Merged in fixes to hydra and rift code, along with a bug in the pitch inversion of FTNoIR itself.

Also added an include directory the Rift needs which was absent before.

1 files changed, 28 insertions, 26 deletions

diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
index a1500969..1e472cf2 100644
--- a/facetracknoir/rotation.h
+++ b/facetracknoir/rotation.h
@@ -12,12 +12,12 @@
 class Rotation {

 

 public:

-	Rotation() : a(1.0),b(0.0),c(0.0),d(0.0) {}

+	Rotation() : w(1.0),x(0.0),y(0.0),z(0.0) {}

 	Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }

-	Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}

+	Rotation(double x, double y, double z, double w) : x(x),y(y),z(z),w(w) {}

 

 	Rotation inv(){	// inverse

-		return Rotation(a,-b,-c,-d);

+		return Rotation(-x,-y,-z, w);

 	}

 

 

@@ -25,46 +25,48 @@ public:
 	// see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

 	void fromEuler(double yaw, double pitch, double roll)

 	{

-		double sin_phi = sin(roll/2.0);

-		double cos_phi = cos(roll/2.0);

-		double sin_the = sin(pitch/2.0);

-		double cos_the = cos(pitch/2.0);

-		double sin_psi = sin(yaw/2.0);

-		double cos_psi = cos(yaw/2.0);

-

-		a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;

-		b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;

-		c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;

-		d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;

+		// Assuming the angles are in radians.

+		double c1 = cos(yaw);

+		double s1 = sin(yaw);

+		double c2 = cos(roll);

+		double s2 = sin(roll);

+		double c3 = cos(pitch);

+		double s3 = sin(pitch);

+		w = sqrt(1.0 + c1 * c2 + c1*c3 - s1 * s2 * s3 + c2*c3) / 2.0;

+		double w4 = (4.0 * w);

+		x = (c2 * s3 + c1 * s3 + s1 * s2 * c3) / w4 ;

+		y = (s1 * c2 + s1 * c3 + c1 * s2 * s3) / w4 ;

+		z = (-s1 * s3 + c1 * s2 * c3 +s2) / w4 ;

 	}

 

 	void toEuler(double& yaw, double& pitch, double& roll)

 	{

-		roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));

-		pitch = asin(2.0*(a*c - b*d));

-		yaw =  atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));

+		

+		yaw =  atan2(2.0*(y*w - x*z), 1.0 - 2.0*(y*y + z*z));

+		roll = asin(2.0*(x*y + z*w));

+		pitch = atan2(2.0*(x*w - y*z), 1.0 - 2.0*(x*x + z*z));

 	}

 	

 /*	 const Rotation operator*(const Rotation& A, const Rotation& B)

 	{

-		return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication

-						A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,

-						A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,

-						A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);

+		return Rotation(A.w*B.w - A.x*B.x - A.y*B.y - A.z*B.z,	// quaternion multiplication

+						A.w*B.x + A.x*B.w + A.y*B.z - A.z*B.y,

+						A.w*B.y - A.x*B.z + A.y*B.w + A.z*B.x,

+						A.w*B.z + A.x*B.y - A.y*B.x + A.z*B.w);

 	}*/

 

 

 		 const Rotation operator*(const Rotation& B)

 	{

 		const Rotation& A = *this;

-		return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication

-						A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,

-						A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,

-						A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);

+		return Rotation(A.w*B.w - A.x*B.x - A.y*B.y - A.z*B.z,	// quaternion multiplication

+						A.w*B.x + A.x*B.w + A.y*B.z - A.z*B.y,

+						A.w*B.y - A.x*B.z + A.y*B.w + A.z*B.x,

+						A.w*B.z + A.x*B.y - A.y*B.x + A.z*B.w);

 	}

 

 protected:

-	double a,b,c,d; // quaternion coefficients

+	double w,x,y,z; // quaternion coefficients

 };