From d57334265bf66e1f066032b6c25056507e0b2ae4 Mon Sep 17 00:00:00 2001 From: True Zhuanjia Date: Fri, 19 Jun 2026 16:32:34 +0800 Subject: [PATCH] improved motion control --- VoidLink/Input/ControllerSupport.m | 4 +- VoidLink/Input/MotionHandler.swift | 54 ++++++++++++------- VoidLink/Input/OnScreenWidgetView.swift | 6 +-- .../StreamFrameViewController.m | 2 +- 4 files changed, 40 insertions(+), 26 deletions(-) diff --git a/VoidLink/Input/ControllerSupport.m b/VoidLink/Input/ControllerSupport.m index 59e0b9cc..40c57294 100644 --- a/VoidLink/Input/ControllerSupport.m +++ b/VoidLink/Input/ControllerSupport.m @@ -1063,7 +1063,7 @@ double rc_expo(double x, double expo) { self->_gyroEnabledFlag = self->_gyroEnabledFlag && self->_controllerGyroSwitchEnabled; if([self useMotionHandler]){ if(self->_gyroEnabledFlag) [self->motionHandler startGyroByControllerButton]; - else [self->motionHandler stopGyroUpdateWithInterruptNoneGyroInput:false resetLeftStick:true]; + else [self->motionHandler stopMotionUpdateWithInterruptNoneGyroInput:false]; } else self->_gyroEnabledFlag = self->_gyroEnabledFlag || !self->_controllerGyroSwitchEnabled; } @@ -1789,7 +1789,7 @@ double rc_expo(double x, double expo) { if(oscProfile.controllerGyroSwitchMode == ControllerGyroSwitchDisabled && ![self useMotionHandler]) _gyroEnabledFlag = true; - if(![self useMotionHandler]) [self->motionHandler stopGyroUpdateWithInterruptNoneGyroInput:false resetLeftStick:true]; + if(![self useMotionHandler]) [self->motionHandler stopMotionUpdateWithInterruptNoneGyroInput:false]; } - (void)resetGyroInputForController:(VoidController* )voidController{ diff --git a/VoidLink/Input/MotionHandler.swift b/VoidLink/Input/MotionHandler.swift index b9ac2601..826b77f7 100644 --- a/VoidLink/Input/MotionHandler.swift +++ b/VoidLink/Input/MotionHandler.swift @@ -177,11 +177,9 @@ import CoreMotion if useBuiltinGyro { if motionManager.isGyroAvailable { - motionManager.startGyroUpdates(to: .main) { [weak self] gyroData, _ in - guard let self = self, let data = gyroData else { return } - self.handleGyroData(x: data.rotationRate.x, - y: data.rotationRate.y, - z: data.rotationRate.z) + motionManager.startDeviceMotionUpdates(to: .main) { [weak self] motionData, _ in + guard let self = self, let data = motionData else { return } + self.handleMotionData(deviceMotion: data) } } } @@ -203,9 +201,7 @@ import CoreMotion } if motion.sensorsActive { motion.valueChangedHandler = { [weak self] motion in - self?.handleGyroData(x: motion.rotationRate.x, - y: motion.rotationRate.y, - z: motion.rotationRate.z) + self?.handleMotionData(gcMotion: motion) } } } @@ -230,16 +226,16 @@ import CoreMotion /// 停止更新 private var interruptNoneGyroInput:Bool = false - @objc public func stopGyroUpdate(interruptNoneGyroInput:Bool=false, resetLeftStick:Bool=false) { + @objc public func stopMotionUpdate(interruptNoneGyroInput:Bool=false) { gyroControlStarted = false gyroIsWorking = false - if motionManager.isGyroActive{ - motionManager.stopGyroUpdates() + if motionManager.isDeviceMotionActive{ + motionManager.stopDeviceMotionUpdates() } if #available(iOS 14.0, *) { activeGCController?.motion?.sensorsActive = false } - self.clearGyroInput(interruptNonGyroInput:interruptNoneGyroInput, resetLeftStick:resetLeftStick) + self.clearGyroInput(interruptNonGyroInput:interruptNoneGyroInput) } @objc public func stopAccelUpdate() { @@ -256,8 +252,27 @@ import CoreMotion // 在这里处理加速度数据，比如计算方向、存储或驱动逻辑 } - private func handleGyroData(x: Double, y: Double, z: Double) { + private func handleMotionData(deviceMotion: CMDeviceMotion? = nil, gcMotion:GCMotion? = nil) { + var x:Double = 0 + var y:Double = 0 + var z:Double = 0 + var attitudeRoll:Double = 0 + + if let deviceMotion = deviceMotion { + x = deviceMotion.rotationRate.x + y = deviceMotion.rotationRate.y + z = deviceMotion.rotationRate.z + attitudeRoll = deviceMotion.attitude.yaw + } + if let gcMotion = gcMotion { + x = gcMotion.rotationRate.x + y = gcMotion.rotationRate.y + z = gcMotion.rotationRate.z + attitudeRoll = gcMotion.attitude.z + } + + var