Merge pull request 'feat(clients): the phone's gyro can speak for a gyro-less pad' (#88) from worktree-gyro-phone-mirror into main

Reviewed-on: #88

clients/android/app/src/main/kotlin/io/unom/punktfunk/GamepadSettingsScreen.kt

@@ -57,6 +57,7 @@ import androidx.compose.ui.unit.dp
 import androidx.compose.ui.unit.sp
 import dev.chrisbanes.haze.HazeState
 import dev.chrisbanes.haze.hazeSource
+import io.unom.punktfunk.kit.DeviceGyro
 import io.unom.punktfunk.kit.deviceBodyVibrator
 import io.unom.punktfunk.kit.security.KnownHost
 import io.unom.punktfunk.kit.security.KnownHostStore
@@ -126,6 +127,8 @@ fun GamepadSettingsScreen(
     val context = LocalContext.current
     // Gates the "Rumble on this phone" row — a TV box has no body vibrator to mirror onto.
     val hasBodyVibrator = remember { deviceBodyVibrator(context) != null }
+    // Gates "Gyro from this phone" the same way — a TV box has no gyroscope to mirror from.
+    val hasGyroscope = remember { DeviceGyro.available(context) }
     // Gates the AV1 codec row the same way the touch settings do (see `codecOptionsFor`).
     val av1Capable = remember { io.unom.punktfunk.kit.VideoDecoders.pickDecoder("video/av01") != null }
 
@@ -159,7 +162,7 @@ fun GamepadSettingsScreen(
     // path there is this screen's own Controller-optimized UI toggle, which swaps in the standard
     // interface remote-navigably. The strings branch on it.
     val tv = remember { isTvDevice(context) }
-    val allRows = buildSettingsRows(s, hasBodyVibrator, av1Capable, ::update) +
+    val allRows = buildSettingsRows(s, hasBodyVibrator, hasGyroscope, av1Capable, ::update) +
         buildProfileRows(profiles, savedHosts, tv) { pinProfile = it }
     // Which section is showing, and where each one's focus was when it was last left — a detour
     // into another tab shouldn't lose your place.
@@ -445,12 +448,13 @@ private fun SettingRowView(row: GpRow, focused: Boolean, adjustDir: Int, onClick
 }
 
 /** Build the console settings rows from the current [Settings], writing through [update].
- * [hasBodyVibrator] gates the "Rumble on this phone" row (absent on TVs); [av1Capable] gates the
- * AV1 codec entry (see `codecOptionsFor`). Every row declares its [GpTab]; the screen shows one
- * tab at a time. */
+ * [hasBodyVibrator] gates the "Rumble on this phone" row and [hasGyroscope] the "Gyro from this
+ * phone" row (both absent on TVs); [av1Capable] gates the AV1 codec entry (see
+ * `codecOptionsFor`). Every row declares its [GpTab]; the screen shows one tab at a time. */
 internal fun buildSettingsRows(
     s: Settings,
     hasBodyVibrator: Boolean,
+    hasGyroscope: Boolean,
     av1Capable: Boolean,
     update: (Settings) -> Unit,
 ): List<GpRow> {
@@ -598,6 +602,18 @@ internal fun buildSettingsRows(
         } else {
             null
         },
+        // The rumble mirror's sibling, data flowing the other way — needs a gyroscope to
+        // mirror FROM, which a TV box lacks.
+        if (hasGyroscope) {
+            toggle(
+                "phoneGyro", GpTab.CONTROLLER, null, "Gyro from this phone",
+                "When the controller has no gyro of its own, send this phone's motion " +
+                    "sensors as controller 1's — for clip-on pads without one.",
+                s.gyroOnPhone,
+            ) { update(s.copy(gyroOnPhone = it)) }
+        } else {
+            null
+        },
     ) + listOf(
         // NOT gated on the vibrator (the bug A2 fixed in the touch settings): an SC2 capture has
         // nothing to do with this device's motor, and a TV box is where it matters most.

clients/android/app/src/main/kotlin/io/unom/punktfunk/Settings.kt

@@ -158,6 +158,16 @@ data class Settings(
      * toggle is hidden on devices without a vibrator (TVs), where this would be a silent no-op.
      */
     val rumbleOnPhone: Boolean = false,
+    /**
+     * Opt-in: use this phone's own gyroscope as controller 1's motion when the forwarded pad has
+     * none of its own — for clip-on gamepads without an IMU, where the phone body moves with the
+     * player's hands. The rumble mirror's sibling, data flowing the other way. Off by default;
+     * read once per session by StreamScreen (it starts a [io.unom.punktfunk.kit.DeviceGyro] only
+     * when set), and the mirror stands down by itself whenever wire pad 0 is fed by a capture
+     * link (USB DualSense / SC2 — pads with a real gyro). The toggle is hidden on devices
+     * without a gyroscope (TVs), where this would be a silent no-op.
+     */
+    val gyroOnPhone: Boolean = false,
 
     /**
      * Capture a Steam Controller 2 (wired / Puck dongle over USB, or an already-paired BLE pad)
@@ -300,6 +310,7 @@ class SettingsStore(context: Context) {
         smoothBuffer = prefs.getInt(K_SMOOTH_BUFFER, 0),
         autoWakeEnabled = prefs.getBoolean(K_AUTO_WAKE, true),
         rumbleOnPhone = prefs.getBoolean(K_RUMBLE_ON_PHONE, false),
+        gyroOnPhone = prefs.getBoolean(K_GYRO_ON_PHONE, false),
         sc2Capture = prefs.getBoolean(K_SC2_CAPTURE, true),
         dsCapture = prefs.getBoolean(K_DS_CAPTURE, true),
         padHaptics = prefs.getBoolean(K_PAD_HAPTICS, true),
@@ -340,6 +351,7 @@ class SettingsStore(context: Context) {
             .putInt(K_SMOOTH_BUFFER, s.smoothBuffer)
             .putBoolean(K_AUTO_WAKE, s.autoWakeEnabled)
             .putBoolean(K_RUMBLE_ON_PHONE, s.rumbleOnPhone)
+            .putBoolean(K_GYRO_ON_PHONE, s.gyroOnPhone)
             .putBoolean(K_SC2_CAPTURE, s.sc2Capture)
             .putBoolean(K_DS_CAPTURE, s.dsCapture)
             .putBoolean(K_PAD_HAPTICS, s.padHaptics)
@@ -390,6 +402,7 @@ class SettingsStore(context: Context) {
         const val K_SMOOTH_BUFFER = "smooth_buffer"
         const val K_AUTO_WAKE = "auto_wake_enabled"
         const val K_RUMBLE_ON_PHONE = "rumble_on_phone"
+        const val K_GYRO_ON_PHONE = "gyro_on_phone"
         const val K_SC2_CAPTURE = "sc2_capture"
         const val K_DS_CAPTURE = "ds_capture"
         const val K_PAD_HAPTICS = "pad_haptics"

