Merge pull request #7861 from jordan-woyak/mplus-emu

WiimoteEmu: Emulated MotionPlus and improved emulated swing.

Source/Core/Common/MathUtil.h

@@ -24,6 +24,18 @@ constexpr T Clamp(const T val, const T& min, const T& max)
   return std::max(min, std::min(max, val));
 }
 
+template <typename T>
+constexpr auto Sign(const T& val) -> decltype((T{} < val) - (val < T{}))
+{
+  return (T{} < val) - (val < T{});
+}
+
+template <typename T, typename F>
+constexpr auto Lerp(const T& x, const T& y, const F& a) -> decltype(x + (y - x) * a)
+{
+  return x + (y - x) * a;
+}
+
 template <typename T>
 constexpr bool IsPow2(T imm)
 {

Source/Core/Common/Matrix.h

@@ -6,6 +6,7 @@
 
 #include <array>
 #include <cmath>
+#include <functional>
 #include <type_traits>
 
 // Tiny matrix/vector library.
@@ -58,6 +59,25 @@ union TVec3
 
   TVec3 operator-() const { return {-x, -y, -z}; }
 
+  // Apply function to each element and return the result.
+  template <typename F>
+  auto Map(F&& f) const -> TVec3<decltype(f(T{}))>
+  {
+    return {f(x), f(y), f(z)};
+  }
+
+  template <typename F, typename T2>
+  auto Map(F&& f, const TVec3<T2>& t) const -> TVec3<decltype(f(T{}, t.x))>
+  {
+    return {f(x, t.x), f(y, t.y), f(z, t.z)};
+  }
+
+  template <typename F, typename T2>
+  auto Map(F&& f, T2 scalar) const -> TVec3<decltype(f(T{}, scalar))>
+  {
+    return {f(x, scalar), f(y, scalar), f(z, scalar)};
+  }
+
   std::array<T, 3> data = {};
 
   struct
@@ -69,39 +89,45 @@ union TVec3
 };
 
 template <typename T>
-TVec3<T> operator+(TVec3<T> lhs, const TVec3<T>& rhs)
+TVec3<bool> operator<(const TVec3<T>& lhs, const TVec3<T>& rhs)
 {
-  return lhs += rhs;
+  return lhs.Map(std::less<T>{}, rhs);
 }
 
 template <typename T>
-TVec3<T> operator-(TVec3<T> lhs, const TVec3<T>& rhs)
+auto operator+(const TVec3<T>& lhs, const TVec3<T>& rhs) -> TVec3<decltype(lhs.x + rhs.x)>
 {
-  return lhs -= rhs;
+  return lhs.Map(std::plus<decltype(lhs.x + rhs.x)>{}, rhs);
 }
 
 template <typename T>
-TVec3<T> operator*(TVec3<T> lhs, const TVec3<T>& rhs)
+auto operator-(const TVec3<T>& lhs, const TVec3<T>& rhs) -> TVec3<decltype(lhs.x - rhs.x)>
 {
-  return lhs *= rhs;
+  return lhs.Map(std::minus<decltype(lhs.x - rhs.x)>{}, rhs);
+}
+
+template <typename T1, typename T2>
+auto operator*(const TVec3<T1>& lhs, const TVec3<T2>& rhs) -> TVec3<decltype(lhs.x * rhs.x)>
+{
+  return lhs.Map(std::multiplies<decltype(lhs.x * rhs.x)>{}, rhs);
 }
 
 template <typename T>
-inline TVec3<T> operator/(TVec3<T> lhs, const TVec3<T>& rhs)
+auto operator/(const TVec3<T>& lhs, const TVec3<T>& rhs) -> TVec3<decltype(lhs.x / rhs.x)>
 {
-  return lhs /= rhs;
+  return lhs.Map(std::divides<decltype(lhs.x / rhs.x)>{}, rhs);
 }
 
-template <typename T>
-TVec3<T> operator*(TVec3<T> lhs, std::common_type_t<T> scalar)
+template <typename T1, typename T2>
+auto operator*(const TVec3<T1>& lhs, T2 scalar) -> TVec3<decltype(lhs.x * scalar)>
 {
-  return lhs *= TVec3<T>{scalar, scalar, scalar};
+  return lhs.Map(std::multiplies<decltype(lhs.x * scalar)>{}, scalar);
 }
 
-template <typename T>
-TVec3<T> operator/(TVec3<T> lhs, std::common_type_t<T> scalar)
+template <typename T1, typename T2>
+auto operator/(const TVec3<T1>& lhs, T2 scalar) -> TVec3<decltype(lhs.x / scalar)>
 {
-  return lhs /= TVec3<T>{scalar, scalar, scalar};
+  return lhs.Map(std::divides<decltype(lhs.x / scalar)>{}, scalar);
 }
 
 using Vec3 = TVec3<float>;

Source/Core/Core/HW/WiimoteEmu/Dynamics.cpp

@@ -57,7 +57,7 @@ namespace WiimoteEmu
 void EmulateShake(PositionalState* state, ControllerEmu::Shake* const shake_group,
                   float time_elapsed)
 {
-  auto target_position = shake_group->GetState() * shake_group->GetIntensity() / 2;
+  auto target_position = shake_group->GetState() * float(shake_group->GetIntensity() / 2);
   for (std::size_t i = 0; i != target_position.data.size(); ++i)
   {
     if (state->velocity.data[i] * std::copysign(1.f, target_position.data[i]) < 0 ||
@@ -90,7 +90,9 @@ void EmulateTilt(RotationalState* state, ControllerEmu::Tilt* const tilt_group,
   const ControlState roll = target.x * MathUtil::PI;
   const ControlState pitch = target.y * MathUtil::PI;
 
-  // TODO: expose this setting in UI:
+  // Higher values will be more responsive but will increase rate of M+ "desync".
+  // I'd rather not expose this value in the UI if not needed.
+  // Desync caused by tilt seems not as severe as accelerometer data can estimate pitch/yaw.
   constexpr auto MAX_ACCEL = float(MathUtil::TAU * 50);
 
