[common] remove unused vector_math.h fluff (#4333)

Signed-off-by: lizzie <lizzie@eden-emu.dev>

- [x] I have read and followed the [Contribution Guidelines](https://git.eden-emu.dev/eden-emu/eden/src/branch/master/CONTRIBUTING.md#code-contributions).
- [x] I have read and followed the [AI Policy](https://git.eden-emu.dev/eden-emu/eden/src/branch/master/docs/policies/AI.md)
- [x] I have read and followed the [Coding Guidelines](https://git.eden-emu.dev/eden-emu/eden/src/branch/master/docs/policies/Coding.md) to the best of my ability.

-------------------

We don't use half of this file for anything -- it's dead code
also the NEON intrinsic replacements suck -- we are not beating GLM (plus we use registers for decomposition instead of using vec regs like everyone else does, so the "optimizations" dont matter)

Reviewed-on: https://git.eden-emu.dev/eden-emu/eden/pulls/4333
Reviewed-by: CamilleLaVey <camillelavey99@gmail.com>
Reviewed-by: Maufeat <sahyno1996@gmail.com>

11 files changed, 149 insertions, 148 deletions

diff --git a/src/hid_core/frontend/emulated_console.cpp b/src/hid_core/frontend/emulated_console.cpp
index 92e99a1f54..fd34233122 100644
--- a/src/hid_core/frontend/emulated_console.cpp
+++ b/src/hid_core/frontend/emulated_console.cpp
@@ -170,12 +170,12 @@ void EmulatedConsole::SetMotion(const Common::Input::CallbackStatus& callback) {
     auto& emulated = console.motion_values.emulated;
 
     raw_status = TransformToMotion(callback);
-    emulated.SetAcceleration(Common::Vec3f{
+    emulated.SetAcceleration(Common::Vec<f32, 3>{
         raw_status.accel.x.value,
         raw_status.accel.y.value,
         raw_status.accel.z.value,
     });
-    emulated.SetGyroscope(Common::Vec3f{
+    emulated.SetGyroscope(Common::Vec<f32, 3>{
         raw_status.gyro.x.value,
         raw_status.gyro.y.value,
         raw_status.gyro.z.value,
diff --git a/src/hid_core/frontend/emulated_console.h b/src/hid_core/frontend/emulated_console.h
index ca7d7dd8fc..9e2f7e2c1b 100644
--- a/src/hid_core/frontend/emulated_console.h
+++ b/src/hid_core/frontend/emulated_console.h
@@ -18,7 +18,6 @@
 #include "common/input.h"
 #include "common/param_package.h"
 #include "common/point.h"
-#include "common/quaternion.h"
 #include "common/vector_math.h"
 #include "hid_core/frontend/motion_input.h"
 #include "hid_core/hid_types.h"
@@ -43,12 +42,12 @@ using TouchValues = std::array<Common::Input::TouchStatus, MaxTouchDevices>;
 
 // Contains all motion related data that is used on the services
 struct ConsoleMotion {
-    Common::Vec3f accel{};
-    Common::Vec3f gyro{};
-    Common::Vec3f rotation{};
-    std::array<Common::Vec3f, 3> orientation{};
-    Common::Quaternion<f32> quaternion{};
-    Common::Vec3f gyro_bias{};
+    Common::Vec<f32, 3> accel{};
+    Common::Vec<f32, 3> gyro{};
+    Common::Vec<f32, 3> rotation{};
+    std::array<Common::Vec<f32, 3>, 3> orientation{};
+    Common::Vec<f32, 4> quaternion{};
+    Common::Vec<f32, 3> gyro_bias{};
     f32 verticalization_error{};
     bool is_at_rest{};
 };
diff --git a/src/hid_core/frontend/emulated_controller.cpp b/src/hid_core/frontend/emulated_controller.cpp
index 36c9a0f02f..1092970ee8 100644
--- a/src/hid_core/frontend/emulated_controller.cpp
+++ b/src/hid_core/frontend/emulated_controller.cpp
@@ -1051,12 +1051,12 @@ void EmulatedController::SetMotion(const Common::Input::CallbackStatus& callback
     auto& emulated = controller.motion_values[index].emulated;
 