clients/android/app/src/main/kotlin/io/unom/punktfunk/SettingsScreen.kt

@@ -77,6 +77,7 @@ import androidx.compose.ui.text.input.KeyboardType
 import androidx.compose.ui.unit.dp
 import androidx.compose.ui.unit.sp
 import androidx.core.content.ContextCompat
+import io.unom.punktfunk.kit.DeviceGyro
 import io.unom.punktfunk.kit.VideoDecoders
 import io.unom.punktfunk.kit.deviceBodyVibrator
 import io.unom.punktfunk.kit.security.KnownHostStore
@@ -888,6 +889,18 @@ private fun ControllerSettings(s: Settings, update: (Settings) -> Unit, onOpenCo
                     onCheckedChange = { on -> update(s.copy(rumbleOnPhone = on)) },
                 )
             }
+            // The rumble mirror's sibling, data flowing the other way: needs a gyroscope to
+            // mirror FROM — a TV box has none, so the row would be a silent no-op there.
+            val hasGyroscope = remember { DeviceGyro.available(context) }
+            if (hasGyroscope) {
+                ToggleRow(
+                    title = "Gyro from this phone",
+                    subtitle = "When the controller has no gyro, send this phone's motion " +
+                        "sensors as controller 1's",
+                    checked = s.gyroOnPhone,
+                    onCheckedChange = { on -> update(s.copy(gyroOnPhone = on)) },
+                )
+            }
             // NOT gated on the vibrator: SC2 passthrough is a USB/BLE capture that has nothing to do
             // with rumbling this device's body, and the gate hid the toggle on exactly the machines
             // that most want it — TV boxes, where a Steam Controller 2 is the whole input story.

clients/android/app/src/main/kotlin/io/unom/punktfunk/StreamScreen.kt

@@ -67,6 +67,7 @@ import androidx.core.view.WindowInsetsControllerCompat
 import androidx.lifecycle.Lifecycle
 import androidx.lifecycle.LifecycleEventObserver
 import androidx.lifecycle.LifecycleOwner
+import io.unom.punktfunk.kit.DeviceGyro
 import io.unom.punktfunk.kit.DsCapture
 import io.unom.punktfunk.kit.GamepadFeedback
 import io.unom.punktfunk.kit.GamepadRouter
@@ -455,6 +456,16 @@ fun StreamScreen(session: ActiveSession, onSessionEnded: (SessionEndReason) -> U
             router,
             deviceVibrator = if (initialSettings.rumbleOnPhone) deviceBodyVibrator(context) else null,
         ).also { it.start() }
+        // "Gyro from this phone" (opt-in): this device's IMU speaks for controller 1's motion
+        // while wire pad 0 is a controller without a gyro of its own — the rumble mirror's
+        // sibling, data flowing the other way. The mirror gates itself per sample (it stands
+        // down whenever a capture link — USB DualSense / SC2, pads with a real IMU — holds
+        // pad 0), so it composes with the captures below without coordination here.
+        val phoneGyro = if (initialSettings.gyroOnPhone && initialSettings.gamepadForwarding) {
+            DeviceGyro(context, handle, router).also { it.start() }
+        } else {
+            null
+        }
         // Free a disconnected controller's rumble/lights bindings promptly (else the open lights
         // session leaks until the session ends). The router owns hot-plug; the feedback owns the binds.
         router.onSlotClosed = feedback::onDeviceRemoved
@@ -587,6 +598,7 @@ fun StreamScreen(session: ActiveSession, onSessionEnded: (SessionEndReason) -> U
             feedback.onHidRaw = null
             feedback.sink = null
             feedback.stop() // stop + join the poll threads BEFORE the router is released / handle freed
+            phoneGyro?.stop() // join the sensor thread + park pad 0's rotation at zero, same ordering rule
             sc2UsbReceiver?.let { runCatching { context.unregisterReceiver(it) } }
             sc2?.stop() // release the USB/BLE link + free the wire slot (host tears the pad down)
             dsUsbReceiver?.let { runCatching { context.unregisterReceiver(it) } }

clients/android/app/src/test/kotlin/io/unom/punktfunk/GamepadPaletteTest.kt

@@ -123,7 +123,9 @@ class GamepadPaletteTest {
      */
     @Test
     fun everySettingsRowHasATab() {
-        val rows = buildSettingsRows(Settings(), hasBodyVibrator = true, av1Capable = true) {}
+        val rows = buildSettingsRows(
+            Settings(), hasBodyVibrator = true, hasGyroscope = true, av1Capable = true,
+        ) {}
         assertTrue(rows.isNotEmpty())
         assertEquals(rows.size, rows.map { it.id }.toSet().size)
         // Profiles is built separately (from the catalog), so no settings row claims it.
@@ -137,7 +139,9 @@ class GamepadPaletteTest {
     @Test
     fun backgroundRowStepsTheSharedKey() {
         var s = Settings()
-        fun rows() = buildSettingsRows(s, hasBodyVibrator = false, av1Capable = false) { s = it }
+        fun rows() = buildSettingsRows(
+            s, hasBodyVibrator = false, hasGyroscope = false, av1Capable = false,
+        ) { s = it }
         fun palette() = rows().first { it.id == "palette" }
 
         assertEquals("violet", s.uiPalette)

clients/android/app/src/test/kotlin/io/unom/punktfunk/GamepadSettingsRowsTest.kt

@@ -24,6 +24,7 @@ class GamepadSettingsRowsTest {
     ): List<GpRow> = buildSettingsRows(
         Settings(gamepadForwarding = forwarding),
         hasBodyVibrator = true,
+        hasGyroscope = true,
         av1Capable = true,
     ) { sink += it }
 