   ApproachAngleWithAccel(state, Common::Vec3(pitch, -roll, 0), MAX_ACCEL, time_elapsed);
@@ -98,22 +100,80 @@ void EmulateTilt(RotationalState* state, ControllerEmu::Tilt* const tilt_group,
 
 void EmulateSwing(MotionState* state, ControllerEmu::Force* swing_group, float time_elapsed)
 {
-  const auto target = swing_group->GetState();
+  const auto input_state = swing_group->GetState();
+  const float max_distance = swing_group->GetMaxDistance();
+  const float max_angle = swing_group->GetTwistAngle();
 
-  // Note. Y/Z swapped because X/Y axis to the swing_group is X/Z to the wiimote.
+  // Note: Y/Z swapped because X/Y axis to the swing_group is X/Z to the wiimote.
   // X is negated because Wiimote X+ is to the left.
-  ApproachPositionWithJerk(state, {-target.x, -target.z, target.y},
-                           Common::Vec3{1, 1, 1} * swing_group->GetMaxJerk(), time_elapsed);
+  const auto target_position = Common::Vec3{-input_state.x, -input_state.z, input_state.y};
 
-  // Just jump to our target angle scaled by our progress to the target position.
-  // TODO: If we wanted to be less hacky we could use ApproachAngleWithAccel.
-  const auto angle = state->position / swing_group->GetMaxDistance() * swing_group->GetTwistAngle();
+  // Jerk is scaled based on input distance from center.
+  // X and Z scale is connected for sane movement about the circle.
+  const auto xz_target_dist = Common::Vec2{target_position.x, target_position.z}.Length();
+  const auto y_target_dist = std::abs(target_position.y);
+  const auto target_dist = Common::Vec3{xz_target_dist, y_target_dist, xz_target_dist};
+  const auto speed = MathUtil::Lerp(Common::Vec3{1, 1, 1} * float(swing_group->GetReturnSpeed()),
+                                    Common::Vec3{1, 1, 1} * float(swing_group->GetSpeed()),
+                                    target_dist / max_distance);
 
-  const auto old_angle = state->angle;
-  state->angle = {-angle.z, 0, angle.x};
+  // Convert our m/s "speed" to the jerk required to reach this speed when traveling 1 meter.
+  const auto max_jerk = speed * speed * speed * 4;
 
-  // Update velocity based on change in angle.
-  state->angular_velocity = state->angle - old_angle;
+  // Rotational acceleration to approximately match the completion time of our swing.
+  const auto max_accel = max_angle * speed.x * speed.x;
+
+  // Apply rotation based on amount of swing.
+  const auto target_angle =
+      Common::Vec3{-target_position.z, 0, target_position.x} / max_distance * max_angle;
+
+  // Angular acceleration * 2 seems to reduce "spurious stabs" in ZSS.
+  // TODO: Fix properly.
+  ApproachAngleWithAccel(state, target_angle, max_accel * 2, time_elapsed);
+
+  // Clamp X and Z rotation.
+  for (const int c : {0, 2})
+  {
+    if (std::abs(state->angle.data[c] / max_angle) > 1 &&
+        MathUtil::Sign(state->angular_velocity.data[c]) == MathUtil::Sign(state->angle.data[c]))
+    {
+      state->angular_velocity.data[c] = 0;
+    }
+  }
+
+  // Adjust target position backwards based on swing progress and max angle
+  // to simulate a swing with an outstretched arm.
+  const auto backwards_angle = std::max(std::abs(state->angle.x), std::abs(state->angle.z));
+  const auto backwards_movement = (1 - std::cos(backwards_angle)) * max_distance;
+
+  // TODO: Backswing jerk should be based on x/z speed.
+
+  ApproachPositionWithJerk(state, target_position + Common::Vec3{0, backwards_movement, 0},
+                           max_jerk, time_elapsed);
+
+  // Clamp Left/Right/Up/Down movement within the configured circle.
+  const auto xz_progress =
+      Common::Vec2{state->position.x, state->position.z}.Length() / max_distance;
+  if (xz_progress > 1)
+  {
+    state->position.x /= xz_progress;
+    state->position.z /= xz_progress;
+
+    state->acceleration.x = state->acceleration.z = 0;
+    state->velocity.x = state->velocity.z = 0;
+  }
+
+  // Clamp Forward/Backward movement within the configured distance.
+  // We allow additional backwards movement for the back swing.
+  const auto y_progress = state->position.y / max_distance;
+  const auto max_y_progress = 2 - std::cos(max_angle);
+  if (y_progress > max_y_progress || y_progress < -1)
+  {
+    state->position.y =
+        MathUtil::Clamp(state->position.y, -1.f * max_distance, max_y_progress * max_distance);
+    state->velocity.y = 0;
+    state->acceleration.y = 0;
+  }
 }
 
 WiimoteCommon::DataReportBuilder::AccelData ConvertAccelData(const Common::Vec3& accel, u16 zero_g,
@@ -129,10 +189,17 @@ WiimoteCommon::DataReportBuilder::AccelData ConvertAccelData(const Common::Vec3&
           u16(MathUtil::Clamp(std::lround(scaled_accel.z + zero_g), 0l, MAX_VALUE))};
 }
 
-Common::Matrix44 EmulateCursorMovement(ControllerEmu::Cursor* ir_group)
+void EmulateCursor(MotionState* state, ControllerEmu::Cursor* ir_group, float time_elapsed)
 {
-  using Common::Matrix33;
-  using Common::Matrix44;
+  const auto cursor = ir_group->GetState(true);
+
+  if (!cursor.IsVisible())
+  {
+    // Move the wiimote a kilometer forward so the sensor bar is always behind it.
+    *state = {};
+    state->position = {0, -1000, 0};
+    return;
+  }
 
