many: remove compat/pi-constant.hpp

With -D_USE_MATH_DEFINES MSVC defines the standard M_PI and
friends.

Since this preprocessor definition is now always passed as part
of the build system for MSVC. We can use M_PI as if on a
mission.

21 files changed, 34 insertions, 55 deletions

diff --git a/compat/pi-constant.hpp b/compat/pi-constant.hpp
deleted file mode 100644
index 52b98a7f..00000000
--- a/compat/pi-constant.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-#pragma once
-
-#define OPENTRACK_PI 3.14159265358979323846
diff --git a/logic/simple-mat.cpp b/logic/simple-mat.cpp
index 24a2d69e..57571f9e 100644
--- a/logic/simple-mat.cpp
+++ b/logic/simple-mat.cpp
@@ -1,5 +1,4 @@
 #include "simple-mat.hpp"
-#include "compat/pi-constant.hpp"
 #include <cmath>
 
 namespace euler {
diff --git a/logic/tracker.cpp b/logic/tracker.cpp
index 3a8df56e..f404e8e0 100644
--- a/logic/tracker.cpp
+++ b/logic/tracker.cpp
@@ -24,6 +24,9 @@
 #   include <windows.h>
 #endif
 
+constexpr double Tracker::r2d;
+constexpr double Tracker::d2r;
+
 Tracker::Tracker(Mappings &m, SelectedLibraries &libs, TrackLogger &logger) :
     m(m),
     libs(libs),
diff --git a/logic/tracker.h b/logic/tracker.h
index 9c100ea7..1546d910 100644
--- a/logic/tracker.h
+++ b/logic/tracker.h
@@ -10,7 +10,6 @@
 
 #include <vector>
 
-#include "compat/pi-constant.hpp"
 #include "compat/timer.hpp"
 #include "api/plugin-support.hpp"
 #include "mappings.hpp"
@@ -26,6 +25,7 @@
 #include <QThread>
 
 #include <atomic>
+#include <cmath>
 
 #include "export.hpp"
 
@@ -121,9 +121,8 @@ private:
     void t_compensate(const rmat& rmat, const euler_t& ypr, euler_t& output, bool rz);
     void run() override;
 
-    static constexpr double pi = OPENTRACK_PI;
-    static constexpr double r2d = 180. / OPENTRACK_PI;
-    static constexpr double d2r = OPENTRACK_PI / 180.;
+    static constexpr double r2d = 180. / M_PI;
+    static constexpr double d2r = M_PI / 180.;
 
     // note: float exponent base is 2
     static constexpr double c_mult = 4;
diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index a2a76726..4b5e9731 100644
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -7,7 +7,6 @@
 
 #include "glwidget.h"
 #include "api/is-window-visible.hpp"
-#include "compat/pi-constant.hpp"
 #include <cmath>
 #include <algorithm>
 #include <QPainter>
@@ -52,7 +51,7 @@ void GLWidget::rotateBy_real(double xAngle, double yAngle, double zAngle, double
     using std::sin;
     using std::cos;
 
-    static constexpr double d2r = OPENTRACK_PI / 180;
+    static constexpr double d2r = M_PI / 180;
 
     translation = vec3(x, y, z);
 
diff --git a/proto-ft/ftnoir_protocol_ft.cpp b/proto-ft/ftnoir_protocol_ft.cpp
index 6a2d1cb2..8ac3ba75 100644
--- a/proto-ft/ftnoir_protocol_ft.cpp
+++ b/proto-ft/ftnoir_protocol_ft.cpp
@@ -9,7 +9,8 @@
 #include "ftnoir_protocol_ft.h"
 #include "csv/csv.h"
 #include "opentrack-library-path.h"
-#include "compat/pi-constant.hpp"
+
+#include <cmath>
 
 check_for_first_run FTNoIR_Protocol::runonce_check = check_for_first_run();
 
@@ -96,8 +97,7 @@ void FTNoIR_Protocol::pose(const double* headpose)
 
 float FTNoIR_Protocol::degrees_to_rads(double degrees)
 {
-    static constexpr double pi = OPENTRACK_PI;
-    return float(degrees*pi/180);
+    return float(degrees*M_PI/180);
 }
 
 void FTNoIR_Protocol::start_tirviews()
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 81a2e176..18e6a9bf 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -9,7 +9,6 @@
 #include "api/plugin-api.hpp"
 #include "compat/camera-names.hpp"
 #include "compat/sleep.hpp"
-#include "compat/pi-constant.hpp"
 #include "cv/video-property-page.hpp"
 