clients/android/kit/src/main/kotlin/io/unom/punktfunk/kit/DeviceGyro.kt

@@ -0,0 +1,179 @@
+package io.unom.punktfunk.kit
+
+import android.content.Context
+import android.hardware.Sensor
+import android.hardware.SensorEvent
+import android.hardware.SensorEventListener
+import android.hardware.SensorManager
+import android.os.Build
+import android.os.Handler
+import android.os.HandlerThread
+import android.view.Display
+import android.view.Surface
+import android.view.WindowManager
+import kotlin.math.roundToInt
+
+/**
+ * The opt-in phone-gyro mirror ("Gyro from this phone", off by default): while wire pad 0 is a
+ * controller with no motion source of its own, THIS device's IMU speaks for it on the rich-input
+ * motion plane — for clip-on and third-party pads that ship without a gyro, where the phone body
+ * is rigidly attached to (or simply is) the thing in the player's hands. [GamepadFeedback]'s
+ * rumble-on-phone mirror with the data flowing the other way.
+ *
+ * On Android the only motion sources are the capture links (USB DualSense / SC2 — pads with a
+ * real IMU, claimed as [GamepadRouter.ExternalPad]s), so the stand-down rule is exactly
+ * [GamepadRouter.padHasOwnMotion]: when a capture link holds pad 0, the mirror sends nothing —
+ * two motion writers on one wire pad would fight. It also sends nothing while pad 0 has no slot
+ * at all (motion never creates a host pad; a controller must have arrived first).
+ *
+ * Two properties this class enforces itself:
+ *  - samples ride a dedicated [HandlerThread] with batching disabled (`maxReportLatencyUs = 0`) —
+ *    sensor batching would trade the exact latency gyro aim exists to avoid;
+ *  - a stand-down edge (capture link claims pad 0, or [stop]) sends ONE zero-gyro sample, so the
+ *    host's virtual pad never keeps integrating an angular velocity this device stopped
+ *    producing (the gyro-sweep "stale angular velocity re-sent forever" failure mode).
+ *
+ * Units are the wire contract (mirrors `pf-client-core`'s constants): gyro rad/s → 20 LSB/°·s,
+ * accel m/s² → g → 10000 LSB/g. Android's accelerometer reads specific force (+1 g on the up
+ * axis at rest), which is the DualSense report's own convention — no sign flip. The one thing
+ * the phone adds is a frame remap: sensors report in the device's natural-portrait frame, while
+ * the wire wants the controller frame the player sees (x right, y up, z out of the screen), so
+ * each sample is rotated by the current display rotation — a phone clipped landscape must yaw
+ * when the player yaws, not roll. The matrix is derived and pinned by `DeviceGyroTest`;
+ * correctable in one place if on-glass says otherwise.
+ */
+class DeviceGyro(
+    context: Context,
+    private val handle: Long,
+    private val router: GamepadRouter,
+) : SensorEventListener {
+
+    private val sensorManager: SensorManager? =
+        context.getSystemService(SensorManager::class.java)
+
+    /** For the live rotation; null on contexts without a display association (then portrait). */
+    private val display: Display? = runCatching {
+        if (Build.VERSION.SDK_INT >= 30) {
+            context.display
+        } else {
+            @Suppress("DEPRECATION")
+            context.getSystemService(WindowManager::class.java)?.defaultDisplay
+        }
+    }.getOrNull()
+
+    private val thread = HandlerThread("pf-phone-gyro")
+
+    /** Latest converted accel, paired with each gyro send (the wire fuses both per sample). */
+    private val lastAccel = intArrayOf(0, ACCEL_LSB_PER_G, 0)
+
+    /** Whether the last gyro event actually went to pad 0 — the stand-down zero-send edge. */
+    private var wasWriting = false
+
+    /** Register the listeners; a device without a gyroscope makes this a no-op. */
+    fun start() {
+        val sm = sensorManager ?: return
+        val gyro = sm.getDefaultSensor(Sensor.TYPE_GYROSCOPE) ?: return
+        thread.start()
+        val h = Handler(thread.looper)
+        // ~200 Hz requested (the framework clamps to what the hardware offers), zero report
+        // latency: batching is poison for gyro aim.
+        sm.registerListener(this, gyro, SAMPLING_PERIOD_US, 0, h)
+        sm.getDefaultSensor(Sensor.TYPE_ACCELEROMETER)?.let {
+            sm.registerListener(this, it, SAMPLING_PERIOD_US, 0, h)
+        }
+    }
+
+    /**
+     * Unregister and join the sensor thread, then park the host pad's rotation at zero if this
+     * mirror was the live writer. Call BEFORE the router is released / the handle freed —
+     * teardown-ordered like the feedback threads.
+     */
+    fun stop() {
+        sensorManager?.unregisterListener(this)
+        thread.quitSafely()
+        runCatching { thread.join() }
+        if (wasWriting) {
+            wasWriting = false
+            sendZero()
+        }
+    }
+
+    override fun onSensorChanged(event: SensorEvent) {
+        val rotation = display?.rotation ?: Surface.ROTATION_0
+        when (event.sensor.type) {
+            Sensor.TYPE_ACCELEROMETER -> {
+                val v = remap(rotation, event.values[0], event.values[1], event.values[2])
+                for (i in 0..2) {
+                    lastAccel[i] = (v[i] / GRAVITY * ACCEL_LSB_PER_G)
+                        .roundToInt().coerceIn(-32768, 32767)
+                }
+            }
+            Sensor.TYPE_GYROSCOPE -> {
+                // The write gate, per sample: pad 0 must exist (motion never creates a pad)
+                // and must not be a capture link's (its own IMU is streaming).
+                val write = router.padPresent(0) && !router.padHasOwnMotion(0)
+                if (!write) {
+                    // Stand-down edge: never leave the last angular velocity latched host-side.
+                    if (wasWriting) {
+                        wasWriting = false
+                        sendZero()
+                    }
+                    return
+                }
+                wasWriting = true
+                val v = remap(rotation, event.values[0], event.values[1], event.values[2])
+                NativeBridge.nativeSendPadMotion(
+                    handle, 0,
+                    (v[0] * GYRO_LSB_PER_RAD_S).roundToInt().coerceIn(-32768, 32767),
+                    (v[1] * GYRO_LSB_PER_RAD_S).roundToInt().coerceIn(-32768, 32767),
+                    (v[2] * GYRO_LSB_PER_RAD_S).roundToInt().coerceIn(-32768, 32767),
+                    lastAccel[0], lastAccel[1], lastAccel[2],
+                )
+            }
+        }
+    }
+
+    override fun onAccuracyChanged(sensor: Sensor?, accuracy: Int) {}
+
+    /** Zero rotation, last-known accel — "at rest", not free-fall. */
+    private fun sendZero() {
+        NativeBridge.nativeSendPadMotion(
+            handle, 0, 0, 0, 0, lastAccel[0], lastAccel[1], lastAccel[2],
+        )
+    }
+
+    companion object {
+        /** Whether this device can source motion at all — gates the settings rows (a TV box
+         *  without an IMU would make the toggle a silent no-op, the rumble mirror's rule). */
+        fun available(context: Context): Boolean =
+            context.getSystemService(SensorManager::class.java)
+                ?.getDefaultSensor(Sensor.TYPE_GYROSCOPE) != null
+
+        /** ~200 Hz — between the sensor's usual FASTEST (~250-500 Hz) and GAME (~50 Hz). */
+        private const val SAMPLING_PERIOD_US = 5000
+
+        /** The wire contract (pf-client-core `GYRO_LSB_PER_RAD_S`): 20 LSB/°·s from rad/s. */
+        const val GYRO_LSB_PER_RAD_S = 20f * 180f / Math.PI.toFloat()
+
+        /** The wire contract (pf-client-core `ACCEL_LSB_PER_G`). */
+        const val ACCEL_LSB_PER_G = 10_000
+
+        /** pf-client-core's `G`. */
+        const val GRAVITY = 9.80665f
+
+        /**
+         * Rotate one device-frame vector (rotation rate or acceleration — both transform the
+         * same way under an in-plane rotation) into the controller frame for [rotation]
+         * ([Surface].ROTATION_*). Sensors report in the natural-portrait frame (+x right edge,
+         * +y top, +z out of the screen); the controller frame keeps +z (the screen always faces
+         * the player) and rotates x/y to mean "player's right" and "player's up". ROTATION_90 =
+         * the device physically turned counter-clockwise, top to the player's LEFT.
+         */
+        fun remap(rotation: Int, x: Float, y: Float, z: Float): FloatArray = when (rotation) {
+            Surface.ROTATION_90 -> floatArrayOf(-y, x, z) // top left: right = bottom, up = +x
+            Surface.ROTATION_270 -> floatArrayOf(y, -x, z) // top right: right = top, up = −x
+            Surface.ROTATION_180 -> floatArrayOf(-x, -y, z)
+            else -> floatArrayOf(x, y, z)
+        }
+    }
+}

