logic/pipeline: immediately move to center with reltrans

2 files changed, 17 insertions, 5 deletions

diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp
index 7774b02e..494d93ff 100644
--- a/logic/pipeline.cpp
+++ b/logic/pipeline.cpp
@@ -37,6 +37,13 @@ static constexpr inline double d2r = M_PI / 180.;
 
 reltrans::reltrans() {}
 
+void reltrans::on_center()
+{
+    interp_pos = { 0, 0, 0 };
+    in_zone = false;
+    cur = false;
+}
+
 euler_t reltrans::rotate(const rmat& R, const euler_t& in, vec3_bool disable) const
 {
     enum { tb_Z, tb_X, tb_Y };
@@ -410,8 +417,11 @@ Pose pipeline::apply_zero_pos(Pose value) const
     return value;
 }
 
-Pose pipeline::apply_reltrans(Pose value, vec6_bool disabled)
+Pose pipeline::apply_reltrans(Pose value, vec6_bool disabled, bool centerp)
 {
+    if (centerp)
+        rel.on_center();
+
     value = rel.apply_pipeline(s.reltrans_mode, value,
                                { !!s.reltrans_disable_src_yaw,
                                  !!s.reltrans_disable_src_pitch,
@@ -483,7 +493,7 @@ void pipeline::logic()
             value(i) = map(value(i), m(i));
     }
 
-    value = apply_reltrans(value, disabled);
+    value = apply_reltrans(value, disabled, center_ordered);
 
     {
         // CAVEAT translation only, due to tcomp
diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp
index 82a339a3..7132a36b 100644
--- a/logic/pipeline.hpp
+++ b/logic/pipeline.hpp
@@ -40,7 +40,7 @@ using vec3_bool = Mat<bool, 6, 1>;
 
 class reltrans
 {
-    euler_t interp_pos, last_value;
+    euler_t interp_pos;
     Timer interp_timer;
 
     // this implements smooth transition into reltrans mode
@@ -54,6 +54,8 @@ class reltrans
 public:
     reltrans();
 
+    void on_center();
+
     warn_result_unused
     euler_t rotate(const rmat& rmat, const euler_t& in, vec3_bool disable) const;
 
@@ -80,7 +82,7 @@ struct OTR_LOGIC_EXPORT bits
 
     void set(flags flag_, bool val_);
     void negate(flags flag_);
-    bool get(flags flag);
+    bool get(unsigned flag);
     bits();
 };
 
@@ -130,7 +132,7 @@ private:
     Pose apply_center(Pose value) const;
     std::tuple<Pose, Pose, vec6_bool> get_selected_axis_value(const Pose& newpose) const;
     Pose maybe_apply_filter(const Pose& value) const;
-    Pose apply_reltrans(Pose value, vec6_bool disabled);
+    Pose apply_reltrans(Pose value, vec6_bool disabled, bool centerp);
     Pose apply_zero_pos(Pose value) const;
 
     // reminder: float exponent base is 2