 #include <opencv2/core.hpp>
@@ -89,7 +88,7 @@ void Tracker::start_tracker(QFrame* videoframe)
     layout = layout_;
 }
 
-#define HT_PI OPENTRACK_PI
+#define HT_PI M_PI
 
 void Tracker::getRT(cv::Matx33d& r_, cv::Vec3d& t_)
 {
@@ -186,9 +185,8 @@ bool Tracker::open_camera()
 
 void Tracker::set_intrinsics()
 {
-    static constexpr double pi = OPENTRACK_PI;
     const int w = grayscale.cols, h = grayscale.rows;
-    const double diag_fov = static_cast<int>(s.fov) * pi / 180.;
+    const double diag_fov = static_cast<int>(s.fov) * M_PI / 180.;
     const double fov_w = 2.*atan(tan(diag_fov/2.)/sqrt(1. + h/(double)w * h/(double)w));
     const double fov_h = 2.*atan(tan(diag_fov/2.)/sqrt(1. + w/(double)h * w/(double)h));
     const double focal_length_w = .5 * w / tan(.5 * fov_w);
diff --git a/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp b/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp
index 800428aa..d6d53803 100644
--- a/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp
+++ b/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp
@@ -1,6 +1,5 @@
 #include "ftnoir_tracker_freepie-udp.h"
 #include "api/plugin-api.hpp"
-#include "compat/pi-constant.hpp"
 
 #include <cinttypes>
 #include <algorithm>
@@ -90,7 +89,7 @@ void TrackerImpl::run() {
             };
             int indices[] = { s.add_yaw, s.add_pitch, s.add_roll };
             QMutexLocker foo(&mtx);
-            static constexpr double r2d = 180 / OPENTRACK_PI;
+            static constexpr double r2d = 180 / M_PI;
             for (int i = 0; i < 3; i++)
             {
                 int val = 0;
diff --git a/tracker-hydra/ftnoir_tracker_hydra.cpp b/tracker-hydra/ftnoir_tracker_hydra.cpp
index 6b52153f..809f2fba 100644
--- a/tracker-hydra/ftnoir_tracker_hydra.cpp
+++ b/tracker-hydra/ftnoir_tracker_hydra.cpp
@@ -1,7 +1,6 @@
 /* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
 #include "ftnoir_tracker_hydra.h"
 #include "api/plugin-api.hpp"
-#include "compat/pi-constant.hpp"
 #include <cstdio>
 #include <cmath>
 #ifdef _WIN32
@@ -39,7 +38,7 @@ void Hydra_Tracker::data(double *data)
     data[TX] = double(acd.controllers[0].pos[0])/50;
     data[TY] = double(acd.controllers[0].pos[1])/50;
     data[TZ] = double(acd.controllers[0].pos[2])/50;
-    static constexpr double r2d = 180/OPENTRACK_PI;
+    static constexpr double r2d = 180/M_PI;
     data[Yaw] = double(ypr[0]) * r2d;
     data[Pitch] = double(ypr[1]) * r2d;
     data[Roll] = double(ypr[2]) * r2d;
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 20327020..ce19d592 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -18,8 +18,6 @@
 
 //#define PT_PERF_LOG	//log performance
 
-constexpr f Tracker_PT::pi;
-
 //-----------------------------------------------------------------------------
 Tracker_PT::Tracker_PT() :
       video_widget(nullptr),
@@ -72,7 +70,7 @@ bool Tracker_PT::get_focal_length(f& ret)
 
         const int w = info.res_x, h = info.res_y;
         const double diag = sqrt(1. + h/(double)w * h/(double)w);
-        const double diag_fov = static_cast<int>(s.fov) * pi / 180.;
+        const double diag_fov = static_cast<int>(s.fov) * M_PI / 180.;
         const double fov = 2.*atan(tan(diag_fov/2.0)/diag);
         ret = .5 / tan(.5 * fov);
         return true;
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index 047aedda..513c9b2c 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -33,8 +33,6 @@ class TrackerDialog_PT;
 // Constantly processes the tracking chain in a separate thread
 class Tracker_PT : public QThread, public ITracker
 {
-    static constexpr f pi = constants::pi;
-
     Q_OBJECT
     friend class camera_dialog;
     friend class TrackerDialog_PT;
@@ -80,8 +78,8 @@ private:
     volatile unsigned char commands;
     volatile bool ever_success;
 