     raw_status = TransformToMotion(callback);
-    emulated.SetAcceleration(Common::Vec3f{
+    emulated.SetAcceleration(Common::Vec<f32, 3>{
         raw_status.accel.x.value,
         raw_status.accel.y.value,
         raw_status.accel.z.value,
     });
-    emulated.SetGyroscope(Common::Vec3f{
+    emulated.SetGyroscope(Common::Vec<f32, 3>{
         raw_status.gyro.x.value,
         raw_status.gyro.y.value,
         raw_status.gyro.z.value,
diff --git a/src/hid_core/frontend/emulated_controller.h b/src/hid_core/frontend/emulated_controller.h
index d98ed3df3c..7a2291b8a4 100644
--- a/src/hid_core/frontend/emulated_controller.h
+++ b/src/hid_core/frontend/emulated_controller.h
@@ -107,11 +107,11 @@ struct RingSensorForce {
 using NfcState = Common::Input::NfcStatus;
 
 struct ControllerMotion {
-    Common::Vec3f accel{};
-    Common::Vec3f gyro{};
-    Common::Vec3f rotation{};
-    Common::Vec3f euler{};
-    std::array<Common::Vec3f, 3> orientation{};
+    Common::Vec<f32, 3> accel{};
+    Common::Vec<f32, 3> gyro{};
+    Common::Vec<f32, 3> rotation{};
+    Common::Vec<f32, 3> euler{};
+    std::array<Common::Vec<f32, 3>, 3> orientation{};
     bool is_at_rest{};
 };
 
diff --git a/src/hid_core/frontend/motion_input.cpp b/src/hid_core/frontend/motion_input.cpp
index a1e09e3ce9..1dcb910a50 100644
--- a/src/hid_core/frontend/motion_input.cpp
+++ b/src/hid_core/frontend/motion_input.cpp
@@ -26,20 +26,19 @@ void MotionInput::SetPID(f32 new_kp, f32 new_ki, f32 new_kd) {
     kd = new_kd;
 }
 
-void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
+void MotionInput::SetAcceleration(const Common::Vec<f32, 3>& acceleration) {
     accel = acceleration;
-
-    accel.x = std::clamp(accel.x, -AccelMaxValue, AccelMaxValue);
-    accel.y = std::clamp(accel.y, -AccelMaxValue, AccelMaxValue);
-    accel.z = std::clamp(accel.z, -AccelMaxValue, AccelMaxValue);
+    accel[0] = std::clamp(accel[0], -AccelMaxValue, AccelMaxValue);
+    accel[1] = std::clamp(accel[1], -AccelMaxValue, AccelMaxValue);
+    accel[2] = std::clamp(accel[2], -AccelMaxValue, AccelMaxValue);
 }
 
-void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
+void MotionInput::SetGyroscope(const Common::Vec<f32, 3>& gyroscope) {
     gyro = gyroscope - gyro_bias;
 
-    gyro.x = std::clamp(gyro.x, -GyroMaxValue, GyroMaxValue);
-    gyro.y = std::clamp(gyro.y, -GyroMaxValue, GyroMaxValue);
-    gyro.z = std::clamp(gyro.z, -GyroMaxValue, GyroMaxValue);
+    gyro[0] = std::clamp(gyro[0], -GyroMaxValue, GyroMaxValue);
+    gyro[1] = std::clamp(gyro[1], -GyroMaxValue, GyroMaxValue);
+    gyro[2] = std::clamp(gyro[2], -GyroMaxValue, GyroMaxValue);
 
     // Auto adjust gyro_bias to minimize drift
     if (!IsMoving(IsAtRestRelaxed)) {
@@ -59,25 +58,25 @@ void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
     }
 }
 
