1 files changed, 0 insertions, 162 deletions
diff --git a/Ryujinx.Input/Motion/MotionSensorFilter.cs b/Ryujinx.Input/Motion/MotionSensorFilter.cs
deleted file mode 100644
index 440fa7ac..00000000
--- a/Ryujinx.Input/Motion/MotionSensorFilter.cs
+++ /dev/null
@@ -1,162 +0,0 @@
-using System.Numerics;
-
-namespace Ryujinx.Input.Motion
-{
-    // MahonyAHRS class. Madgwick's implementation of Mayhony's AHRS algorithm.
-    // See: https://x-io.co.uk/open-source-imu-and-ahrs-algorithms/
-    // Based on: https://github.com/xioTechnologies/Open-Source-AHRS-With-x-IMU/blob/master/x-IMU%20IMU%20and%20AHRS%20Algorithms/x-IMU%20IMU%20and%20AHRS%20Algorithms/AHRS/MahonyAHRS.cs
-    class MotionSensorFilter
-    {
-        /// <summary>
-        /// Sample rate coefficient.
-        /// </summary>
-        public const float SampleRateCoefficient = 0.45f;
-
-        /// <summary>
-        /// Gets or sets the sample period.
-        /// </summary>
-        public float SamplePeriod { get; set; }
-
-        /// <summary>
-        /// Gets or sets the algorithm proportional gain.
-        /// </summary>
-        public float Kp { get; set; }
-
-        /// <summary>
-        /// Gets or sets the algorithm integral gain.
-        /// </summary>
-        public float Ki { get; set; }
-
-        /// <summary>
-        /// Gets the Quaternion output.
-        /// </summary>
-        public Quaternion Quaternion { get; private set; }
-
-        /// <summary>
-        /// Integral error.
-        /// </summary>
-        private Vector3 _intergralError;
-
-        /// <summary>
-        /// Initializes a new instance of the <see cref="MotionSensorFilter"/> class.
-        /// </summary>
-        /// <param name="samplePeriod">
-        /// Sample period.
-        /// </param>
-        public MotionSensorFilter(float samplePeriod) : this(samplePeriod, 1f, 0f) { }
-
-        /// <summary>
-        /// Initializes a new instance of the <see cref="MotionSensorFilter"/> class.
-        /// </summary>
-        /// <param name="samplePeriod">
-        /// Sample period.
-        /// </param>
-        /// <param name="kp">
-        /// Algorithm proportional gain.
-        /// </param>
-        public MotionSensorFilter(float samplePeriod, float kp) : this(samplePeriod, kp, 0f) { }
-
-        /// <summary>
-        /// Initializes a new instance of the <see cref="MotionSensorFilter"/> class.
-        /// </summary>
-        /// <param name="samplePeriod">
-        /// Sample period.
-        /// </param>
-        /// <param name="kp">
-        /// Algorithm proportional gain.
-        /// </param>
-        /// <param name="ki">
-        /// Algorithm integral gain.
-        /// </param>
-        public MotionSensorFilter(float samplePeriod, float kp, float ki)
-        {
-            SamplePeriod = samplePeriod;
-            Kp = kp;
-            Ki = ki;
-
-            Reset();
-
-            _intergralError = new Vector3();
-        }
-
-        /// <summary>
-        /// Algorithm IMU update method. Requires only gyroscope and accelerometer data.
-        /// </summary>
-        /// <param name="accel">
-        /// Accelerometer measurement in any calibrated units.
-        /// </param>
-        /// <param name="gyro">
-        /// Gyroscope measurement in radians.
-        /// </param>
-        public void Update(Vector3 accel, Vector3 gyro)
-        {
-            // Normalise accelerometer measurement.
-            float norm = 1f / accel.Length();
-
-            if (!float.IsFinite(norm))
-            {
-                return;
-            }
-
-            accel *= norm;
-
-            float q2 = Quaternion.X;
-            float q3 = Quaternion.Y;
-            float q4 = Quaternion.Z;
-            float q1 = Quaternion.W;
-
-            // Estimated direction of gravity.
-            Vector3 gravity = new Vector3()
-            {
-                X = 2f * (q2 * q4 - q1 * q3),
-                Y = 2f * (q1 * q2 + q3 * q4),
-                Z = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4
-            };
-
-            // Error is cross product between estimated direction and measured direction of gravity.
-            Vector3 error = new Vector3()
-            {
-                X = accel.Y * gravity.Z - accel.Z * gravity.Y,
-                Y = accel.Z * gravity.X - accel.X * gravity.Z,
-                Z = accel.X * gravity.Y - accel.Y * gravity.X
-            };
-
-            if (Ki > 0f)
-            {
-                _intergralError += error; // Accumulate integral error.
-            }
-            else
-            {
-                _intergralError = Vector3.Zero; // Prevent integral wind up.
-            }
-
-            // Apply feedback terms.
-            gyro += (Kp * error) + (Ki * _intergralError);
-
-            // Integrate rate of change of quaternion.
-            Vector3 delta = new Vector3(q2, q3, q4);
-
-            q1 += (-q2 * gyro.X - q3 * gyro.Y - q4 * gyro.Z) * (SampleRateCoefficient * SamplePeriod);
-            q2 += (q1 * gyro.X + delta.Y * gyro.Z - delta.Z * gyro.Y) * (SampleRateCoefficient * SamplePeriod);
-            q3 += (q1 * gyro.Y - delta.X * gyro.Z + delta.Z * gyro.X) * (SampleRateCoefficient * SamplePeriod);
-            q4 += (q1 * gyro.Z + delta.X * gyro.Y - delta.Y * gyro.X) * (SampleRateCoefficient * SamplePeriod);
-
-            // Normalise quaternion.
-            Quaternion quaternion = new Quaternion(q2, q3, q4, q1);
-
-            norm = 1f / quaternion.Length();
-
-            if (!float.IsFinite(norm))
-            {
-                return;
-            }
-
-            Quaternion = quaternion * norm;
-        }
-
-        public void Reset()
-        {
-            Quaternion = Quaternion.Identity;
-        }
-    }
-}
-\ No newline at end of file