-    static constexpr f rad2deg = f(180/OPENTRACK_PI);
-    //static constexpr float deg2rad = float(OPENTRACK_PI/180);
+    static constexpr f rad2deg = f(180/M_PI);
+    //static constexpr float deg2rad = float(M_PI/180);
 };
 
 class TrackerDll : public Metadata
diff --git a/tracker-pt/ftnoir_tracker_pt_settings.cpp b/tracker-pt/ftnoir_tracker_pt_settings.cpp
index e685960c..5d4b598f 100644
--- a/tracker-pt/ftnoir_tracker_pt_settings.cpp
+++ b/tracker-pt/ftnoir_tracker_pt_settings.cpp
@@ -3,6 +3,5 @@
 namespace pt_types {
 
 constexpr f constants::eps;
-constexpr f constants::pi;
 
 }
diff --git a/tracker-pt/ftnoir_tracker_pt_settings.h b/tracker-pt/ftnoir_tracker_pt_settings.h
index b3f9e402..e742fbbc 100644
--- a/tracker-pt/ftnoir_tracker_pt_settings.h
+++ b/tracker-pt/ftnoir_tracker_pt_settings.h
@@ -8,10 +8,11 @@
 
 #pragma once
 
-#include "compat/pi-constant.hpp"
 #include <limits>
 #include <opencv2/core.hpp>
 
+#include <cmath>
+
 namespace pt_types {
     using f = double;
 
@@ -19,7 +20,6 @@ namespace pt_types {
     {
         constants() = delete;
         static constexpr f eps = std::numeric_limits<f>::epsilon();
-        static constexpr f pi = OPENTRACK_PI;
     };
 
     template<int n> using vec = cv::Vec<f, n>;
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index 6411fcef..0fd177e0 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -19,8 +19,6 @@
 #include <algorithm>
 #include <cinttypes>
 
-constexpr double PointExtractor::pi;
-
 PointExtractor::PointExtractor()
 {
     blobs.reserve(max_blobs);
@@ -132,7 +130,7 @@ void PointExtractor::extract_points(cv::Mat& frame, std::vector<vec2>& points)
             }
             if (m00 > 0)
             {
-                const double radius = sqrt(cnt / pi);
+                const double radius = sqrt(cnt / M_PI);
                 if (radius > region_size_max || radius < region_size_min)
                     continue;
                 const double norm = double(m00);
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index 5ebd8056..9ac2d695 100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -29,7 +29,6 @@ public:
 
     settings_pt s;
 private:
-    static constexpr double pi = constants::pi;
     static constexpr int max_blobs = 16;
 
     cv::Mat frame_gray;
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index 4c7ca4be..24edca45 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -207,9 +207,6 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc
     // In every iteration step the rotation closer to R_expected is taken
     mat33 R_expected = mat33::eye();
 
-    static constexpr f pi = constants::pi;
-    static constexpr f eps = constants::eps;
-
     // initial pose = last (predicted) pose
     vec3 k;
     get_row(R_expected, 2, k);
@@ -263,14 +260,14 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc
         // CAVEAT don't change to comparison with an epsilon -sh 20160423
         if (JJ0 == II0) {
             rho = sqrt(fabs(2*IJ0));
-            theta = -pi/4;
+            theta = -M_PI/4;
             if (IJ0<0) theta *= -1;
         }
         else {
             rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 ));
             theta = atan( -2*IJ0 / (JJ0-II0) );
             // avoid branch misprediction
-            theta += (JJ0 - II0 < 0) * pi;
+            theta += (JJ0 - II0 < 0) * M_PI;
             theta *= f(.5);
         }
 
@@ -313,7 +310,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc
         // check for convergence condition
         const f delta = fabs(epsilon_1 - old_epsilon_1) + fabs(epsilon_2 - old_epsilon_2);
 
-        if (!(delta > eps))
+        if (!(delta > constants::eps))
             break;
 
         old_epsilon_1 = epsilon_1;
diff --git a/tracker-rift-025/ftnoir_tracker_rift_025.cpp b/tracker-rift-025/ftnoir_tracker_rift_025.cpp
index 51eed855..dcb97fc5 100644
--- a/tracker-rift-025/ftnoir_tracker_rift_025.cpp
+++ b/tracker-rift-025/ftnoir_tracker_rift_025.cpp
@@ -1,7 +1,6 @@
 /* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
 #include "ftnoir_tracker_rift_025.h"
 #include "api/plugin-api.hpp"
-#include "compat/pi-constant.hpp"
 #include <OVR.h>
 #include <cstdio>
 #include <cmath>
@@ -85,7 +84,7 @@ void Rift_Tracker::data(double *data)
             old_yaw = yaw_;
         }
 