   // Nintendo recommends a distance of 1-3 meters.
   constexpr float NEUTRAL_DISTANCE = 2.f;
@@ -147,12 +214,32 @@ Common::Matrix44 EmulateCursorMovement(ControllerEmu::Cursor* ir_group)
   const float yaw_scale = ir_group->GetTotalYaw() / 2;
   const float pitch_scale = ir_group->GetTotalPitch() / 2;
 
-  const auto cursor = ir_group->GetState(true);
+  // TODO: Move state out of ControllerEmu::Cursor
+  // TODO: Use ApproachPositionWithJerk
+  // TODO: Move forward/backward after rotation.
+  const auto new_position =
+      Common::Vec3(0, NEUTRAL_DISTANCE - MOVE_DISTANCE * float(cursor.z), -height);
 
-  return Matrix44::Translate({0, MOVE_DISTANCE * float(cursor.z), 0}) *
-         Matrix44::FromMatrix33(Matrix33::RotateX(pitch_scale * cursor.y) *
-                                Matrix33::RotateZ(yaw_scale * cursor.x)) *
-         Matrix44::Translate({0, -NEUTRAL_DISTANCE, height});
+  const auto target_angle = Common::Vec3(pitch_scale * -cursor.y, 0, yaw_scale * -cursor.x);
+
+  // If cursor was hidden, jump to the target position/angle immediately.
+  if (state->position.y < 0)
+  {
+    state->position = new_position;
+    state->angle = target_angle;
+
+    return;
+  }
+
+  state->acceleration = new_position - state->position;
+  state->position = new_position;
+
+  // Higher values will be more responsive but increase rate of M+ "desync".
+  // I'd rather not expose this value in the UI if not needed.
+  // At this value, sync is very good and responsiveness still appears instant.
+  constexpr auto MAX_ACCEL = float(MathUtil::TAU * 8);
+
+  ApproachAngleWithAccel(state, target_angle, MAX_ACCEL, time_elapsed);
 }
 
 void ApproachAngleWithAccel(RotationalState* state, const Common::Vec3& angle_target,
@@ -165,10 +252,7 @@ void ApproachAngleWithAccel(RotationalState* state, const Common::Vec3& angle_ta
 
   const auto offset = angle_target - state->angle;
   const auto stop_offset = offset - stop_distance;
-
-  const Common::Vec3 accel{std::copysign(max_accel, stop_offset.x),
-                           std::copysign(max_accel, stop_offset.y),
-                           std::copysign(max_accel, stop_offset.z)};
+  const auto accel = MathUtil::Sign(stop_offset) * max_accel;
 
   state->angular_velocity += accel * time_elapsed;
 
@@ -177,11 +261,11 @@ void ApproachAngleWithAccel(RotationalState* state, const Common::Vec3& angle_ta
 
   for (std::size_t i = 0; i != offset.data.size(); ++i)
   {
-    // If new velocity will overshoot assume we would have stopped right on target.
-    // TODO: Improve check to see if less accel would have caused undershoot.
-    if ((change_in_angle.data[i] / offset.data[i]) > 1.0)
+    // If new angle will overshoot stop right on target.
+    if (std::abs(offset.data[i]) < 0.0001 || (change_in_angle.data[i] / offset.data[i] > 1.0))
     {
-      state->angular_velocity.data[i] = 0;
+      state->angular_velocity.data[i] =
+          (angle_target.data[i] - state->angle.data[i]) / time_elapsed;
       state->angle.data[i] = angle_target.data[i];
     }
     else
@@ -201,10 +285,7 @@ void ApproachPositionWithJerk(PositionalState* state, const Common::Vec3& positi
 
   const auto offset = position_target - state->position;
   const auto stop_offset = offset - stop_distance;
-
-  const Common::Vec3 jerk{std::copysign(max_jerk.x, stop_offset.x),
-                          std::copysign(max_jerk.y, stop_offset.y),
-                          std::copysign(max_jerk.z, stop_offset.z)};
+  const auto jerk = MathUtil::Sign(stop_offset) * max_jerk;
 
   state->acceleration += jerk * time_elapsed;
 

Source/Core/Core/HW/WiimoteEmu/Dynamics.h

@@ -19,14 +19,19 @@ constexpr double GRAVITY_ACCELERATION = 9.80665;
 
 struct PositionalState
 {
+  // meters
   Common::Vec3 position;
+  // meters/second
   Common::Vec3 velocity;
+  // meters/second^2
   Common::Vec3 acceleration;
 };
 
 struct RotationalState
 {
+  // radians
   Common::Vec3 angle;
+  // radians/second
   Common::Vec3 angular_velocity;
 };
 
@@ -47,11 +52,10 @@ void ApproachAngleWithAccel(RotationalState* state, const Common::Vec3& target,
 void EmulateShake(PositionalState* state, ControllerEmu::Shake* shake_group, float time_elapsed);
 void EmulateTilt(RotationalState* state, ControllerEmu::Tilt* tilt_group, float time_elapsed);
 void EmulateSwing(MotionState* state, ControllerEmu::Force* swing_group, float time_elapsed);
+void EmulateCursor(MotionState* state, ControllerEmu::Cursor* ir_group, float time_elapsed);
 
 // Convert m/s/s acceleration data to the format used by Wiimote/Nunchuk (10-bit unsigned integers).
 WiimoteCommon::DataReportBuilder::AccelData ConvertAccelData(const Common::Vec3& accel, u16 zero_g,
                                                              u16 one_g);
 
-Common::Matrix44 EmulateCursorMovement(ControllerEmu::Cursor* ir_group);
-
 }  // namespace WiimoteEmu

Source/Core/Core/HW/WiimoteEmu/EmuSubroutines.cpp

@@ -149,11 +149,17 @@ void Wiimote::SendAck(OutputReportID rpt_id, ErrorCode error_code)
 
 void Wiimote::HandleExtensionSwap()
 {
+  if (WIIMOTE_BALANCE_BOARD == m_index)
+  {
+    // Prevent M+ or anything else silly from being attached to a balance board.
+    // In the future if we support an emulated balance board we can force the BB "extension" here.
+    return;
+  }
+
   ExtensionNumber desired_extension_number =
       static_cast<ExtensionNumber>(m_attachments->GetSelectedAttachment());
 
