Press n or j to go to the next uncovered block, b, p or k for the previous block.
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import * as Belt_Array from "@rescript/runtime/lib/es6/Belt_Array.js";
import * as Stdlib_Array from "@rescript/runtime/lib/es6/Stdlib_Array.js";
import * as Quaternion$WsteinRegripCore from "./Quaternion.res.mjs";
let defaults = {
minStepAngleDeg: 10,
minSteps: 4,
minReversals: 2,
maxSampleGapMs: 250,
burstWindowMs: 300,
faceGuardMs: 400,
cooldownMs: 500
};
let initial_rapidSteps = [];
let initial = {
previous: undefined,
rapidSteps: initial_rapidSteps,
pending: undefined,
lastMoveAt: undefined,
lastDetectionAt: undefined
};
function negate(q) {
return {
x: - q.x,
y: - q.y,
z: - q.z,
w: - q.w
};
}
function difference(a, b) {
return {
x: a.x - b.x,
y: a.y - b.y,
z: a.z - b.z,
w: a.w - b.w
};
}
function countReversals(steps) {
return Stdlib_Array.reduceWithIndex(steps, 0, (total, step, index) => {
if (index === 0 || Quaternion$WsteinRegripCore.dot(steps[index - 1 | 0].direction, step.direction) >= 0) {
return total;
} else {
return total + 1 | 0;
}
});
}
function elapsedAtMost(reference, now, window) {
if (reference !== undefined) {
return now - reference <= window;
} else {
return false;
}
}
function elapsedLessThan(reference, now, window) {
if (reference !== undefined) {
return now - reference < window;
} else {
return false;
}
}
function releaseMature(state, now, config) {
let candidate = state.pending;
if (candidate !== undefined && now - candidate.at >= config.faceGuardMs) {
return [
{
previous: state.previous,
rapidSteps: state.rapidSteps,
pending: undefined,
lastMoveAt: state.lastMoveAt,
lastDetectionAt: candidate.at
},
{
at: candidate.at,
steps: candidate.steps,
reversals: candidate.reversals,
spanMs: candidate.spanMs
}
];
} else {
return [
state,
undefined
];
}
}
function observe(state, at, orientation, configOpt) {
let config = configOpt !== undefined ? configOpt : defaults;
let match = releaseMature(state, at, config);
let released = match[1];
let state$1 = match[0];
let normalized = Quaternion$WsteinRegripCore.normalize(orientation);
let before = state$1.previous;
if (before === undefined) {
return [
{
previous: {
at: at,
pose: normalized
},
rapidSteps: state$1.rapidSteps,
pending: state$1.pending,
lastMoveAt: state$1.lastMoveAt,
lastDetectionAt: state$1.lastDetectionAt
},
released
];
}
let current = Quaternion$WsteinRegripCore.dot(before.pose, normalized) < 0 ? negate(normalized) : normalized;
let state_previous = {
at: at,
pose: current
};
let state_rapidSteps = state$1.rapidSteps;
let state_pending = state$1.pending;
let state_lastMoveAt = state$1.lastMoveAt;
let state_lastDetectionAt = state$1.lastDetectionAt;
let interval = at - before.at;
if (interval <= 0 || interval > config.maxSampleGapMs || Quaternion$WsteinRegripCore.angle(before.pose, current) < Quaternion$WsteinRegripCore.degreesToRadians(config.minStepAngleDeg)) {
return [
{
previous: state_previous,
rapidSteps: [],
pending: state_pending,
lastMoveAt: state_lastMoveAt,
lastDetectionAt: state_lastDetectionAt
},
released
];
}
let rapidSteps = Belt_Array.concatMany([
state_rapidSteps,
[{
at: at,
direction: difference(current, before.pose)
}]
]).filter(step => at - step.at <= config.burstWindowMs);
let reversals = countReversals(rapidSteps);
let match$1 = state_pending;
let pending = match$1 !== undefined ? state_pending : (
rapidSteps.length >= config.minSteps && reversals >= config.minReversals && !elapsedAtMost(state_lastMoveAt, at, config.faceGuardMs) && !elapsedLessThan(state_lastDetectionAt, at, config.cooldownMs) ? ({
at: at,
steps: rapidSteps.length,
reversals: reversals,
spanMs: at - rapidSteps[0].at
}) : undefined
);
return [
{
previous: state_previous,
rapidSteps: rapidSteps,
pending: pending,
lastMoveAt: state_lastMoveAt,
lastDetectionAt: state_lastDetectionAt
},
released
];
}
function observeMove(state, at, configOpt) {
let config = configOpt !== undefined ? configOpt : defaults;
let state_previous = state.previous;
let state_rapidSteps = state.rapidSteps;
let state_pending = state.pending;
let state_lastMoveAt = at;
let state_lastDetectionAt = state.lastDetectionAt;
let state$1 = {
previous: state_previous,
rapidSteps: state_rapidSteps,
pending: state_pending,
lastMoveAt: state_lastMoveAt,
lastDetectionAt: state_lastDetectionAt
};
let candidate = state_pending;
if (candidate !== undefined && Math.abs(at - candidate.at) <= config.faceGuardMs) {
return {
previous: state_previous,
rapidSteps: state_rapidSteps,
pending: undefined,
lastMoveAt: state_lastMoveAt,
lastDetectionAt: state_lastDetectionAt
};
} else {
return state$1;
}
}
export {
defaults,
initial,
observe,
observeMove,
}
/* No side effect */
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