clients/android/kit/src/main/kotlin/io/unom/punktfunk/kit/GamepadRouter.kt

@@ -320,6 +320,19 @@ class GamepadRouter(
         return null
     }
 
+    /** Whether ANY live slot currently holds wire pad [pad]. Read from the phone-gyro thread. */
+    fun padPresent(pad: Int): Boolean = slots.values.any { it.index == pad }
+
+    /**
+     * Whether wire pad [pad] is held by a capture-link slot ([ExternalPad] — USB DualSense /
+     * SC2), whose motion arrives from the pad's OWN IMU. The phone-gyro mirror stands down for
+     * those: two motion writers on one wire pad would fight. Synthetic ids are negative
+     * ([EXTERNAL_ID_BASE]); real [InputDevice] ids are positive. Read from the phone-gyro thread
+     * (the slot table is concurrent).
+     */
+    fun padHasOwnMotion(pad: Int): Boolean =
+        slots.any { (id, slot) -> slot.index == pad && id < 0 }
+
     /**
      * A capture-link pad occupying a wire slot without an Android [InputDevice] — the as-is Steam
      * Controller 2 passthrough (USB/BLE claimed directly, invisible to the input stack). Shares

clients/android/kit/src/test/kotlin/io/unom/punktfunk/kit/DeviceGyroTest.kt

@@ -0,0 +1,53 @@
+package io.unom.punktfunk.kit
+
+import android.view.Surface
+import org.junit.Assert.assertEquals
+import org.junit.Test
+
+/**
+ * Pins the phone-gyro mirror's device→controller frame remap and its wire-unit constants
+ * ([DeviceGyro]). Pure JVM: [Surface]'s ROTATION_* are compile-time constants and remap is
+ * plain math. The matrix is derived (like the wire scale constants) — if on-glass says an axis
+ * is wrong, fix [DeviceGyro.remap] AND these expectations together.
+ * Run: `./gradlew :kit:testDebugUnitTest`.
+ */
+class DeviceGyroTest {
+    /** A distinct value per axis so a swapped or flipped component can't cancel out. */
+    private fun remap(rotation: Int) = DeviceGyro.remap(rotation, 1f, 2f, 3f).toList()
+
+    @Test
+    fun naturalPortraitIsIdentity() = assertEquals(listOf(1f, 2f, 3f), remap(Surface.ROTATION_0))
+
+    @Test
+    fun upsideDownFlipsInPlane() = assertEquals(listOf(-1f, -2f, 3f), remap(Surface.ROTATION_180))
+
+    /** ROTATION_90 = device turned counter-clockwise, top to the player's LEFT:
+     *  player-right = device-bottom (−y), player-up = device-right (+x); z never changes. */
+    @Test
+    fun rotation90TopLeft() = assertEquals(listOf(-2f, 1f, 3f), remap(Surface.ROTATION_90))
+
+    /** ROTATION_270 = top to the player's RIGHT: player-right = +y, player-up = −x. */
+    @Test
+    fun rotation270TopRight() = assertEquals(listOf(2f, -1f, 3f), remap(Surface.ROTATION_270))
+
+    /** Every remap stays a proper (right-handed) rotation: x̂ × ŷ = ẑ after mapping. */
+    @Test
+    fun handednessPreserved() {
+        for (r in listOf(
+            Surface.ROTATION_0, Surface.ROTATION_90, Surface.ROTATION_180, Surface.ROTATION_270,
+        )) {
+            val x = DeviceGyro.remap(r, 1f, 0f, 0f)
+            val y = DeviceGyro.remap(r, 0f, 1f, 0f)
+            assertEquals("left-handed remap at rotation $r", 1f, x[0] * y[1] - x[1] * y[0], 0f)
+        }
+    }
+
+    /** The wire contract, shared with pf-client-core / the Swift client: 20 LSB/°·s means
+     *  1 rad/s ⇒ ~1145.9 raw; 1 g ⇒ 10000 raw. */
+    @Test
+    fun wireUnitConstants() {
+        assertEquals(20f * 180f / Math.PI.toFloat(), DeviceGyro.GYRO_LSB_PER_RAD_S, 0f)
+        assertEquals(1145.9156f, DeviceGyro.GYRO_LSB_PER_RAD_S, 0.001f)
+        assertEquals(10_000, DeviceGyro.ACCEL_LSB_PER_G)
+    }
+}