-        static constexpr double r2d = 180 / OPENTRACK_PI;
+        static constexpr double r2d = 180 / M_PI;
 
         data[Yaw] = yaw_ * r2d;
         data[Pitch] = double(pitch) * r2d;
diff --git a/tracker-rift-042/ftnoir_tracker_rift_042.cpp b/tracker-rift-042/ftnoir_tracker_rift_042.cpp
index 6107dc8d..c868eee8 100644
--- a/tracker-rift-042/ftnoir_tracker_rift_042.cpp
+++ b/tracker-rift-042/ftnoir_tracker_rift_042.cpp
@@ -1,7 +1,6 @@
 /* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
 #include "ftnoir_tracker_rift_042.h"
 #include "api/plugin-api.hpp"
-#include "compat/pi-constant.hpp"
 
 #include <QString>
 
@@ -68,7 +67,7 @@ void Rift_Tracker::data(double *data)
                     yaw_ += s.constant_drift;
                 old_yaw = yaw_;
             }
-            static constexpr double d2r = 180 / OPENTRACK_PI;
+            static constexpr double d2r = 180 / M_PI;
             data[Yaw] = yaw_ * -d2r;
             data[Pitch] = double(pitch) * d2r;
             data[Roll] = double(roll) * d2r;
diff --git a/tracker-rift-080/ftnoir_tracker_rift_080.cpp b/tracker-rift-080/ftnoir_tracker_rift_080.cpp
index f8091613..8522a540 100644
--- a/tracker-rift-080/ftnoir_tracker_rift_080.cpp
+++ b/tracker-rift-080/ftnoir_tracker_rift_080.cpp
@@ -1,7 +1,6 @@
 /* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
 #include "ftnoir_tracker_rift_080.h"
 #include "api/plugin-api.hpp"
-#include "compat/pi-constant.hpp"
 
 #include <QString>
 
@@ -10,6 +9,7 @@
 #include <OVR_CAPI_0_8_0.h>
 
 #include <cstdio>
+#include <cmath>
 
 using namespace OVR;
 
@@ -79,7 +79,7 @@ void Rift_Tracker::data(double *data)
                     yaw_ += s.constant_drift;
                 old_yaw = yaw_;
             }
-            static constexpr double d2r = 180 / OPENTRACK_PI;
+            static constexpr double d2r = 180 / M_PI;
             data[Yaw] = yaw_                   * -d2r;
             data[Pitch] = double(pitch)        *  d2r;
             data[Roll] = double(roll)          *  d2r;
diff --git a/tracker-test/test.cpp b/tracker-test/test.cpp
index 3e0db547..9ffdd366 100644
--- a/tracker-test/test.cpp
+++ b/tracker-test/test.cpp
@@ -56,17 +56,16 @@ void FTNoIR_Tracker::data(double *data)
 #endif
         for (int i = 0; i < 6; i++)
         {
-            double x = fmod(last_x[i] + incr[i] * d2r * dt,
-                            2 * pi);
+            double x = fmod(last_x[i] + incr[i] * d2r * dt, 2 * M_PI);
             last_x[i] = x;
 
             if (i >= 3)
             {
 #ifdef DISCONTINUITY
                 if (x > pi + pi/2)
-                    x -= pi;
+                    x -= M_PI;
                 else if (x > pi/2 && x < pi)
-                    x += pi;
+                    x += M_PI;
 #endif
 
                 data[i] = sin(x) * 180;
diff --git a/tracker-test/test.h b/tracker-test/test.h
index 786d7705..acaee67d 100644
--- a/tracker-test/test.h
+++ b/tracker-test/test.h
@@ -2,7 +2,8 @@
 #include "ui_test.h"
 #include "api/plugin-api.hpp"
 #include "compat/timer.hpp"
-#include "compat/pi-constant.hpp"
+
+#include <cmath>
 
 class FTNoIR_Tracker : public ITracker
 {
@@ -13,9 +14,8 @@ public:
     void data(double *data) override;
 
 private:
-    static constexpr double pi = OPENTRACK_PI;
-    static constexpr double r2d = 180 / pi;
-    static constexpr double d2r = pi / 180;
+    static constexpr double r2d = 180 / M_PI;
+    static constexpr double d2r = M_PI / 180;
 
     static const double incr[6];
     double last_x[6];