diff options
Diffstat (limited to 'ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp')
| -rw-r--r-- | ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp | 43 |
1 files changed, 10 insertions, 33 deletions
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp index 6345ac57..5770f015 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp @@ -8,13 +8,10 @@ # define SIXENSE_UTILS_STATIC_LIB #endif #include <sixense.h> -#include <sixense_math.hpp> +Hydra_Tracker::Hydra_Tracker() : should_quit(false) {} -Hydra_Tracker::Hydra_Tracker() : should_quit(false) -{ - for (int i = 0; i < 6; i++) - newHeadPose[i] = 0; -} +#pragma GCC diagnostic ignored "-Wreorder" +#include <sixense_math.hpp> Hydra_Tracker::~Hydra_Tracker() { @@ -38,33 +35,13 @@ void Hydra_Tracker::GetHeadPoseData(double *data) float ypr[3]; mat.getEulerAngles().fill(ypr); - newHeadPose[Yaw] = ypr[0]; - newHeadPose[Pitch] = ypr[1]; - newHeadPose[Roll] = ypr[2]; - - - newHeadPose[TX] = acd.controllers[0].pos[0]/50.0f; - newHeadPose[TY] = acd.controllers[0].pos[1]/50.0f; - newHeadPose[TZ] = acd.controllers[0].pos[2]/50.0f; - - if (s.bEnableX) { - data[TX] = newHeadPose[TX]; - } - if (s.bEnableY) { - data[TY] = newHeadPose[TY]; - } - if (s.bEnableY) { - data[TZ] = newHeadPose[TZ]; - } - if (s.bEnableYaw) { - data[Yaw] = newHeadPose[Yaw] * 57.295781f; - } - if (s.bEnablePitch) { - data[Pitch] = newHeadPose[Pitch] * 57.295781f; - } - if (s.bEnableRoll) { - data[Roll] = newHeadPose[Roll] * 57.295781f; - } + data[TX] = acd.controllers[0].pos[0]/50.0; + data[TY] = acd.controllers[0].pos[1]/50.0; + data[TZ] = acd.controllers[0].pos[2]/50.0; + constexpr double r2d = 57.295781; + data[Yaw] = ypr[0] * r2d; + data[Pitch] = ypr[1] * r2d; + data[Roll] = ypr[2] * r2d; } extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() |