clients/apple/Sources/PunktfunkClient/Settings/GamepadSettingsView.swift

@@ -85,6 +85,7 @@ struct GamepadSettingsView: View {
     #endif
     #if os(iOS)
     @AppStorage(DefaultsKey.rumbleOnDevice) private var rumbleOnDevice = false
+    @AppStorage(DefaultsKey.gyroFromDevice) private var gyroFromDevice = false
     #endif
     @ObservedObject private var gamepads = GamepadManager.shared
     /// The profile catalog (ProfileStore.shared, like every other surface that reads it) — the
@@ -649,6 +650,22 @@ struct GamepadSettingsView: View {
                     value: $rumbleOnDevice),
                 at: at + 1)
         }
+        // The phone-gyro mirror sits beside the rumble mirror: same clip-on-pad audience,
+        // opposite data direction. Hidden where the device has no motion hardware; engages
+        // in-session only while player 1's controller reports no rotation rate of its own.
+        if DeviceGyro.isAvailable,
+            let anchor = list.firstIndex(where: { $0.id == "deviceRumble" })
+                ?? list.firstIndex(where: { $0.id == "padType" }) {
+            list.insert(
+                toggleRow(
+                    id: "deviceGyro", tab: .controller,
+                    icon: "gyroscope",
+                    label: "Gyro from this device",
+                    detail: "When the controller has no gyro, send this device's motion "
+                        + "sensors as player 1's — for clip-on pads without one of their own.",
+                    value: $gyroFromDevice),
+                at: anchor + 1)
+        }
         #endif
         return list + profileRows
     }

clients/apple/Sources/PunktfunkClient/Settings/SettingsView+Sections.swift

@@ -712,6 +712,15 @@ extension SettingsView {
                     Toggle("Rumble on this iPhone", isOn: $rumbleOnDevice)
                 }
             }
+            // The rumble mirror's sibling, data flowing the other way: hidden where the
+            // device has no motion hardware, engages only while the player-1 controller
+            // reports no rotation rate of its own.
+            if !inProfileScope, DeviceGyro.isAvailable {
+                described("When the controller has no gyro of its own, sends this device's "
+                    + "motion sensors as player 1's — for clip-on pads without one.") {
+                    Toggle("Gyro from this device", isOn: $gyroFromDevice)
+                }
+            }
             #endif
             #if !os(tvOS)
             if !inProfileScope {

clients/apple/Sources/PunktfunkClient/Settings/SettingsView.swift

@@ -91,6 +91,7 @@ struct SettingsView: View {
     @AppStorage(DefaultsKey.pointerCapture) var pointerCapture = true
     @AppStorage(DefaultsKey.touchMode) var touchMode = TouchInputMode.trackpad.rawValue
     @AppStorage(DefaultsKey.rumbleOnDevice) var rumbleOnDevice = false
+    @AppStorage(DefaultsKey.gyroFromDevice) var gyroFromDevice = false
     // The sidebar selection drives the detail pane on iPad and the pushed sub-page on iPhone.
     // Width class decides the initial value: nil on iPhone (show the category list first),
     // General on iPad (a two-column layout should never open with an empty detail).