yawSource:Double = 0 var pitchSource:Double = 0 var rollSource:Double = 0 @@ -367,7 +382,8 @@ import CoreMotion } if rollToLeftStick { roll = gyroInputToStickInput(input:rollSource*sensitvityRoll*widgetRollFactor*0.2) - rollIntegral = rollIntegral + roll + + rollIntegral = useBuiltinGyro ? -stickMaxOffset*(attitudeRoll/Double.pi)*3*sensitvityRoll*widgetRollFactor : rollIntegral + roll let mixedLeftStickOffsetX = self.clampStickInput(input: rollIntegral+leftStickTouchInputX+leftStickPhysicalInputX) let mixedLeftStickOffsetY = self.clampStickInput(input: leftStickTouchInputY+leftStickPhysicalInputY) @@ -379,17 +395,15 @@ import CoreMotion } } - private func clearGyroInput(interruptNonGyroInput:Bool, resetLeftStick:Bool=false){ + private func clearGyroInput(interruptNonGyroInput:Bool){ // guard let onScreenControls = onScreenControls else { return } if yawPitchToRightStick{ onScreenControls?.sendRightStickTouchPadEvent(rightStickPhysicalInputX+rightStickTouchInputX-yawBias, rightStickPhysicalInputY+rightStickTouchInputY-pitchBias) } if rollToLeftStick{ - if resetLeftStick { - rollIntegral = 0 - onScreenControls?.sendLeftStickTouchPadEvent(leftStickPhysicalInputX+leftStickTouchInputX-rollBias,leftStickPhysicalInputY+leftStickTouchInputY) - } + rollIntegral = 0 + onScreenControls?.sendLeftStickTouchPadEvent(leftStickPhysicalInputX+leftStickTouchInputX-rollBias,leftStickPhysicalInputY+leftStickTouchInputY) } if(interruptNonGyroInput){ onScreenControls?.clearLeftStickTouchPadFlag() @@ -441,7 +455,7 @@ import CoreMotion // 5秒后计算平均值 DispatchQueue.main.asyncAfter(deadline: .now() + duration) { [weak self] in guard let self = self else { return } - self.motionManager.stopGyroUpdates() + self.motionManager.stopDeviceMotionUpdates() if sampleCount > 0 { if useBuiltinGyro { gyroBiasX = sumX / Double(sampleCount) diff --git a/VoidLink/Input/OnScreenWidgetView.swift b/VoidLink/Input/OnScreenWidgetView.swift index 242fce67..08fb333c 100644 --- a/VoidLink/Input/OnScreenWidgetView.swift +++ b/VoidLink/Input/OnScreenWidgetView.swift @@ -2810,7 +2810,7 @@ import ObjectiveC.runtime self.motionHandler?.startGyroByOnScreenButton(self, yawFactor: yawFactor, pitchFactor: pitchFactor, rollFactor: rollFactor) if !OnScreenWidgetView.gamepadArrivalReported {OnScreenWidgetView.gamepadArrivalReported = oscProfile.mapGyroTo == .mapGyroToControllerStick} case "GYROPAUSE": - self.motionHandler?.stopGyroUpdate(interruptNoneGyroInput:false) + self.motionHandler?.stopMotionUpdate(interruptNoneGyroInput:false) if !OnScreenWidgetView.gamepadArrivalReported {OnScreenWidgetView.gamepadArrivalReported = oscProfile.mapGyroTo == .mapGyroToControllerStick} break case "ACCEL": @@ -2833,7 +2833,7 @@ import ObjectiveC.runtime widget.tapToToggleFlag = !widget.tapToToggleFlag } } - self.motionHandler?.stopGyroUpdate(interruptNoneGyroInput: false, resetLeftStick: true) + self.motionHandler?.stopMotionUpdate(interruptNoneGyroInput: false) self.motionHandler?.gyroStarter = nil } else { @@ -4118,7 +4118,7 @@ import ObjectiveC.runtime label.alpha = 1 autoDockRestoreOriginalAlpha() if self.motionControlButtonString == "GYRO" { - if OnScreenWidgetView.gamepadArrivalReported {self.motionHandler?.stopGyroUpdate(interruptNoneGyroInput: true)} + if OnScreenWidgetView.gamepadArrivalReported {self.motionHandler?.stopMotionUpdate(interruptNoneGyroInput: true)} self.motionHandler?.gyroStarter = nil } if self.motionControlButtonString == "ACCEL" {} diff --git a/VoidLink/ViewControllers/StreamFrameViewController.m b/VoidLink/ViewControllers/StreamFrameViewController.m index 654f66ad..88a19bcf 100644 --- a/VoidLink/ViewControllers/StreamFrameViewController.m +++ b/VoidLink/ViewControllers/StreamFrameViewController.m @@ -2053,7 +2053,7 @@ static NSString* VLTerminationHintForErrorCode(int errorCode) { } - (void)stopGyroUpdateWithInterruptNoneGyroInput:(BOOL)interruption{ - [_motionHandler stopGyroUpdateWithInterruptNoneGyroInput:interruption resetLeftStick:false]; + [_motionHandler stopMotionUpdateWithInterruptNoneGyroInput:interruption]; } - (void)stopAccelUpdate{