-  // const bool desired_motion_plus = m_motion_plus_setting->GetValue();
-  const bool desired_motion_plus = false;
+  const bool desired_motion_plus = m_motion_plus_setting.GetValue();
 
   // FYI: AttachExtension also connects devices to the i2c bus
 
@@ -283,7 +289,7 @@ void Wiimote::HandleWriteData(const OutputReportWriteData& wd)
       if (address >= 0x0FCA && address < 0x12C0)
       {
         // TODO: Only write parts of the Mii block.
-        // TODO: Use fifferent files for different wiimote numbers.
+        // TODO: Use different files for different wiimote numbers.
         std::ofstream file;
         File::OpenFStream(file, File::GetUserPath(D_SESSION_WIIROOT_IDX) + "/mii.bin",
                           std::ios::binary | std::ios::out);
@@ -578,12 +584,16 @@ void Wiimote::DoState(PointerWrap& p)
   (m_is_motion_plus_attached ? m_motion_plus.GetExtPort() : m_extension_port)
       .AttachExtension(GetActiveExtension());
 
-  m_motion_plus.DoState(p);
-  GetActiveExtension()->DoState(p);
+  if (m_is_motion_plus_attached)
+    m_motion_plus.DoState(p);
+
+  if (m_active_extension != ExtensionNumber::NONE)
+    GetActiveExtension()->DoState(p);
 
   // Dynamics
   p.Do(m_swing_state);
   p.Do(m_tilt_state);
+  p.Do(m_cursor_state);
   p.Do(m_shake_state);
 
   p.DoMarker("Wiimote");

Source/Core/Core/HW/WiimoteEmu/Extension/Nunchuk.cpp

@@ -91,8 +91,7 @@ void Nunchuk::Update()
   EmulateTilt(&m_tilt_state, m_tilt, 1.f / ::Wiimote::UPDATE_FREQ);
   EmulateShake(&m_shake_state, m_shake, 1.f / ::Wiimote::UPDATE_FREQ);
 
-  const auto transformation =
-      GetRotationalMatrix(-m_tilt_state.angle) * GetRotationalMatrix(-m_swing_state.angle);
+  const auto transformation = GetRotationalMatrix(-m_tilt_state.angle - m_swing_state.angle);
 
   Common::Vec3 accel = transformation * (m_swing_state.acceleration +
                                          Common::Vec3(0, 0, float(GRAVITY_ACCELERATION)));

Source/Core/Core/HW/WiimoteEmu/MotionPlus.h

@@ -7,11 +7,14 @@
 #include <array>
 
 #include "Common/CommonTypes.h"
+#include "Core/HW/WiimoteEmu/Dynamics.h"
 #include "Core/HW/WiimoteEmu/ExtensionPort.h"
 #include "Core/HW/WiimoteEmu/I2CBus.h"
 
 namespace WiimoteEmu
 {
+struct AngularVelocity;
+
 struct MotionPlus : public Extension
 {
 public:
@@ -23,7 +26,37 @@ public:
 
   ExtensionPort& GetExtPort();
 
+  // Vec3 is interpreted as radians/s about the x,y,z axes following the "right-hand rule".
+  void PrepareInput(const Common::Vec3& angular_velocity);
+
 private:
+  enum class ChallengeState : u8
+  {
+    // Note: This is not a value seen on a real M+.
+    // Used to emulate activation state during which the M+ is not responsive.
+    Activating = 0x00,
+
+    PreparingX = 0x02,
+    ParameterXReady = 0x0e,
+    PreparingY = 0x14,
+    ParameterYReady = 0x1a,
+  };
+
+  enum class PassthroughMode : u8
+  {
+    Disabled = 0x04,
+    Nunchuk = 0x05,
+    Classic = 0x07,
+  };
+
+  enum class ActivationStatus
+  {
+    Inactive,
+    Activating,
+    Deactivating,
+    Active,
+  };
+
 #pragma pack(push, 1)
   struct DataFormat
   {
@@ -49,83 +82,95 @@ private:
 
   struct Register
   {
-    u8 controller_data[21];
+    std::array<u8, 21> controller_data;
     u8 unknown_0x15[11];
 
     // address 0x20
-    u8 calibration_data[0x20];
+    std::array<u8, 0x20> calibration_data;
 
-    u8 unknown_0x40[0x10];
+    // address 0x40
+    // Data is read from the extension on the passthrough port.
+    std::array<u8, 0x10> passthrough_ext_calib;
 
     // address 0x50
-    u8 cert_data[0x40];
+    std::array<u8, 0x40> challenge_data;
 
     u8 unknown_0x90[0x60];
 
     // address 0xF0
-    u8 initialized;
+    // Writes initialize the M+ to it's default (non-activated) state.
+    // Used to deactivate the M+ and activate an attached extension.
+    u8 init_trigger;
 
     // address 0xF1
-    u8 cert_enable;
+    // Value is either 0 or 1.
+    u8 challenge_type;
 
-    // Conduit 2 writes 1 byte to 0xf2 on calibration screen
-    u8 unknown_0xf2[5];
+    // address 0xF2
+    // Games write 0x00 here to start and stop calibration.
+    u8 calibration_trigger;
 
-    // address 0xf7
-    // Wii Sports Resort reads regularly
-    // Value starts at 0x00 and goes up after activation (not initialization)
-    // Immediately returns 0x02, even still after 15 and 30 seconds
-    // After the first data read the value seems to progress to 0x4,0x8,0xc,0xe
-    // More typical seems to be 2,8,c,e
-    // A value of 0xe triggers the game to read 64 bytes from 0x50
-    // The game claims M+ is disconnected after this read of unsatisfactory data
-    u8 cert_ready;
+    // address 0xF3
+    u8 unknown_0xf3[3];
 