clients/apple/Sources/PunktfunkKit/Gamepad/DeviceGyro.swift

@@ -0,0 +1,201 @@
+// The opt-in phone-gyro mirror (`DefaultsKey.gyroFromDevice`): when player 1's forwarded
+// controller has no rotation sensor of its own, THIS device's IMU speaks for it on the wire's
+// motion plane — for clip-on and third-party pads that ship without a gyro, where the phone
+// body is rigidly attached to (or simply is) the thing in the player's hands. The sibling of
+// `GamepadFeedback`'s rumble-on-device mirror, with the data flowing the other way.
+//
+// GamepadCapture owns the engage/stand-down decision (it knows the pad-0 slot and whether its
+// controller reports a rotation rate); this class only turns CoreMotion on and off and converts
+// samples. Two invariants it enforces itself:
+//  - one motion writer per pad: samples go out only between `start` and `stop`, and capture
+//    suppresses pad 0's controller-motion forwarding while this runs;
+//  - no stale rotation: `stop` sends a single zero-gyro sample after the last real one, so the
+//    host's virtual pad never keeps integrating an angular velocity this device stopped
+//    producing (the gyro-sweep "stale angular velocity re-sent forever" failure mode).
+//
+// Samples are CMDeviceMotion (sensor-fused: bias-corrected rotation rate, gravity split from
+// user acceleration) at the ~100 Hz CoreMotion ceiling — below a DualSense's 250 Hz, but the
+// host's motion plane is event-driven, not cadence-locked, so a slower producer just means
+// fewer samples. Units and axis semantics match `GamepadCapture.forwardMotion` exactly (the
+// `GamepadWire` constants; accel = gravity + user acceleration — the same convention, so a
+// future sign/scale correction lands in one place for both sources). The one thing the phone
+// adds is a frame remap: CoreMotion reports in the device's portrait frame, while the wire
+// wants the controller frame the player sees (x right, y up, z out of the screen), so each
+// sample is rotated by the current interface orientation — a phone clipped landscape must yaw
+// when the player yaws, not roll.
+
+#if os(iOS)
+import CoreMotion
+import Foundation
+import UIKit
+
+/// Device-frame → controller-frame axis remap for one interface orientation. CoreMotion's
+/// frame is fixed to the portrait device (+x right edge, +y top, +z out of the screen); the
+/// controller frame keeps +z (the screen always faces the player) and rotates x/y so they
+/// mean "player's right" and "player's up". Derived, like the wire scale constants — pinned
+/// by `DeviceGyroRemapTests`, correctable in one place if on-glass says otherwise.
+/// File-scope rather than nested so the sample thread can use it without actor isolation.
+enum DeviceGyroRemap {
+    case identity
+    /// Upside-down portrait: both in-plane axes flip.
+    case flipped
+    /// Landscape, device top to the player's LEFT (interface `.landscapeRight`):
+    /// player-right = device-bottom, player-up = device-right.
+    case topLeft
+    /// Landscape, device top to the player's RIGHT (interface `.landscapeLeft`).
+    case topRight
+
+    init(_ orientation: UIInterfaceOrientation) {
+        switch orientation {
+        case .portraitUpsideDown: self = .flipped
+        case .landscapeRight: self = .topLeft
+        case .landscapeLeft: self = .topRight
+        default: self = .identity
+        }
+    }
+
+    /// Rotate one device-frame vector (rotation rate or acceleration — both transform the
+    /// same way under an in-plane rotation) into the controller frame.
+    func apply(x: Float, y: Float, z: Float) -> (x: Float, y: Float, z: Float) {
+        switch self {
+        case .identity: return (x, y, z)
+        case .flipped: return (-x, -y, z)
+        case .topLeft: return (-y, x, z)
+        case .topRight: return (y, -x, z)
+        }
+    }
+}
+
+@MainActor
+public final class DeviceGyro {
+    /// Whether this device can source motion at all — gates the settings rows (a device
+    /// without an IMU would make the toggle a silent no-op, the rumble mirror's rule).
+    /// One shared probe: Apple recommends a single `CMMotionManager` per app, and the
+    /// settings UI asking per-render must not allocate one each time.
+    public static let isAvailable: Bool = CMMotionManager().isDeviceMotionAvailable
+
+    /// Everything the sample thread touches, behind one lock: the orientation remap (written
+    /// on main when the device rotates), the last converted accel, and whether a real sample
+    /// went out (so `stop` knows it owes the wire a zero). Kept off the actor deliberately —
+    /// `forward` runs on the delivery queue.
+    private final class SampleState: @unchecked Sendable {
+        let lock = NSLock()
+        var remap: DeviceGyroRemap = .identity
+        var sentSample = false
+        /// Re-sent with the closing zero-gyro sample so "rotation stopped" doesn't also
+        /// overwrite a plausible gravity vector with free-fall.
+        var lastAccel: (Int16, Int16, Int16) = (0, 0, 0)
+    }
+
+    /// Ship one converted sample (wire pad 0). Must be thread-safe — invoked from the
+    /// delivery queue (`PunktfunkConnection.sendMotion` locks internally).
+    private let send: @Sendable (_ gyro: (Int16, Int16, Int16), _ accel: (Int16, Int16, Int16)) -> Void
+
+    private let motion = CMMotionManager()
+    /// Dedicated serial delivery queue — deliberately NOT main (the controller path's
+    /// main-queue delivery is a known jitter source; the mirror starts clean).
+    private let queue: OperationQueue = {
+        let q = OperationQueue()
+        q.name = "punktfunk.device-gyro"
+        q.maxConcurrentOperationCount = 1
+        return q
+    }()
+
+    private let state = SampleState()
+    private var orientationObserver: NSObjectProtocol?
+
+    /// Whether the mirror is between `start` and `stop` — read by GamepadCapture to keep the
+    /// controller path off pad 0's motion while this runs.
+    public private(set) var isRunning = false
+
+    public init(
+        send: @escaping @Sendable (_ gyro: (Int16, Int16, Int16), _ accel: (Int16, Int16, Int16)) -> Void
+    ) {
+        self.send = send
+    }
+
+    /// Begin sourcing pad-0 motion from this device. Idempotent.
+    public func start() {
+        guard !isRunning, motion.isDeviceMotionAvailable else { return }
+        isRunning = true
+        updateRemap()
+        // Interface orientation only changes alongside a device-orientation notification, so
+        // this is the one signal needed; re-reading the scene keeps a rotation lock stable.
+        orientationObserver = NotificationCenter.default.addObserver(
+            forName: UIDevice.orientationDidChangeNotification, object: nil, queue: .main
+        ) { [weak self] _ in
+            MainActor.assumeIsolated { self?.updateRemap() }
+        }
+        // CoreMotion's practical ceiling; requesting faster just clamps.
+        motion.deviceMotionUpdateInterval = 1.0 / 100.0
+        motion.startDeviceMotionUpdates(to: queue) { [state, send] m, _ in
+            guard let m else { return }
+            Self.forward(m, state: state, send: send)
+        }
+    }
+
+    /// Stop sourcing and, if anything was sent, park the host pad's rotation at zero. The
+    /// zero rides the same serial queue as the samples, so it is guaranteed last — without
+    /// blocking the caller.
+    public func stop() {
+        guard isRunning else { return }
+        isRunning = false
+        motion.stopDeviceMotionUpdates()
+        if let o = orientationObserver {
+            NotificationCenter.default.removeObserver(o)
+            orientationObserver = nil
+        }
+        queue.addOperation { [state, send] in
+            state.lock.lock()
+            let owed = state.sentSample
+            state.sentSample = false
+            let accel = state.lastAccel
+            state.lock.unlock()
+            if owed { send((0, 0, 0), accel) }
+        }
+    }
+
+    private func updateRemap() {
+        let o = UIApplication.shared.connectedScenes
+            .compactMap { $0 as? UIWindowScene }
+            .first?.interfaceOrientation ?? .portrait
+        state.lock.lock()
+        state.remap = DeviceGyroRemap(o)
+        state.lock.unlock()
+    }
+
+    /// Runs on the delivery queue: remap, scale, ship.
+    nonisolated private static func forward(
+        _ m: CMDeviceMotion, state: SampleState,
+        send: (_ gyro: (Int16, Int16, Int16), _ accel: (Int16, Int16, Int16)) -> Void
+    ) {
+        state.lock.lock()
+        let r = state.remap
+        state.lock.unlock()
+        let rot = r.apply(
+            x: Float(m.rotationRate.x), y: Float(m.rotationRate.y), z: Float(m.rotationRate.z))
+        // Same total-acceleration convention as GamepadCapture.forwardMotion.
+        let acc = r.apply(
+            x: Float(m.gravity.x + m.userAcceleration.x),
+            y: Float(m.gravity.y + m.userAcceleration.y),
+            z: Float(m.gravity.z + m.userAcceleration.z))
+        let gs = GamepadWire.gyroLSBPerRadS
+        let as_ = GamepadWire.accelLSBPerG
+        let gyro = (
+            GamepadWire.motionRaw(rot.x, scale: gs),
+            GamepadWire.motionRaw(rot.y, scale: gs),
+            GamepadWire.motionRaw(rot.z, scale: gs)
+        )
+        let accel = (
+            GamepadWire.motionRaw(acc.x, scale: as_),
+            GamepadWire.motionRaw(acc.y, scale: as_),
+            GamepadWire.motionRaw(acc.z, scale: as_)
+        )
+        state.lock.lock()
+        state.lastAccel = accel
+        state.sentSample = true
+        state.lock.unlock()
+        send(gyro, accel)
+    }
+}
+#endif