-void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
+void MotionInput::SetQuaternion(const Common::Vec<f32, 4>& quaternion) {
     quat = quaternion;
 }
 
-void MotionInput::SetEulerAngles(const Common::Vec3f& euler_angles) {
-    const float cr = std::cos(euler_angles.x * 0.5f);
-    const float sr = std::sin(euler_angles.x * 0.5f);
-    const float cp = std::cos(euler_angles.y * 0.5f);
-    const float sp = std::sin(euler_angles.y * 0.5f);
-    const float cy = std::cos(euler_angles.z * 0.5f);
-    const float sy = std::sin(euler_angles.z * 0.5f);
-
-    quat.w = cr * cp * cy + sr * sp * sy;
-    quat.xyz.x = sr * cp * cy - cr * sp * sy;
-    quat.xyz.y = cr * sp * cy + sr * cp * sy;
-    quat.xyz.z = cr * cp * sy - sr * sp * cy;
+void MotionInput::SetEulerAngles(const Common::Vec<f32, 3>& euler_angles) {
+    const float cr = std::cos(euler_angles[0] * 0.5f);
+    const float sr = std::sin(euler_angles[0] * 0.5f);
+    const float cp = std::cos(euler_angles[1] * 0.5f);
+    const float sp = std::sin(euler_angles[1] * 0.5f);
+    const float cy = std::cos(euler_angles[2] * 0.5f);
+    const float sy = std::sin(euler_angles[2] * 0.5f);
+
+    quat[3] = cr * cp * cy + sr * sp * sy;
+    quat[0] = sr * cp * cy - cr * sp * sy;
+    quat[1] = cr * sp * cy + sr * cp * sy;
+    quat[2] = cr * cp * sy - sr * sp * cy;
 }
 
-void MotionInput::SetGyroBias(const Common::Vec3f& bias) {
+void MotionInput::SetGyroBias(const Common::Vec<f32, 3>& bias) {
     gyro_bias = bias;
 }
 
@@ -98,7 +97,7 @@ void MotionInput::ResetRotations() {
 }
 
 void MotionInput::ResetQuaternion() {
-    quat = {{0.0f, 0.0f, -1.0f}, 0.0f};
+    quat = Common::Vec<f32, 4>{0.0f, 0.0f, -1.0f, 0.0f};
 }
 
 bool MotionInput::IsMoving(f32 sensitivity) const {
@@ -137,10 +136,10 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
         ResetOrientation();
     }
     // Short name local variable for readability
-    f32 q1 = quat.w;
-    f32 q2 = quat.xyz[0];
-    f32 q3 = quat.xyz[1];
-    f32 q4 = quat.xyz[2];
+    f32 q1 = quat[3];
+    f32 q2 = quat[0];
+    f32 q3 = quat[1];
+    f32 q4 = quat[2];
     const auto sample_period = static_cast<f32>(elapsed_time) / 1000000.0f;
 
     // Ignore invalid elapsed time
@@ -150,23 +149,23 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
 
     const auto normal_accel = accel.Normalized();
     auto rad_gyro = gyro * std::numbers::pi_v<float> * 2.f;
-    const f32 swap = rad_gyro.x;
-    rad_gyro.x = rad_gyro.y;
-    rad_gyro.y = -swap;
-    rad_gyro.z = -rad_gyro.z;
+    const f32 swap = rad_gyro[0];
+    rad_gyro[0] = rad_gyro[1];
+    rad_gyro[1] = -swap;
+    rad_gyro[2] = -rad_gyro[2];
 
     // Clear gyro values if there is no gyro present
     if (only_accelerometer) {
-        rad_gyro.x = 0;
-        rad_gyro.y = 0;
-        rad_gyro.z = 0;
+        rad_gyro[0] = 0;
+        rad_gyro[1] = 0;
+        rad_gyro[2] = 0;
     }
 