-    u8 unknown_0xf8[2];
+    // address 0xF6
+    // Value is taken from the extension on the passthrough port.
+    u8 passthrough_ext_id_4;
+
+    // address 0xF7
+    // Games read this value to know when the data at 0x50 is ready.
+    // Value is 0x02 upon activation. (via a write to 0xfe)
+    // Real M+ changes this value to 0x4, 0x8, 0xc, and finally 0xe.
+    // Games then trigger a 2nd stage via a write to 0xf1.
+    // Real M+ changes this value to 0x14, 0x18, and finally 0x1a.
+    // Note: We don't progress like this. We jump to the final value as soon as possible.
+    ChallengeState challenge_state;
+
+    // address 0xF8
+    // Values are taken from the extension on the passthrough port.
+    u8 passthrough_ext_id_0;
+    u8 passthrough_ext_id_5;
 
     // address 0xFA
-    u8 ext_identifier[6];
+    std::array<u8, 6> ext_identifier;
   };
 #pragma pack(pop)
-
   static_assert(sizeof(DataFormat) == 6, "Wrong size");
-  static_assert(0x100 == sizeof(Register));
+  static_assert(0x100 == sizeof(Register), "Wrong size");
 
-  static const u8 INACTIVE_DEVICE_ADDR = 0x53;
-  static const u8 ACTIVE_DEVICE_ADDR = 0x52;
+  static constexpr u8 INACTIVE_DEVICE_ADDR = 0x53;
+  static constexpr u8 ACTIVE_DEVICE_ADDR = 0x52;
 
-  enum class PassthroughMode : u8
-  {
-    Disabled = 0x04,
-    Nunchuk = 0x05,
-    Classic = 0x07,
-  };
+  static constexpr u8 PASSTHROUGH_MODE_OFFSET = 0xfe;
 
-  bool IsActive() const;
+  static constexpr int CALIBRATION_BITS = 16;
 
+  static constexpr u16 CALIBRATION_ZERO = 1 << (CALIBRATION_BITS - 1);
+  // Values are similar to that of a typical real M+.
+  static constexpr u16 CALIBRATION_SCALE_OFFSET = 0x4400;
+  static constexpr u16 CALIBRATION_FAST_SCALE_DEGREES = 0x4b0;
+  static constexpr u16 CALIBRATION_SLOW_SCALE_DEGREES = 0x10e;
+
+  void Activate();
+  void Deactivate();
+  void OnPassthroughModeWrite();
+
+  ActivationStatus GetActivationStatus() const;
   PassthroughMode GetPassthroughMode() const;
 
-  // TODO: when activated it seems the motion plus reactivates the extension
-  // It sends 0x55 to 0xf0
-  // It also writes 0x00 to slave:0x52 addr:0xfa for some reason
-  // And starts a write to 0xfa but never writes bytes..
-  // It tries to read data at 0x00 for 3 times (failing)
-  // then it reads the 16 bytes of calibration at 0x20 and stops
-
-  // TODO: if an extension is attached after activation, it also does this.
-
   int BusRead(u8 slave_addr, u8 addr, int count, u8* data_out) override;
   int BusWrite(u8 slave_addr, u8 addr, int count, const u8* data_in) override;
 
   bool ReadDeviceDetectPin() const override;
   bool IsButtonPressed() const override;
 
-  // TODO: rename m_
+  Register m_reg_data = {};
 
-  Register reg_data = {};
+  // Used for timing of activation, deactivation, and preparation of challenge values.
+  u8 m_progress_timer = {};
 
   // The port on the end of the motion plus:
-  I2CBus i2c_bus;
-  ExtensionPort m_extension_port{&i2c_bus};
+  I2CBus m_i2c_bus;
+  ExtensionPort m_extension_port{&m_i2c_bus};
 };
 }  // namespace WiimoteEmu

Source/Core/Core/HW/WiimoteEmu/WiimoteEmu.cpp

@@ -93,6 +93,7 @@ void Wiimote::Reset()
   m_eeprom.accel_calibration_1 = accel_calibration;
   m_eeprom.accel_calibration_2 = accel_calibration;
 
+  // TODO: Is this needed?
   // Data of unknown purpose:
   constexpr std::array<u8, 24> EEPROM_DATA_16D0 = {0x00, 0x00, 0x00, 0xFF, 0x11, 0xEE, 0x00, 0x00,
                                                    0x33, 0xCC, 0x44, 0xBB, 0x00, 0x00, 0x66, 0x99,
@@ -106,29 +107,29 @@ void Wiimote::Reset()
   m_i2c_bus.AddSlave(&m_speaker_logic);
   m_i2c_bus.AddSlave(&m_camera_logic);
 
-  // Reset extension connections:
+  // Reset extension connections to NONE:
   m_is_motion_plus_attached = false;
   m_active_extension = ExtensionNumber::NONE;
   m_extension_port.AttachExtension(GetNoneExtension());
   m_motion_plus.GetExtPort().AttachExtension(GetNoneExtension());
 
   // Switch to desired M+ status and extension (if any).
+  // M+ and EXT are reset on attachment.
   HandleExtensionSwap();
 
-  // Reset sub-devices:
+  // Reset sub-devices.
   m_speaker_logic.Reset();
   m_camera_logic.Reset();
-  m_motion_plus.Reset();
-  GetActiveExtension()->Reset();
 
   m_status = {};
-  // TODO: This will suppress a status report on connect when an extension is already attached.
-  // I am not 100% sure if this is proper.
+  // This will suppress a status report on connect when an extension is already attached.
+  // TODO: I am not 100% sure if this is proper.
   m_status.extension = m_extension_port.IsDeviceConnected();
 
   // Dynamics:
   m_swing_state = {};
   m_tilt_state = {};
+  m_cursor_state = {};
   m_shake_state = {};
 }
 
