diff options
| -rw-r--r-- | opentrack/mappings.hpp | 2 | ||||
| -rw-r--r-- | opentrack/tracker.cpp | 19 |
2 files changed, 4 insertions, 17 deletions
diff --git a/opentrack/mappings.hpp b/opentrack/mappings.hpp index 3b86dfe3..3336dcd8 100644 --- a/opentrack/mappings.hpp +++ b/opentrack/mappings.hpp @@ -39,7 +39,7 @@ public: Mapping("ty","ty_alt", 100, 100, *opts[TY]), Mapping("tz","tz_alt", 100, 100, *opts[TZ]), Mapping("rx", "rx_alt", 180, 180, *opts[Yaw]), - Mapping("ry", "ry_alt", 90, 180, *opts[Pitch]), + Mapping("ry", "ry_alt", 180, 180, *opts[Pitch]), Mapping("rz", "rz_alt", 180, 180, *opts[Roll]) } {} diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index 4e12132e..8892c85a 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -51,22 +51,9 @@ double Tracker::map(double pos, bool invertp, Mapping& axis) // http://stackoverflow.com/a/18436193 static dmat<3, 1> rmat_to_euler(const dmat<3, 3>& R) { - static constexpr double pi = 3.141592653; - const double up = 90 * pi / 180.; - if (R(0, 2) > 0.9991) - { - double roll = atan(R(1, 0) / R(2, 0)); - return dmat<3, 1>({0., up, roll}); - } - if (R(0, 2) < -0.9991) - { - double roll = atan(R(1, 0) / R(2, 0)); - return dmat<3, 1>({0., -up, roll}); - } - // don't use atan2 here, confuses quadrants. see issue #63 -sh - double pitch = asin(R(0, 2)); - double roll = atan(R(1, 2) / R(2, 2)); - double yaw = atan(R(0, 1) / R(0, 0)); + double pitch = asin(-R(0, 2)); + double roll = atan2(R(1, 2), R(2, 2)); + double yaw = atan2(R(0, 1), R(0, 0)); return dmat<3, 1>({yaw, pitch, roll}); } |