     // Ignore drift correction if acceleration is not reliable
     if (accel.Length() >= 0.75f && accel.Length() <= 1.25f) {
-        const f32 ax = -normal_accel.x;
-        const f32 ay = normal_accel.y;
-        const f32 az = -normal_accel.z;
+        const f32 ax = -normal_accel[0];
+        const f32 ay = normal_accel[1];
+        const f32 az = -normal_accel[2];
 
         // Estimated direction of gravity
         const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
@@ -174,7 +173,7 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
         const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
 
         // Error is cross product between estimated direction and measured direction of gravity
-        const Common::Vec3f new_real_error = {
+        const Common::Vec<f32, 3> new_real_error{
             az * vx - ax * vz,
             ay * vz - az * vy,
             ax * vy - ay * vx,
@@ -202,16 +201,16 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
             rad_gyro += 10.0f * kd * derivative_error;
 
             // Emulate gyro values for games that need them
-            gyro.x = -rad_gyro.y;
-            gyro.y = rad_gyro.x;
-            gyro.z = -rad_gyro.z;
+            gyro[0] = -rad_gyro[1];
+            gyro[1] = rad_gyro[0];
+            gyro[2] = -rad_gyro[2];
             UpdateRotation(elapsed_time);
         }
     }
 
-    const f32 gx = rad_gyro.y;
-    const f32 gy = rad_gyro.x;
-    const f32 gz = rad_gyro.z;
+    const f32 gx = rad_gyro[1];
+    const f32 gy = rad_gyro[0];
+    const f32 gz = rad_gyro[2];
 
     // Integrate rate of change of quaternion
     const f32 pa = q2;
@@ -222,57 +221,58 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
     q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period);
     q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * sample_period);
 
-    quat.w = q1;
-    quat.xyz[0] = q2;
-    quat.xyz[1] = q3;
-    quat.xyz[2] = q4;
+    quat[3] = q1;
+    quat[0] = q2;
+    quat[1] = q3;
+    quat[2] = q4;
     quat = quat.Normalized();
 }
 
-std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const {
-    const Common::Quaternion<float> quad{
-        .xyz = {-quat.xyz[1], -quat.xyz[0], -quat.w},
-        .w = -quat.xyz[2],
+std::array<Common::Vec<f32, 3>, 3> MotionInput::GetOrientation() const {
+    const Common::Vec<f32, 4> quad{
+        -quat[1],
+        -quat[0],
+        -quat[3],
+        -quat[2],
     };
-    const std::array<float, 16> matrix4x4 = quad.ToMatrix();
-
-    return {Common::Vec3f(matrix4x4[0], matrix4x4[1], -matrix4x4[2]),
-            Common::Vec3f(matrix4x4[4], matrix4x4[5], -matrix4x4[6]),
-            Common::Vec3f(-matrix4x4[8], -matrix4x4[9], matrix4x4[10])};
+    const std::array<f32, 16> matrix4x4 = quad.ToMatrix();
+    return {Common::Vec<f32, 3>(matrix4x4[0], matrix4x4[1], -matrix4x4[2]),
+            Common::Vec<f32, 3>(matrix4x4[4], matrix4x4[5], -matrix4x4[6]),
+            Common::Vec<f32, 3>(-matrix4x4[8], -matrix4x4[9], matrix4x4[10])};
 }
 
-Common::Vec3f MotionInput::GetAcceleration() const {
+Common::Vec<f32, 3> MotionInput::GetAcceleration() const {
     return accel;
 }
 
-Common::Vec3f MotionInput::GetGyroscope() const {
+Common::Vec<f32, 3> MotionInput::GetGyroscope() const {
     return gyro;
 }
 
-Common::Vec3f MotionInput::GetGyroBias() const {
+Common::Vec<f32, 3> MotionInput::GetGyroBias() const {
     return gyro_bias;
 }
 
-Common::Quaternion<f32> MotionInput::GetQuaternion() const {
+Common::Vec<f32, 4> MotionInput::GetQuaternion() const {
     return quat;
 }
 