@@ -165,6 +166,8 @@ Wiimote::Wiimote(const unsigned int index) : m_index(index)
   m_attachments->AddAttachment(std::make_unique<WiimoteEmu::Drums>());
   m_attachments->AddAttachment(std::make_unique<WiimoteEmu::Turntable>());
 
+  m_attachments->AddSetting(&m_motion_plus_setting, {_trans("Attach MotionPlus")}, true);
+
   // rumble
   groups.emplace_back(m_rumble = new ControllerEmu::ControlGroup(_trans("Rumble")));
   m_rumble->controls.emplace_back(
@@ -193,8 +196,6 @@ Wiimote::Wiimote(const unsigned int index) : m_index(index)
                          _trans("%")},
                         95, 0, 100);
 
-  // m_options->AddSetting(&m_motion_plus_setting, {_trans("Attach MotionPlus")}, true);
-
   // Note: "Upright" and "Sideways" options can be enabled at the same time which produces an
   // orientation where the wiimote points towards the left with the buttons towards you.
   m_options->AddSetting(&m_upright_setting,
@@ -310,6 +311,7 @@ void Wiimote::UpdateButtonsStatus()
   m_dpad->GetState(&m_status.buttons.hex, IsSideways() ? dpad_sideways_bitmasks : dpad_bitmasks);
 }
 
+// This is called every ::Wiimote::UPDATE_FREQ (200hz)
 void Wiimote::Update()
 {
   // Check if connected.
@@ -322,6 +324,7 @@ void Wiimote::Update()
   // Data is later accessed in IsSideways and IsUpright
   m_hotkeys->GetState();
 
+  // Update our motion simulations.
   StepDynamics();
 
   // Update buttons in the status struct which is sent in 99% of input reports.
@@ -334,10 +337,22 @@ void Wiimote::Update()
   // If a new extension is requested in the GUI the change will happen here.
   HandleExtensionSwap();
 
+  // Allow extension to perform any regular duties it may need.
+  // (e.g. Nunchuk motion simulation step)
+  // Input is prepared here too.
+  // TODO: Separate input preparation from Update.
+  GetActiveExtension()->Update();
+
+  if (m_is_motion_plus_attached)
+  {
+    // M+ has some internal state that must processed.
+    m_motion_plus.Update();
+  }
+
   // Returns true if a report was sent.
   if (ProcessExtensionPortEvent())
   {
-    // Extension port event occured.
+    // Extension port event occurred.
     // Don't send any other reports.
     return;
   }
@@ -403,6 +418,8 @@ void Wiimote::SendDataReport()
     // IR Camera:
     if (rpt_builder.HasIR())
     {
+      // Note: Camera logic currently contains no changing state so we can just update it here.
+      // If that changes this should be moved to Wiimote::Update();
       m_camera_logic.Update(GetTransformation());
 
       // The real wiimote reads camera data from the i2c bus starting at offset 0x37:
@@ -416,9 +433,16 @@ void Wiimote::SendDataReport()
     // Extension port:
     if (rpt_builder.HasExt())
     {
-      // Update extension first as motion-plus may read from it.
-      GetActiveExtension()->Update();
-      m_motion_plus.Update();
+      // Prepare extension input first as motion-plus may read from it.
+      // This currently happens in Wiimote::Update();
+      // TODO: Separate extension input data preparation from Update.
+      // GetActiveExtension()->PrepareInput();
+
+      if (m_is_motion_plus_attached)
+      {
+        // TODO: Make input preparation triggered by bus read.
+        m_motion_plus.PrepareInput(GetAngularVelocity());
+      }
 
       u8* ext_data = rpt_builder.GetExtDataPtr();
       const u8 ext_size = rpt_builder.GetExtDataSize();
@@ -658,44 +682,59 @@ void Wiimote::StepDynamics()
 {
   EmulateSwing(&m_swing_state, m_swing, 1.f / ::Wiimote::UPDATE_FREQ);
   EmulateTilt(&m_tilt_state, m_tilt, 1.f / ::Wiimote::UPDATE_FREQ);
+  EmulateCursor(&m_cursor_state, m_ir, 1.f / ::Wiimote::UPDATE_FREQ);
   EmulateShake(&m_shake_state, m_shake, 1.f / ::Wiimote::UPDATE_FREQ);
-
-  // TODO: Move cursor state out of ControllerEmu::Cursor
-  // const auto cursor_mtx = EmulateCursorMovement(m_ir);
 }
 
 Common::Vec3 Wiimote::GetAcceleration()
 {
-  // Includes effects of:
-  // IR, Tilt, Swing, Orientation, Shake
-
-  auto orientation = Common::Matrix33::Identity();
-
-  if (IsSideways())
-    orientation *= Common::Matrix33::RotateZ(float(MathUtil::TAU / -4));
-
-  if (IsUpright())
-    orientation *= Common::Matrix33::RotateX(float(MathUtil::TAU / 4));
+  // TODO: Cursor forward/backward movement should produce acceleration.
 
   Common::Vec3 accel =
-      orientation *
+      GetOrientation() *
       GetTransformation().Transform(
           m_swing_state.acceleration + Common::Vec3(0, 0, float(GRAVITY_ACCELERATION)), 0);
 
+  // Our shake effects have never been affected by orientation. Should they be?
   accel += m_shake_state.acceleration;
 
+  // Simulate centripetal acceleration caused by an offset of the accelerometer sensor.
+  // Estimate of sensor position based on an image of the wii remote board:
+  constexpr float ACCELEROMETER_Y_OFFSET = 0.1f;
+
+  const auto angular_velocity = GetAngularVelocity();
+  const auto centripetal_accel =
+      // TODO: Is this the proper way to combine the x and z angular velocities?
+      std::pow(std::abs(angular_velocity.x) + std::abs(angular_velocity.z), 2) *
+      ACCELEROMETER_Y_OFFSET;
+
+  accel.y += centripetal_accel;
+
   return accel;
 }
 
