diff options
| -rw-r--r-- | opentrack-logic/simple-mat.cpp | 2 | ||||
| -rw-r--r-- | opentrack-logic/tracker.cpp | 6 |
2 files changed, 4 insertions, 4 deletions
diff --git a/opentrack-logic/simple-mat.cpp b/opentrack-logic/simple-mat.cpp index 748e083b..6397ed4e 100644 --- a/opentrack-logic/simple-mat.cpp +++ b/opentrack-logic/simple-mat.cpp @@ -26,7 +26,7 @@ rmat OPENTRACK_LOGIC_EXPORT euler_to_rmat(const euler_t& input) { const double H = input(0); const double P = input(1); - const double B = -input(2); + const double B = input(2); using std::cos; using std::sin; diff --git a/opentrack-logic/tracker.cpp b/opentrack-logic/tracker.cpp index a1f206a1..b16da9aa 100644 --- a/opentrack-logic/tracker.cpp +++ b/opentrack-logic/tracker.cpp @@ -64,13 +64,13 @@ double Tracker::map(double pos, Mapping& axis) void Tracker::t_compensate(const rmat& rmat, const euler_t& xyz_, euler_t& output, bool rz) { // TY is really yaw axis. need swapping accordingly. - const euler_t ret = rmat * euler_t(xyz_(TZ), -xyz_(TX), -xyz_(TY)); + const euler_t ret = rmat * euler_t(xyz_(TZ), xyz_(TX), xyz_(TY)); if (!rz) output(2) = ret(0); else output(2) = xyz_(2); - output(1) = -ret(2); - output(0) = -ret(1); + output(1) = ret(2); + output(0) = ret(1); } #include "opentrack-compat/nan.hpp" |