-Common::Vec3f MotionInput::GetRotations() const {
+Common::Vec<f32, 3> MotionInput::GetRotations() const {
     return rotations;
 }
 
-Common::Vec3f MotionInput::GetEulerAngles() const {
+Common::Vec<f32, 3> MotionInput::GetEulerAngles() const {
     // roll (x-axis rotation)
-    const float sinr_cosp = 2 * (quat.w * quat.xyz.x + quat.xyz.y * quat.xyz.z);
-    const float cosr_cosp = 1 - 2 * (quat.xyz.x * quat.xyz.x + quat.xyz.y * quat.xyz.y);
+    const float sinr_cosp = 2 * (quat[3] * quat[0] + quat[1] * quat[2]);
+    const float cosr_cosp = 1 - 2 * (quat[0] * quat[0] + quat[1] * quat[1]);
 
     // pitch (y-axis rotation)
-    const float sinp = std::sqrt(1 + 2 * (quat.w * quat.xyz.y - quat.xyz.x * quat.xyz.z));
-    const float cosp = std::sqrt(1 - 2 * (quat.w * quat.xyz.y - quat.xyz.x * quat.xyz.z));
+    const float sinp = std::sqrt(1 + 2 * (quat[3] * quat[1] - quat[0] * quat[2]));
+    const float cosp = std::sqrt(1 - 2 * (quat[3] * quat[1] - quat[0] * quat[2]));
 
     // yaw (z-axis rotation)
-    const float siny_cosp = 2 * (quat.w * quat.xyz.z + quat.xyz.x * quat.xyz.y);
-    const float cosy_cosp = 1 - 2 * (quat.xyz.y * quat.xyz.y + quat.xyz.z * quat.xyz.z);
+    const float siny_cosp = 2 * (quat[3] * quat[2] + quat[0] * quat[1]);
+    const float cosy_cosp = 1 - 2 * (quat[1] * quat[1] + quat[2] * quat[2]);
 
     return {
         std::atan2(sinr_cosp, cosr_cosp),
@@ -285,13 +285,13 @@ void MotionInput::ResetOrientation() {
     if (!reset_enabled || only_accelerometer) {
         return;
     }
-    if (!IsMoving(IsAtRestRelaxed) && accel.z <= -0.9f) {
+    if (!IsMoving(IsAtRestRelaxed) && accel[2] <= -0.9f) {
         ++reset_counter;
         if (reset_counter > 900) {
-            quat.w = 0;
-            quat.xyz[0] = 0;
-            quat.xyz[1] = 0;
-            quat.xyz[2] = -1;
+            quat[3] = 0;
+            quat[0] = 0;
+            quat[1] = 0;
+            quat[2] = -1;
             SetOrientationFromAccelerometer();
             integral_error = {};
             reset_counter = 0;
@@ -309,15 +309,15 @@ void MotionInput::SetOrientationFromAccelerometer() {
 
     while (!IsCalibrated(0.01f) && ++iterations < 100) {
         // Short name local variable for readability
-        f32 q1 = quat.w;
-        f32 q2 = quat.xyz[0];
-        f32 q3 = quat.xyz[1];
-        f32 q4 = quat.xyz[2];
+        f32 q1 = quat[3];
+        f32 q2 = quat[0];
+        f32 q3 = quat[1];
+        f32 q4 = quat[2];
 
-        Common::Vec3f rad_gyro;
-        const f32 ax = -normal_accel.x;
-        const f32 ay = normal_accel.y;
-        const f32 az = -normal_accel.z;
+        Common::Vec<f32, 3> rad_gyro;
+        const f32 ax = -normal_accel[0];
+        const f32 ay = normal_accel[1];
+        const f32 az = -normal_accel[2];
 
         // Estimated direction of gravity
         const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
@@ -325,7 +325,7 @@ void MotionInput::SetOrientationFromAccelerometer() {
         const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
 