clients/apple/Sources/PunktfunkKit/Gamepad/GamepadCapture.swift

@@ -67,6 +67,13 @@ public final class GamepadCapture {
         var axes: [Int32] = [0, 0, 0, 0, 0, 0]
         var fingerActive: [Bool] = [false, false]
         var lastMotionNs: UInt64 = 0
+        /// A motion sample went out on this pad — `flush` then owes the wire a zero-gyro
+        /// sample: the host holds motion as STATE and re-emits it, so a nonzero angular
+        /// velocity left behind reads as endless rotation (the gyro-sweep latch).
+        var motionSent = false
+        /// The last accel sent, re-used by the flush zero so "rotation stopped" doesn't
+        /// also replace a plausible gravity vector with free-fall.
+        var lastAccel: (Int16, Int16, Int16) = (0, 0, 0)
         // Hold-Select→guide gesture state (pf-client-core's `SelectGesture`, adapted to
         // this class's mask-diff model): a Select pressed ALONE is held out of the mask
         // until it resolves into a tap (delivered on release) or — past `guideHold` — a
@@ -153,6 +160,15 @@ public final class GamepadCapture {
     /// everywhere but macOS). See `guideHold`.
     public let guideGesture: Bool
 
+    #if os(iOS)
+    /// Opt-in phone-gyro mirror (`DefaultsKey.gyroFromDevice`): while player 1's forwarded
+    /// controller has no rotation sensor, this device's IMU sources pad 0's motion instead —
+    /// for clip-on pads without a gyro. Session-scoped (the setting is read once here); nil
+    /// when off, unavailable, or forwarding is off (the mirror is wire-only, so with nothing
+    /// to send there is nothing to mirror). Engage/stand-down lives in `updateDeviceGyro`.
+    private let deviceGyro: DeviceGyro?
+    #endif
+
     public init(
         connection: PunktfunkConnection, manager: GamepadManager, forwarding: Bool = true,
         systemForward: Bool = true, guideGesture: Bool = false
@@ -162,6 +178,17 @@ public final class GamepadCapture {
         self.forwarding = forwarding
         self.systemForward = systemForward
         self.guideGesture = guideGesture
+        #if os(iOS)
+        if forwarding, DeviceGyro.isAvailable,
+            UserDefaults.standard.bool(forKey: DefaultsKey.gyroFromDevice) {
+            deviceGyro = DeviceGyro { [weak connection] gyro, accel in
+                // Thread-safe (sendMotion locks); pad 0 by the same rule as the rumble mirror.
+                connection?.sendMotion(pad: 0, gyro: gyro, accel: accel)
+            }
+        } else {
+            deviceGyro = nil
+        }
+        #endif
     }
 
     public func start() {
@@ -187,6 +214,9 @@ public final class GamepadCapture {
             MainActor.assumeIsolated {
                 self?.suspended = true
                 self?.releaseAll()
+                // The mirror pauses with capture (its stop parks the host pad's rotation
+                // at zero — an overlay pull-down must not leave the game spinning).
+                self?.updateDeviceGyro()
             }
         })
         observers.append(NotificationCenter.default.addObserver(
@@ -199,11 +229,15 @@ public final class GamepadCapture {
                 for slot in self.slots {
                     if let ext = slot.controller.extendedGamepad { self.sync(slot, ext) }
                 }
+                self.updateDeviceGyro()
             }
         })
     }
 
     public func stop() {
+        #if os(iOS)
+        deviceGyro?.stop()
+        #endif
         closeAllSlots()
         forwardedSub = nil
         observers.forEach { NotificationCenter.default.removeObserver($0) }
@@ -224,6 +258,8 @@ public final class GamepadCapture {
         }
         // A chord-holding pad may have just unplugged — re-evaluate so a stale hold disarms.
         updateEscapeChord()
+        // Pad 0 may have changed hands — re-evaluate whether this device's IMU speaks for it.
+        updateDeviceGyro()
     }
 
     /// Open one forwarded controller on its assigned wire index: attach GC handlers, claim its
@@ -561,6 +597,13 @@ public final class GamepadCapture {
 
     private func forwardMotion(_ slot: Slot, _ m: GCMotion) {
         guard !suspended else { return }
+        #if os(iOS)
+        // While the phone-gyro mirror speaks for pad 0, the controller's own motion —
+        // necessarily rotation-less, that's the engage condition — stays off the wire:
+        // two writers on one pad's motion state would fight, and this accel-only stream
+        // would keep stomping the mirror's gyro with zeros.
+        if slot.pad == 0, deviceGyro?.isRunning == true { return }
+        #endif
         let now = DispatchTime.now().uptimeNanoseconds
         guard now &- slot.lastMotionNs >= Self.motionIntervalNs else { return }
         slot.lastMotionNs = now
@@ -579,18 +622,35 @@ public final class GamepadCapture {
         }
         let gs = GamepadWire.gyroLSBPerRadS
         let as_ = GamepadWire.accelLSBPerG
-        wire?.sendMotion(
-            pad: UInt8(slot.pad),
-            gyro: (
-                GamepadWire.motionRaw(Float(m.rotationRate.x), scale: gs),
-                GamepadWire.motionRaw(Float(m.rotationRate.y), scale: gs),
-                GamepadWire.motionRaw(Float(m.rotationRate.z), scale: gs)
-            ),
-            accel: (
-                GamepadWire.motionRaw(ax, scale: as_),
-                GamepadWire.motionRaw(ay, scale: as_),
-                GamepadWire.motionRaw(az, scale: as_)
-            ))
+        let gyro = (
+            GamepadWire.motionRaw(Float(m.rotationRate.x), scale: gs),
+            GamepadWire.motionRaw(Float(m.rotationRate.y), scale: gs),
+            GamepadWire.motionRaw(Float(m.rotationRate.z), scale: gs)
+        )
+        let accel = (
+            GamepadWire.motionRaw(ax, scale: as_),
+            GamepadWire.motionRaw(ay, scale: as_),
+            GamepadWire.motionRaw(az, scale: as_)
+        )
+        if wire != nil {
+            slot.motionSent = true
+            slot.lastAccel = accel
+        }
+        wire?.sendMotion(pad: UInt8(slot.pad), gyro: gyro, accel: accel)
+    }
+
+    /// Engage or stand down the phone-gyro mirror: it speaks for pad 0 exactly while a
+    /// forwarded controller holds that index but can't rotate for itself — no `GCMotion`,
+    /// or a motion object without a rotation rate (gravity-only pads, e.g. an Xbox pad on
+    /// iOS). Re-evaluated on every reconcile and on suspend/resume; `DeviceGyro.stop`
+    /// parks the host pad's rotation at zero, so standing down never strands a spin.
+    private func updateDeviceGyro() {
+        #if os(iOS)
+        guard let gyro = deviceGyro else { return }
+        let pad0 = slots.first { $0.pad == 0 }
+        let wants = !suspended && pad0 != nil && pad0!.controller.motion?.hasRotationRate != true
+        if wants { gyro.start() } else { gyro.stop() }
+        #endif
     }
 
