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/*****************************************************************************
*
* grail - Gesture Recognition And Instantiation Library
*
* Copyright (C) 2010 Canonical Ltd.
* Copyright (C) 2010 Henrik Rydberg <rydberg@bitmath.org>
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or (at your
* option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
****************************************************************************/
#include "grail-recognizer.h"
#include "grail-impl.h"
#include <math.h>
static const float FM_SN[DIM_FM] = { 1000, 1000, 1000, 1000 };
static const float FM_BAR[DIM_FM] = { 50, 50, 50, 50 };
static const grail_time_t FM_HOLD_MS[DIM_FM] = { 60, 60, 60, 60 };
static const grail_time_t FM_BAR_MS[DIM_FM] = { 300, 300, 500, 500 };
static const grail_time_t SAMPLE_MS = 10;
static const float EPS = 1e-3;
static void compute_position(float *x, float *y,
const struct utouch_frame *frame)
{
int i, n = frame->num_active;
*x = 0;
*y = 0;
if (n < 1)
return;
for (i = 0; i < n; i++) {
const struct utouch_contact *t = frame->active[i];
*x += t->x;
*y += t->y;
}
*x /= n;
*y /= n;
}
static float compute_radius(float x, float y,
const struct utouch_frame *frame)
{
int i, n = frame->num_active;
float r = 0, r2 = 0;
if (n < 2)
return r;
for (i = 0; i < n; i++) {
const struct utouch_contact *t = frame->active[i];
float dx = t->x - x;
float dy = t->y - y;
r2 += dx * dx + dy * dy;
}
r2 /= n;
r = sqrt(r2);
return r;
}
static float compute_rotation(float x, float y, float r,
const struct utouch_frame *frame)
{
int i, n = frame->num_active;
float da = 0, darc2 = 0;
if (n < 2)
return da;
for (i = 0; i < n; i++) {
const struct utouch_contact *t = frame->active[i];
const struct utouch_contact *ot = t->prev;
float dx = t->x - x;
float dy = t->y - y;
float mx = t->x - ot->x;
float my = t->y - ot->y;
darc2 += dx * my - dy * mx;
}
darc2 /= n;
da = darc2 / (r * r);
return da;
}
/* Response-augmented EWMA filter, courtesy of Vojtech Pavlik */
static float move_filter(const struct filter_model *m, float val)
{
if (val > m->value - m->fuzz / 2 && val < m->value + m->fuzz / 2)
return m->value;
if (val > m->value - m->fuzz && val < m->value + m->fuzz)
return (m->value * 3 + val) / 4;
if (val > m->value - m->fuzz * 2 && val < m->value + m->fuzz * 2)
return (m->value + val) / 2;
return val;
}
static void move_reset(struct move_model *m, int i, float x, grail_time_t t)
{
struct filter_model *fm = &m->fm[i];
fm->raw_delta = 0;
fm->action_delta = 0;
fm->velocity = 0;
fm->value = x;
fm->original = x;
fm->original_ms = t;
fm->sample = x;
fm->sample_ms = t;
m->tickle &= ~(1 << i);
m->active &= ~(1 << i);
m->timeout &= ~(1 << i);
}
static void move_update(struct move_model *m, int i, float x, grail_time_t t)
{
struct filter_model *fm = &m->fm[i];
float dt = t - fm->sample_ms;
fm->raw_delta = x - fm->value;
fm->action_delta = fm->raw_delta;
fm->value = x;
if (dt > SAMPLE_MS) {
fm->velocity = (x - fm->sample) / dt;
fm->sample = x;
fm->sample_ms = t;
}
if (fabs(fm->raw_delta) > EPS)
m->tickle |= (1 << i);
else
m->tickle &= ~(1 << i);
if (m->active & (1 << i))
return;
fm->action_delta = 0;
if (fabs(x - fm->original) > fm->bar) {
if (t - fm->original_ms > fm->hold_ms) {
m->active |= (1 << i);
fm->action_delta = x - fm->original;
}
} else if (t - fm->original_ms > fm->bar_ms) {
m->timeout |= (1 << i);
}
}
void gru_init_motion(struct grail *ge)
{
struct utouch_surface *s = utouch_frame_get_surface(ge->impl->fh);
struct gesture_recognizer *gru = ge->gru;
struct move_model *m = &gru->move;
float D[DIM_FM];
int i;
D[FM_X] = s->max_x - s->min_x;
D[FM_Y] = s->max_y - s->min_y;
D[FM_R] = sqrt(D[FM_X] * D[FM_X] + D[FM_Y] * D[FM_Y]);
D[FM_A] = 2 * M_PI;
for (i = 0; i < DIM_FM; i++) {
m->fm[i].fuzz = D[i] / FM_SN[i];
m->fm[i].bar = D[i] / FM_BAR[i];
m->fm[i].hold_ms = FM_HOLD_MS[i];
m->fm[i].bar_ms = FM_BAR_MS[i];
}
}
void gru_motion(struct grail *ge,
const struct utouch_frame *frame)
{
const struct utouch_surface *s = utouch_frame_get_surface(ge->impl->fh);
struct gesture_recognizer *gru = ge->gru;
struct move_model *m = &gru->move;
grail_time_t t = frame->time;
float x, y, r, a;
compute_position(&x, &y, frame);
if (frame->prev->revision != frame->revision) {
r = compute_radius(x, y, frame);
a = 0;
move_reset(m, FM_X, x, t);
move_reset(m, FM_Y, y, t);
move_reset(m, FM_R, r, t);
move_reset(m, FM_A, a, t);
m->single = 0;
m->multi = 0;
} else if (frame->num_active < 2) {
r = 0;
a = 0;
move_update(m, FM_X, x, t);
move_update(m, FM_Y, y, t);
move_reset(m, FM_R, r, t);
move_reset(m, FM_A, a, t);
m->single = 1;
m->multi = 0;
} else {
x = move_filter(&m->fm[FM_X], x);
y = move_filter(&m->fm[FM_Y], y);
r = compute_radius(x, y, frame);
r = move_filter(&m->fm[FM_R], r);
a = m->fm[FM_A].value;
if (!s->is_semi_mt) {
a += compute_rotation(x, y, r, frame);
a = move_filter(&m->fm[FM_A], a);
}
move_update(m, FM_X, x, t);
move_update(m, FM_Y, y, t);
move_update(m, FM_R, r, t);
move_update(m, FM_A, a, t);
m->single = 0;
m->multi = 1;
}
m->ntouch = frame->num_active;
m->time = t;
}
void gru_event(struct grail *ge, int gid,
const struct move_model *m,
const grail_prop_t *prop, int nprop)
{
gin_gid_event(ge, gid, m->fm[FM_X].value, m->fm[FM_Y].value, m->ntouch,
prop, nprop, 0);
}
void gru_end(struct grail *ge, int gid, const struct move_model *m,
const grail_prop_t *prop, int nprop)
{
gin_gid_end(ge, gid, m->fm[FM_X].value, m->fm[FM_Y].value, m->ntouch,
prop, nprop);
}
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