         // Error is cross product between estimated direction and measured direction of gravity
-        const Common::Vec3f new_real_error = {
+        const Common::Vec<f32, 3> new_real_error = {
             az * vx - ax * vz,
             ay * vz - az * vy,
             ax * vy - ay * vx,
@@ -338,9 +338,9 @@ void MotionInput::SetOrientationFromAccelerometer() {
         rad_gyro += 5.0f * ki * integral_error;
         rad_gyro += 10.0f * kd * derivative_error;
 
-        const f32 gx = rad_gyro.y;
-        const f32 gy = rad_gyro.x;
-        const f32 gz = rad_gyro.z;
+        const f32 gx = rad_gyro[1];
+        const f32 gy = rad_gyro[0];
+        const f32 gz = rad_gyro[2];
 
         // Integrate rate of change of quaternion
         const f32 pa = q2;
@@ -351,10 +351,10 @@ void MotionInput::SetOrientationFromAccelerometer() {
         q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period);
         q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * sample_period);
 
-        quat.w = q1;
-        quat.xyz[0] = q2;
-        quat.xyz[1] = q3;
-        quat.xyz[2] = q4;
+        quat[3] = q1;
+        quat[0] = q2;
+        quat[1] = q3;
+        quat[2] = q4;
         quat = quat.Normalized();
     }
 }
diff --git a/src/hid_core/frontend/motion_input.h b/src/hid_core/frontend/motion_input.h
index c902a3a6e5..09dbb706d7 100644
--- a/src/hid_core/frontend/motion_input.h
+++ b/src/hid_core/frontend/motion_input.h
@@ -1,10 +1,12 @@
+// SPDX-FileCopyrightText: Copyright 2026 Eden Emulator Project
+// SPDX-License-Identifier: GPL-3.0-or-later
+
 // SPDX-FileCopyrightText: Copyright 2020 yuzu Emulator Project
 // SPDX-License-Identifier: GPL-2.0-or-later
 
 #pragma once
 
 #include "common/common_types.h"
-#include "common/quaternion.h"
 #include "common/vector_math.h"
 
 namespace Core::HID {
@@ -34,11 +36,11 @@ public:
     MotionInput& operator=(MotionInput&&) = default;
 
     void SetPID(f32 new_kp, f32 new_ki, f32 new_kd);
-    void SetAcceleration(const Common::Vec3f& acceleration);
-    void SetGyroscope(const Common::Vec3f& gyroscope);
-    void SetQuaternion(const Common::Quaternion<f32>& quaternion);
-    void SetEulerAngles(const Common::Vec3f& euler_angles);
-    void SetGyroBias(const Common::Vec3f& bias);
+    void SetAcceleration(const Common::Vec<f32, 3>& acceleration);
+    void SetGyroscope(const Common::Vec<f32, 3>& gyroscope);
+    void SetQuaternion(const Common::Vec<f32, 4>& quaternion);
+    void SetEulerAngles(const Common::Vec<f32, 3>& euler_angles);
+    void SetGyroBias(const Common::Vec<f32, 3>& bias);
     void SetGyroThreshold(f32 threshold);
 
     /// Applies a modifier on top of the normal gyro threshold
@@ -53,13 +55,13 @@ public:
 
     void Calibrate();
 
-    [[nodiscard]] std::array<Common::Vec3f, 3> GetOrientation() const;
-    [[nodiscard]] Common::Vec3f GetAcceleration() const;
-    [[nodiscard]] Common::Vec3f GetGyroscope() const;
-    [[nodiscard]] Common::Vec3f GetGyroBias() const;
-    [[nodiscard]] Common::Vec3f GetRotations() const;
-    [[nodiscard]] Common::Quaternion<f32> GetQuaternion() const;
-    [[nodiscard]] Common::Vec3f GetEulerAngles() const;
+    [[nodiscard]] std::array<Common::Vec<f32, 3>, 3> GetOrientation() const;
+    [[nodiscard]] Common::Vec<f32, 3> GetAcceleration() const;
+    [[nodiscard]] Common::Vec<f32, 3> GetGyroscope() const;
+    [[nodiscard]] Common::Vec<f32, 3> GetGyroBias() const;
+    [[nodiscard]] Common::Vec<f32, 3> GetRotations() const;
+    [[nodiscard]] Common::Vec<f32, 4> GetQuaternion() const;
+    [[nodiscard]] Common::Vec<f32, 3> GetEulerAngles() const;
 
