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ps move: fix orientation mapping

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Megamouse
2026-10-03 19:35:09 +02:00
parent 5da9f4ab32
commit a664f405bc
1 changed files with 21 additions and 13 deletions
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rpcs3/Emu/Io/PadHandler.cpp
+21 -13
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@@ -1009,23 +1009,26 @@ void PadDevice::update_orientation(ps_move_data& move_data)
return;
}
// The ps move handler's axis may differ from the Fusion axis, so we have to map them correctly.
// Don't ask how the axis work. It's basically been trial and error.
// The sensor data in move_data uses the following device frame (see set_raw_orientation and the PS Move handler):
// x: right, y: forward (towards the sphere), z: up (buttons)
// The accelerometer, gyro and magnetometer share this frame.
// Fusion uses East-North-Up, so we can feed it the device frame as is. The identity orientation is then "flat, pointing forward",
// and the accelerometer measures +1g on the z axis at rest, which is what Fusion expects as gravity reference.
ensure(ahrs->convention == FusionConvention::FusionConventionEnu); // East-North-Up
const FusionVector accelerometer{
.axis {
.x = -move_data.accelerometer.x(),
.y = +move_data.accelerometer.y(),
.z = +move_data.accelerometer.z()
.x = move_data.accelerometer.x(),
.y = move_data.accelerometer.y(),
.z = move_data.accelerometer.z()
}
};
const FusionVector gyroscope{
.axis {
.x = +PadHandlerBase::rad_to_degree(move_data.gyro.x()),
.y = +PadHandlerBase::rad_to_degree(move_data.gyro.z()),
.z = -PadHandlerBase::rad_to_degree(move_data.gyro.y())
.x = PadHandlerBase::rad_to_degree(move_data.gyro.x()),
.y = PadHandlerBase::rad_to_degree(move_data.gyro.y()),
.z = PadHandlerBase::rad_to_degree(move_data.gyro.z())
}
};
@@ -1033,10 +1036,11 @@ void PadDevice::update_orientation(ps_move_data& move_data)
if (move_data.magnetometer_enabled)
{
// The magnetometer y axis is flipped compared to the accelerometer and gyro (see ps move api)
magnetometer = FusionVector{
.axis {
.x = move_data.magnetometer.x(),
.y = move_data.magnetometer.y(),
.y = -move_data.magnetometer.y(),
.z = move_data.magnetometer.z()
}
};
@@ -1063,9 +1067,13 @@ void PadDevice::update_orientation(ps_move_data& move_data)
return;
}
move_data.quaternion[0] = quaternion.array[1];
move_data.quaternion[1] = quaternion.array[2];
move_data.quaternion[2] = quaternion.array[3];
move_data.quaternion[3] = quaternion.array[0];
// Convert the quaternion from the device frame (x: right, y: forward, z: up) to the cellGem frame (x: right, y: up, z: backward).
// The cellGem identity orientation is "facing the camera with buttons up", which is the same pose as our "flat, pointing forward".
// The change of basis is a proper rotation C with (x, y, z) -> (x, z, -y), so q' = C * q * C^-1 = (w, C * v).
// This is the same transform that ps move api uses for its OpenGL sensor basis.
move_data.quaternion[0] = quaternion.array[1]; // x = x
move_data.quaternion[1] = quaternion.array[3]; // y = z
move_data.quaternion[2] = -quaternion.array[2]; // z = -y
move_data.quaternion[3] = quaternion.array[0]; // w
move_data.update_orientation(elapsed_sec);
}