] * RAD_TO_DEG, DEGREE_UTF8);
SDLTest_DrawString(ctx->renderer, x + center + 2.0f, y, text);
/* Display the testcontroller tool's evaluation of drift. This is also useful to get an average rate of turn in calibrated turntable tests. */
if (ctx->gyro_drift_correction_data[0] != 0.0f && ctx->gyro_drift_correction_data[2] != 0.0f && ctx->gyro_drift_correction_data[2] != 0.0f )
@@ -1648,10 +1689,7 @@ void RenderGamepadDisplay(GamepadDisplay *ctx, SDL_Gamepad *gamepad)
SDL_snprintf(text, sizeof(text), "[%.2f,%.2f,%.2f]%s/s", ctx->gyro_drift_correction_data[0] * RAD_TO_DEG, ctx->gyro_drift_correction_data[1] * RAD_TO_DEG, ctx->gyro_drift_correction_data[2] * RAD_TO_DEG, DEGREE_UTF8);
SDLTest_DrawString(ctx->renderer, x + center + 2.0f, y, text);
}
}
}
}
SDL_free(mapping);
@@ -1797,7 +1835,6 @@ void RenderGyroDriftCalibrationButton(GyroDisplay *ctx, GamepadDisplay *gamepad_
/* Set the color based on the drift calibration progress fraction */
SDL_SetRenderDrawColor(ctx->renderer, GYRO_COLOR_GREEN); /* red when too much noise, green when low noise*/
/* Now draw the bars with the filled, then empty rectangles */
SDL_RenderFillRect(ctx->renderer, &progress_bar_fill); /* draw the filled rectangle*/
SDL_SetRenderDrawColor(ctx->renderer, 100, 100, 100, 255); /* gray box*/
@@ -1823,20 +1860,26 @@ float RenderEulerReadout(GyroDisplay *ctx, GamepadDisplay *gamepad_display )
const float new_line_height = gamepad_display->button_height + 2.0f;
float log_gyro_euler_text_x = gyro_calibrate_button_rect.x;
Uint8 r, g, b, a;
SDL_GetRenderDrawColor(ctx->renderer, &r, &g, &b, &a);
/* Pitch Readout */
SDL_SetRenderDrawColor(ctx->renderer, GYRO_COLOR_RED);
SDL_snprintf(text, sizeof(text), "Pitch: %6.2f%s", ctx->euler_displacement_angles[0], DEGREE_UTF8);
SDLTest_DrawString(ctx->renderer, log_gyro_euler_text_x + 2.0f, log_y, text);
/* Yaw Readout */
SDL_SetRenderDrawColor(ctx->renderer, GYRO_COLOR_GREEN);
log_y += new_line_height;
SDL_snprintf(text, sizeof(text), " Yaw: %6.2f%s", ctx->euler_displacement_angles[1], DEGREE_UTF8);
SDLTest_DrawString(ctx->renderer, log_gyro_euler_text_x + 2.0f, log_y, text);
/* Roll Readout */
SDL_SetRenderDrawColor(ctx->renderer, GYRO_COLOR_BLUE);
log_y += new_line_height;
SDL_snprintf(text, sizeof(text), " Roll: %6.2f%s", ctx->euler_displacement_angles[2], DEGREE_UTF8);
SDLTest_DrawString(ctx->renderer, log_gyro_euler_text_x + 2.0f, log_y, text);
SDL_SetRenderDrawColor(ctx->renderer, r, g, b, a);
return log_y + new_line_height; /* Return the next y position for further rendering */
}
@@ -1859,6 +1902,9 @@ void RenderGyroGizmo(GyroDisplay *ctx, SDL_Gamepad *gamepad, float top)
/* Draw the rotated cube */
DrawGyroDebugCube(ctx->renderer, &ctx->gyro_quaternion, &gizmoRect);
/* Draw positive axes */
DrawGyroDebugAxes(ctx->renderer, &ctx->gyro_quaternion, &gizmoRect);
/* Overlay the XYZ circles */
DrawGyroDebugCircle(ctx->renderer, &ctx->gyro_quaternion, &gizmoRect);
@@ -1906,7 +1952,6 @@ void RenderGyroDisplay(GyroDisplay *ctx, GamepadDisplay *gamepadElements, SDL_Ga
if (bHasCachedDriftSolution) {
float bottom = RenderEulerReadout(ctx, gamepadElements);
RenderGyroGizmo(ctx, gamepad, bottom);
}
SDL_SetRenderDrawColor(ctx->renderer, r, g, b, a);
}