+Common::Vec3 Wiimote::GetAngularVelocity()
+{
+  return GetOrientation() * (m_tilt_state.angular_velocity + m_swing_state.angular_velocity +
+                             m_cursor_state.angular_velocity);
+}
+
 Common::Matrix44 Wiimote::GetTransformation() const
 {
   // Includes positional and rotational effects of:
-  // IR, Swing, Tilt, Shake
+  // Cursor, Swing, Tilt, Shake
 
+  // TODO: think about and clean up matrix order, make nunchuk match.
   return Common::Matrix44::Translate(-m_shake_state.position) *
-         Common::Matrix44::FromMatrix33(GetRotationalMatrix(-m_tilt_state.angle) *
-                                        GetRotationalMatrix(-m_swing_state.angle)) *
-         EmulateCursorMovement(m_ir) * Common::Matrix44::Translate(-m_swing_state.position);
+         Common::Matrix44::FromMatrix33(GetRotationalMatrix(
+             -m_tilt_state.angle - m_swing_state.angle - m_cursor_state.angle)) *
+         Common::Matrix44::Translate(-m_swing_state.position - m_cursor_state.position);
+}
+
+Common::Matrix33 Wiimote::GetOrientation() const
+{
+  return Common::Matrix33::RotateZ(float(MathUtil::TAU / -4 * IsSideways())) *
+         Common::Matrix33::RotateX(float(MathUtil::TAU / 4 * IsUpright()));
 }
 
 }  // namespace WiimoteEmu

Source/Core/Core/HW/WiimoteEmu/WiimoteEmu.h

@@ -137,10 +137,20 @@ private:
 
   void UpdateButtonsStatus();
 
+  // Returns simulated accelerometer data in m/s^2.
   Common::Vec3 GetAcceleration();
-  // Used for simulating camera data. Does not include orientation transformations.
+
+  // Returns simulated gyroscope data in radians/s.
+  Common::Vec3 GetAngularVelocity();
+
+  // Returns the transformation of the world around the wiimote.
+  // Used for simulating camera data and for rotating acceleration data.
+  // Does not include orientation transformations.
   Common::Matrix44 GetTransformation() const;
 
+  // Returns the world rotation from the effects of sideways/upright settings.
+  Common::Matrix33 GetOrientation() const;
+
   void HIDOutputReport(const void* data, u32 size);
 
   void HandleReportRumble(const WiimoteCommon::OutputReportRumble&);
@@ -236,7 +246,7 @@ private:
   ControllerEmu::SettingValue<bool> m_upright_setting;
   ControllerEmu::SettingValue<double> m_battery_setting;
   ControllerEmu::SettingValue<double> m_speaker_pan_setting;
-  // ControllerEmu::SettingValue<bool> m_motion_plus_setting;
+  ControllerEmu::SettingValue<bool> m_motion_plus_setting;
 
   SpeakerLogic m_speaker_logic;
   MotionPlus m_motion_plus;
@@ -267,6 +277,7 @@ private:
   // Dynamics:
   MotionState m_swing_state;
   RotationalState m_tilt_state;
+  MotionState m_cursor_state;
   PositionalState m_shake_state;
 };
 }  // namespace WiimoteEmu

Source/Core/Core/State.cpp

@@ -74,7 +74,7 @@ static Common::Event g_compressAndDumpStateSyncEvent;
 static std::thread g_save_thread;
 
 // Don't forget to increase this after doing changes on the savestate system
-static const u32 STATE_VERSION = 108;  // Last changed in PR 7870
+static const u32 STATE_VERSION = 109;  // Last changed in PR 7861
 
 // Maps savestate versions to Dolphin versions.
 // Versions after 42 don't need to be added to this list,

Source/Core/DolphinQt/Config/Mapping/MappingIndicator.cpp

@@ -217,7 +217,7 @@ void MappingIndicator::DrawCursor(ControllerEmu::Cursor& cursor)
       QRectF(-scale, raw_coord.z * scale - INPUT_DOT_RADIUS / 2, scale * 2, INPUT_DOT_RADIUS));
 
   // Adjusted Z (if not hidden):
-  if (adj_coord.z && adj_coord.x < 10000)
+  if (adj_coord.IsVisible())
   {
     p.setBrush(GetAdjustedInputColor());
     p.drawRect(
@@ -250,7 +250,7 @@ void MappingIndicator::DrawCursor(ControllerEmu::Cursor& cursor)
   p.drawEllipse(QPointF{raw_coord.x, raw_coord.y} * scale, INPUT_DOT_RADIUS, INPUT_DOT_RADIUS);
 
   // Adjusted cursor position (if not hidden):
-  if (adj_coord.x < 10000)
+  if (adj_coord.IsVisible())
   {
     p.setPen(Qt::NoPen);
     p.setBrush(GetAdjustedInputColor());
@@ -492,11 +492,19 @@ void MappingIndicator::DrawForce(ControllerEmu::Force& force)
       QRectF(-scale, raw_coord.z * scale - INPUT_DOT_RADIUS / 2, scale * 2, INPUT_DOT_RADIUS));
 
   // Adjusted Z:
-  if (adj_coord.y)
+  const auto curve_point =
+      std::max(std::abs(m_motion_state.angle.x), std::abs(m_motion_state.angle.z)) / MathUtil::TAU;
+  if (adj_coord.y || curve_point)
   {
-    p.setBrush(GetAdjustedInputColor());
-    p.drawRect(
-        QRectF(-scale, adj_coord.y * -scale - INPUT_DOT_RADIUS / 2, scale * 2, INPUT_DOT_RADIUS));
+    // Show off the angle somewhat with a curved line.
+    QPainterPath path;
+    path.moveTo(-scale, (adj_coord.y + curve_point) * -scale);
+    path.quadTo({0, (adj_coord.y - curve_point) * -scale},
+                {scale, (adj_coord.y + curve_point) * -scale});
+
+    p.setBrush(Qt::NoBrush);
+    p.setPen(QPen(GetAdjustedInputColor(), INPUT_DOT_RADIUS));
+    p.drawPath(path);
   }
 
   // Draw "gate" shape.