     [[nodiscard]] bool IsMoving(f32 sensitivity) const;
     [[nodiscard]] bool IsCalibrated(f32 sensitivity) const;
@@ -75,24 +77,24 @@ private:
     f32 kd;
 
     // PID errors
-    Common::Vec3f real_error;
-    Common::Vec3f integral_error;
-    Common::Vec3f derivative_error;
+    Common::Vec<f32, 3> real_error;
+    Common::Vec<f32, 3> integral_error;
+    Common::Vec<f32, 3> derivative_error;
 
     // Quaternion containing the device orientation
-    Common::Quaternion<f32> quat;
+    Common::Vec<f32, 4> quat;
 
     // Number of full rotations in each axis
-    Common::Vec3f rotations;
+    Common::Vec<f32, 3> rotations;
 
     // Acceleration vector measurement in G force
-    Common::Vec3f accel;
+    Common::Vec<f32, 3> accel;
 
     // Gyroscope vector measurement in radians/s.
-    Common::Vec3f gyro;
+    Common::Vec<f32, 3> gyro;
 
     // Vector to be subtracted from gyro measurements
-    Common::Vec3f gyro_bias;
+    Common::Vec<f32, 3> gyro_bias;
 
     // Minimum gyro amplitude to detect if the device is moving
     f32 gyro_threshold = 0.0f;
diff --git a/src/hid_core/hid_types.h b/src/hid_core/hid_types.h
index 66d661c80b..ae12059a92 100644
--- a/src/hid_core/hid_types.h
+++ b/src/hid_core/hid_types.h
@@ -609,10 +609,10 @@ static_assert(sizeof(SixAxisSensorAttribute) == 4, "SixAxisSensorAttribute is an
 struct SixAxisSensorState {
     s64 delta_time{};
     s64 sampling_number{};
-    Common::Vec3f accel{};
-    Common::Vec3f gyro{};
-    Common::Vec3f rotation{};
-    std::array<Common::Vec3f, 3> orientation{};
+    Common::Vec<f32, 3> accel{};
+    Common::Vec<f32, 3> gyro{};
+    Common::Vec<f32, 3> rotation{};
+    std::array<Common::Vec<f32, 3>, 3> orientation{};
     SixAxisSensorAttribute attribute{};
     INSERT_PADDING_BYTES(4); // Reserved
 };
diff --git a/src/hid_core/resources/shared_memory_format.h b/src/hid_core/resources/shared_memory_format.h
index b9deeec302..0d74689869 100644
--- a/src/hid_core/resources/shared_memory_format.h
+++ b/src/hid_core/resources/shared_memory_format.h
@@ -1,4 +1,4 @@
-// SPDX-FileCopyrightText: Copyright 2025 Eden Emulator Project
+// SPDX-FileCopyrightText: Copyright 2026 Eden Emulator Project
 // SPDX-License-Identifier: GPL-3.0-or-later
 
