diff options
| author | Stanislaw Halik <sthalik@misaki.pl> | 2017-05-21 08:37:11 +0200 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2017-05-21 08:37:11 +0200 |
| commit | ec88c2032420cad4920e516a176fb7866be9074f (patch) | |
| tree | b90a592dcaa9aa324c0df57c7eeb57b795a77f2e | |
| parent | 49efdd88361e564139d5f0cd365779ab48425e1c (diff) | |
tracker/steamvr: fix formulae, pitch is/was broken
@KydDynoMyte said on reddit pitch goes +180 on yaw over 90.
It must be invalid matrix elements used in the call to atan2.
Replace with the version from April.
cf. https://www.reddit.com/r/Vive/comments/63qula/opentracks_almostdone_vive_support/dhrgh5l/?context=3
| -rw-r--r-- | tracker-steamvr/steamvr.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/tracker-steamvr/steamvr.cpp b/tracker-steamvr/steamvr.cpp index 3f0cd1d4..4cdec5e8 100644 --- a/tracker-steamvr/steamvr.cpp +++ b/tracker-steamvr/steamvr.cpp @@ -282,12 +282,13 @@ void steamvr::matrix_to_euler(double& yaw, double& pitch, double& roll, const vr { using std::atan2; using std::sqrt; + using std::asin; using d = double; yaw = atan2(d(result.m[2][0]), d(result.m[0][0])); - pitch = atan2(d(result.m[2][1]), d(result.m[2][2])); - roll = atan2(d(result.m[1][0]), d(result.m[0][0])); + pitch = atan2(-d(result.m[1][2]), d(result.m[1][1])); + roll = asin(d(result.m[1][0])); // TODO: gimbal lock avoidance? } |