Source/Core/DolphinQt/Config/Mapping/WiimoteEmuGeneral.cpp

@@ -55,7 +55,7 @@ void WiimoteEmuGeneral::CreateMainLayout()
 
   extension->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
 
-  static_cast<QFormLayout*>(extension->layout())->addRow(m_extension_combo);
+  static_cast<QFormLayout*>(extension->layout())->insertRow(0, m_extension_combo);
 
   layout->addWidget(extension, 0, 3);
   layout->addWidget(CreateGroupBox(tr("Rumble"), Wiimote::GetWiimoteGroup(

Source/Core/InputCommon/ControllerEmu/ControlGroup/Cursor.cpp

@@ -6,6 +6,7 @@
 
 #include <algorithm>
 #include <cmath>
+#include <limits>
 #include <memory>
 #include <string>
 
@@ -153,8 +154,7 @@ Cursor::StateData Cursor::GetState(const bool adjusted)
   // If auto-hide time is up or hide button is held:
   if (!m_auto_hide_timer || controls[6]->control_ref->State() > BUTTON_THRESHOLD)
   {
-    // TODO: Use NaN or something:
-    result.x = 10000;
+    result.x = std::numeric_limits<ControlState>::quiet_NaN();
     result.y = 0;
   }
 
@@ -176,4 +176,9 @@ ControlState Cursor::GetVerticalOffset() const
   return m_vertical_offset_setting.GetValue() / 100;
 }
 
+bool Cursor::StateData::IsVisible() const
+{
+  return !std::isnan(x);
+}
+
 }  // namespace ControllerEmu

Source/Core/InputCommon/ControllerEmu/ControlGroup/Cursor.h

@@ -20,6 +20,8 @@ public:
     ControlState x{};
     ControlState y{};
     ControlState z{};
+
+    bool IsVisible() const;
   };
 
   explicit Cursor(const std::string& name);

Source/Core/InputCommon/ControllerEmu/ControlGroup/Force.cpp

@@ -31,16 +31,30 @@ Force::Force(const std::string& name_) : ReshapableInput(name_, name_, GroupType
               _trans("cm"),
               // i18n: Refering to emulated wii remote swing movement.
               _trans("Distance of travel from neutral position.")},
-             25, 0, 100);
+             50, 1, 100);
 
-  AddSetting(&m_jerk_setting,
-             // i18n: "Jerk" as it relates to physics. The time derivative of acceleration.
-             {_trans("Jerk"),
-              // i18n: The symbol/abbreviation for meters per second to the 3rd power.
-              _trans("m/s³"),
+  // These speed settings are used to calculate a maximum jerk (change in acceleration).
+  // The calculation uses a travel distance of 1 meter.
+  // The maximum value of 40 m/s is the approximate speed of the head of a golf club.
+  // Games seem to not even properly detect motions at this speed.
+  // Values result in an exponentially increasing jerk.
+
+  AddSetting(&m_speed_setting,
+             {_trans("Speed"),
+              // i18n: The symbol/abbreviation for meters per second.
+              _trans("m/s"),
               // i18n: Refering to emulated wii remote swing movement.
-              _trans("Maximum change in acceleration.")},
-             500, 1, 1000);
+              _trans("Peak velocity of outward swing movements.")},
+             16, 1, 40);
+
+  // "Return Speed" allows for a "slow return" that won't trigger additional actions.
+  AddSetting(&m_return_speed_setting,
+             {_trans("Return Speed"),
+              // i18n: The symbol/abbreviation for meters per second.
+              _trans("m/s"),
+              // i18n: Refering to emulated wii remote swing movement.
+              _trans("Peak velocity of movements to neutral position.")},
+             2, 1, 40);
 
   AddSetting(&m_angle_setting,
              {_trans("Angle"),
@@ -48,7 +62,7 @@ Force::Force(const std::string& name_) : ReshapableInput(name_, name_, GroupType
               _trans("°"),
               // i18n: Refering to emulated wii remote swing movement.
               _trans("Rotation applied at extremities of swing.")},
-             45, 0, 180);
+             90, 1, 180);
 }
 
 Force::ReshapeData Force::GetReshapableState(bool adjusted)
@@ -70,8 +84,8 @@ Force::StateData Force::GetState(bool adjusted)
 
   if (adjusted)
   {
-    // Apply deadzone to z.
-    z = ApplyDeadzone(z, GetDeadzonePercentage());
+    // Apply deadzone to z and scale.
+    z = ApplyDeadzone(z, GetDeadzonePercentage()) * GetMaxDistance();
   }
 
   return {float(state.x), float(state.y), float(z)};
@@ -83,9 +97,14 @@ ControlState Force::GetGateRadiusAtAngle(double) const
   return GetMaxDistance();
 }
 
-ControlState Force::GetMaxJerk() const
+ControlState Force::GetSpeed() const
 {
-  return m_jerk_setting.GetValue();
+  return m_speed_setting.GetValue();
+}
+
+ControlState Force::GetReturnSpeed() const
+{
+  return m_return_speed_setting.GetValue();
 }
 
 ControlState Force::GetTwistAngle() const

Source/Core/InputCommon/ControllerEmu/ControlGroup/Force.h

@@ -26,8 +26,9 @@ public:
 
   StateData GetState(bool adjusted = true);
 
-  // Return jerk in m/s^3.
-  ControlState GetMaxJerk() const;
+  // Velocities returned in m/s.
+  ControlState GetSpeed() const;
+  ControlState GetReturnSpeed() const;
 
   // Return twist angle in radians.
   ControlState GetTwistAngle() const;
@@ -37,7 +38,8 @@ public:
 
 private:
   SettingValue<double> m_distance_setting;
-  SettingValue<double> m_jerk_setting;
+  SettingValue<double> m_speed_setting;
+  SettingValue<double> m_return_speed_setting;
   SettingValue<double> m_angle_setting;
 };