 // SPDX-FileCopyrightText: Copyright 2023 yuzu Emulator Project
@@ -196,7 +196,7 @@ struct ConsoleSixAxisSensorSharedMemoryFormat {
     bool is_seven_six_axis_sensor_at_rest{};
     INSERT_PADDING_BYTES(3); // padding
     f32 verticalization_error{};
-    Common::Vec3f gyro_bias{};
+    Common::Vec<f32, 3> gyro_bias{};
     INSERT_PADDING_BYTES(4); // padding
 };
 static_assert(sizeof(ConsoleSixAxisSensorSharedMemoryFormat) == 0x20,
diff --git a/src/hid_core/resources/six_axis/seven_six_axis.cpp b/src/hid_core/resources/six_axis/seven_six_axis.cpp
index 584e6d6505..13dd5f943a 100644
--- a/src/hid_core/resources/six_axis/seven_six_axis.cpp
+++ b/src/hid_core/resources/six_axis/seven_six_axis.cpp
@@ -46,14 +46,11 @@ void SevenSixAxis::OnUpdate(const Core::Timing::CoreTiming& core_timing) {
     next_seven_sixaxis_state.accel = motion_status.accel;
     next_seven_sixaxis_state.gyro = motion_status.gyro;
     next_seven_sixaxis_state.quaternion = {
-        {
-            motion_status.quaternion.xyz.y,
-            motion_status.quaternion.xyz.x,
-            -motion_status.quaternion.w,
-        },
-        -motion_status.quaternion.xyz.z,
+        motion_status.quaternion[1],
+        motion_status.quaternion[0],
+        -motion_status.quaternion[3],
+        -motion_status.quaternion[2],
     };
-
     seven_sixaxis_lifo.WriteNextEntry(next_seven_sixaxis_state);
     transfer_memory_owner->GetMemory().WriteBlock(transfer_memory, &seven_sixaxis_lifo,
                                                   sizeof(seven_sixaxis_lifo));
diff --git a/src/hid_core/resources/six_axis/seven_six_axis.h b/src/hid_core/resources/six_axis/seven_six_axis.h
index 00afb8c00b..a59d697356 100644
--- a/src/hid_core/resources/six_axis/seven_six_axis.h
+++ b/src/hid_core/resources/six_axis/seven_six_axis.h
@@ -7,7 +7,7 @@
 #pragma once
 
 #include "common/common_types.h"
-#include "common/quaternion.h"
+#include "common/vector_math.h"
 #include "common/typed_address.h"
 #include "hid_core/resources/controller_base.h"
 #include "hid_core/resources/ring_lifo.h"
@@ -51,9 +51,9 @@ private:
         u64 timestamp{};
         u64 sampling_number{};
         u64 unknown{};
-        Common::Vec3f accel{};
-        Common::Vec3f gyro{};
-        Common::Quaternion<f32> quaternion{};
+        Common::Vec<f32, 3> accel{};
+        Common::Vec<f32, 3> gyro{};
+        Common::Vec<f32, 4> quaternion{};
     };
     static_assert(sizeof(SevenSixAxisState) == 0x48, "SevenSixAxisState is an invalid size");
 
diff --git a/src/hid_core/resources/six_axis/six_axis.cpp b/src/hid_core/resources/six_axis/six_axis.cpp
index b407a5c76e..53a56d2661 100644
--- a/src/hid_core/resources/six_axis/six_axis.cpp
+++ b/src/hid_core/resources/six_axis/six_axis.cpp
@@ -1,3 +1,6 @@
+// SPDX-FileCopyrightText: Copyright 2026 Eden Emulator Project
+// SPDX-License-Identifier: GPL-3.0-or-later
+
 // SPDX-FileCopyrightText: Copyright 2023 yuzu Emulator Project
 // SPDX-License-Identifier: GPL-3.0-or-later
 
@@ -93,9 +96,9 @@ void SixAxis::OnUpdate(const Core::Timing::CoreTiming& core_timing) {
                     .accel = {0, 0, -1.0f},
                     .orientation =
                         {
-                            Common::Vec3f{1.0f, 0, 0},
-                            Common::Vec3f{0, 1.0f, 0},
-                            Common::Vec3f{0, 0, 1.0f},
+                            Common::Vec<f32, 3>{1.0f, 0, 0},
+                            Common::Vec<f32, 3>{0, 1.0f, 0},
+                            Common::Vec<f32, 3>{0, 0, 1.0f},
                         },
                     .attribute = {1},
                 };