     /// Arm the disconnect timer when ANY forwarded pad holds the full escape chord, disarm the
@@ -634,6 +694,14 @@ public final class GamepadCapture {
             wire?.sendTouchpad(pad: UInt8(slot.pad), finger: UInt8(f), active: false, x: 0, y: 0)
             slot.fingerActive[f] = false
         }
+        // Motion is host-side STATE, re-emitted until replaced — a nonzero angular velocity
+        // left behind reads as endless rotation (the gyro-sweep latch: Control Center
+        // pull-down froze the last sample for as long as the overlay stayed up). Rest means
+        // zero rotation; the last accel is kept so gravity doesn't become free-fall.
+        if slot.motionSent {
+            slot.motionSent = false
+            wire?.sendMotion(pad: UInt8(slot.pad), gyro: (0, 0, 0), accel: slot.lastAccel)
+        }
     }
 
     /// Flush every open slot's held state (app deactivation) — keeps the slots open (GC just stops

clients/apple/Sources/PunktfunkShared/DefaultsKeys.swift

@@ -193,6 +193,14 @@ public enum DefaultsKey {
     /// once per session by `GamepadFeedback`. The toggle is shown only where the device actually
     /// has a haptic actuator (no iPad/Mac/TV).
     public static let rumbleOnDevice = "punktfunk.rumbleOnDevice"
+    /// Use this device's own gyroscope as player 1's motion when the forwarded controller has
+    /// none of its own — for clip-on and third-party pads without an IMU, where the device body
+    /// moves with the player's hands. The rumble mirror's sibling, data flowing the other way.
+    /// Off by default (opt-in); read once per session by `GamepadCapture`, whose `DeviceGyro`
+    /// mirror engages only while pad 0's controller reports no rotation rate (a real gyro pad
+    /// always wins). The toggle is shown only where the device has motion hardware
+    /// (`DeviceGyro.isAvailable`).
+    public static let gyroFromDevice = "punktfunk.gyroFromDevice"
     /// Auto-wake on connect: when connecting to a saved host that isn't advertising on mDNS, fire
     /// Wake-on-LAN and, if the dial fails, wait for it to come back before retrying (the "Waking…"
     /// overlay). On by default. Turn off if a host that's already on just isn't seen on mDNS (a

clients/apple/Tests/PunktfunkKitTests/DeviceGyroRemapTests.swift

@@ -0,0 +1,62 @@
+// Pins the phone-gyro mirror's device→controller frame remap (DeviceGyro.swift). The matrix is
+// derived (like the wire scale constants), so these tests are the contract: if on-glass says an
+// axis is wrong, fix the enum AND these expectations together.
+
+#if os(iOS)
+import UIKit
+import XCTest
+
+@testable import PunktfunkKit
+
+final class DeviceGyroRemapTests: XCTestCase {
+    /// A distinct vector per axis so a swapped or flipped component can't cancel out.
+    private let v: (x: Float, y: Float, z: Float) = (1, 2, 3)
+
+    func testPortraitIsIdentity() {
+        let r = DeviceGyroRemap.identity.apply(x: v.x, y: v.y, z: v.z)
+        XCTAssertEqual([r.x, r.y, r.z], [1, 2, 3])
+    }
+
+    func testUpsideDownFlipsInPlane() {
+        let r = DeviceGyroRemap.flipped.apply(x: v.x, y: v.y, z: v.z)
+        XCTAssertEqual([r.x, r.y, r.z], [-1, -2, 3])
+    }
+
+    /// Device top to the player's LEFT: player-right = device-bottom (−y), player-up =
+    /// device-right (+x). z (out of the screen) never changes — the screen faces the player.
+    func testTopLeftLandscape() {
+        let r = DeviceGyroRemap.topLeft.apply(x: v.x, y: v.y, z: v.z)
+        XCTAssertEqual([r.x, r.y, r.z], [-2, 1, 3])
+    }
+
+    /// Device top to the player's RIGHT: player-right = device-top (+y), player-up =
+    /// device-left (−x).
+    func testTopRightLandscape() {
+        let r = DeviceGyroRemap.topRight.apply(x: v.x, y: v.y, z: v.z)
+        XCTAssertEqual([r.x, r.y, r.z], [2, -1, 3])
+    }
+
+    /// Interface orientation → remap: `.landscapeRight` means the Home edge is on the
+    /// player's right, i.e. the device top points LEFT (and vice versa).
+    func testOrientationMapping() {
+        XCTAssertEqual(DeviceGyroRemap(.portrait), .identity)
+        XCTAssertEqual(DeviceGyroRemap(.portraitUpsideDown), .flipped)
+        XCTAssertEqual(DeviceGyroRemap(.landscapeRight), .topLeft)
+        XCTAssertEqual(DeviceGyroRemap(.landscapeLeft), .topRight)
+        XCTAssertEqual(DeviceGyroRemap(.unknown), .identity)
+    }
+
+    /// Every remap must stay a proper rotation (right-handed): x̂ × ŷ = ẑ after mapping.
+    func testHandednessPreserved() {
+        for remap in [DeviceGyroRemap.identity, .flipped, .topLeft, .topRight] {
+            let x = remap.apply(x: 1, y: 0, z: 0)
+            let y = remap.apply(x: 0, y: 1, z: 0)
+            // Cross product of the two mapped in-plane basis vectors.
+            let cross = (
+                x: x.y * 0 - 0 * y.y, y: 0 * y.x - x.x * 0, z: x.x * y.y - x.y * y.x
+            )
+            XCTAssertEqual(cross.z, 1, "left-handed remap: \(remap)")
+        }
+    }
+}
+#endif