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authorStanislaw Halik <sthalik@misaki.pl>2016-11-18 21:12:29 +0100
committerStanislaw Halik <sthalik@misaki.pl>2016-11-18 21:12:29 +0100
commitec6c5632446c04a643bc7a05e323fe4a16f0978b (patch)
treea17199825c0242636a071a20da5a499f9138ebeb
parent21cac744a6d6ca59f686ac332b531e5be65cc3af (diff)
logic/tracker: make camera offset only work on translation
-rw-r--r--logic/tracker.cpp14
-rw-r--r--logic/tracker.h2
2 files changed, 7 insertions, 9 deletions
diff --git a/logic/tracker.cpp b/logic/tracker.cpp
index 9f4c3617..a5892dd0 100644
--- a/logic/tracker.cpp
+++ b/logic/tracker.cpp
@@ -35,7 +35,8 @@ Tracker::Tracker(Mappings& m, SelectedLibraries& libs, TrackLogger& logger) :
m(m),
libs(libs),
logger(logger),
- backlog_time(0)
+ backlog_time(0),
+ tracking_started(false)
{
set(f_center, s.center_at_startup);
}
@@ -170,28 +171,23 @@ void Tracker::logic()
scaled_rotation.camera = get_camera_offset_matrix(c_div);
real_rotation.camera = get_camera_offset_matrix(1);
- scaled_rotation.rotation = scaled_rotation.camera * scaled_rotation.rotation;
- real_rotation.rotation = real_rotation.camera * real_rotation.rotation;
-
bool nanp = is_nan(value) || is_nan(scaled_rotation.rotation) || is_nan(real_rotation.rotation);
if (!nanp)
{
- bool can_center = false;
-
- if (get(f_center))
+ if (!tracking_started)
{
using std::fabs;
for (int i = 0; i < 6; i++)
if (fabs(newpose(i)) != 0)
{
- can_center = true;
+ tracking_started = true;
break;
}
}
- if (can_center)
+ if (get(f_center) && tracking_started)
{
set(f_center, false);
diff --git a/logic/tracker.h b/logic/tracker.h
index ddb71b44..4a5bdf50 100644
--- a/logic/tracker.h
+++ b/logic/tracker.h
@@ -88,6 +88,8 @@ private:
long backlog_time;
+ bool tracking_started;
+
double map(double pos, Map& axis);
void logic();
void t_compensate(const rmat& rmat, const euler_t& ypr, euler_t& output,