some: replace hardcoded pi values with the same pi constant

We can't depend on M_PI existing after including cmath.

15 files changed, 33 insertions, 36 deletions

diff --git a/opentrack-compat/pi-constant.hpp b/opentrack-compat/pi-constant.hpp
new file mode 100644
index 00000000..52b98a7f
--- /dev/null
+++ b/opentrack-compat/pi-constant.hpp
@@ -0,0 +1,3 @@
+#pragma once
+
+#define OPENTRACK_PI 3.14159265358979323846
diff --git a/opentrack-logic/tracker.cpp b/opentrack-logic/tracker.cpp
index 10512059..4fcce853 100644
--- a/opentrack-logic/tracker.cpp
+++ b/opentrack-logic/tracker.cpp
@@ -108,7 +108,7 @@ void Tracker::logic()
         m(5).opts.invert,
     };
 
-    static constexpr double pi = 3.141592653;
+    static constexpr double pi = OPENTRACK_PI;
     static constexpr double r2d = 180. / pi;
     static constexpr double d2r = pi / 180.;
 
diff --git a/opentrack-logic/tracker.h b/opentrack-logic/tracker.h
index 1c29fb8d..618de409 100644
--- a/opentrack-logic/tracker.h
+++ b/opentrack-logic/tracker.h
@@ -10,6 +10,7 @@
 
 #include <vector>
 
+#include "opentrack-compat/pi-constant.hpp"
 #include "opentrack-compat/timer.hpp"
 #include "opentrack/plugin-support.hpp"
 #include "mappings.hpp"
@@ -28,7 +29,7 @@
 class Pose
 {
 private:
-    static constexpr double pi = 3.141592653;
+    static constexpr double pi = OPENTRACK_PI;
     static constexpr double d2r = pi/180.0;
     static constexpr double r2d = 180./pi;
 
diff --git a/opentrack/simple-mat.cpp b/opentrack/simple-mat.cpp
index 8173f888..b9273fc0 100644
--- a/opentrack/simple-mat.cpp
+++ b/opentrack/simple-mat.cpp
@@ -1,8 +1,9 @@
 #include "simple-mat.hpp"
+#include "opentrack-compat/pi-constant.hpp"
 
 namespace euler {
 
-static constexpr double pi = 3.141592653;
+static constexpr double pi = OPENTRACK_PI;
 
 euler_t rmat_to_euler(const dmat<3, 3>& R)
 {
diff --git a/proto-ft/ftnoir_protocol_ft.cpp b/proto-ft/ftnoir_protocol_ft.cpp
index d0e89753..fe96db93 100644
--- a/proto-ft/ftnoir_protocol_ft.cpp
+++ b/proto-ft/ftnoir_protocol_ft.cpp
@@ -9,6 +9,7 @@
 #include "ftnoir_protocol_ft.h"
 #include "csv/csv.h"
 #include "opentrack-library-path.h"
+#include "opentrack-compat/pi-constant.hpp"
 
 check_for_first_run FTNoIR_Protocol::runonce_check = check_for_first_run();
 
@@ -96,7 +97,7 @@ void FTNoIR_Protocol::pose(const double* headpose)
 
 float FTNoIR_Protocol::degrees_to_rads(double degrees)
 {
-    static constexpr double pi = 3.14159265358979323846;
+    static constexpr double pi = OPENTRACK_PI;
     return float(degrees*pi/180);
 }
 
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index de26c420..7e635a85 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -14,6 +14,7 @@
 #include <opencv2/calib3d.hpp>
 #include "opentrack-compat/camera-names.hpp"
 #include "opentrack-compat/sleep.hpp"
+#include "opentrack-compat/pi-constant.hpp"
 
 #include <QMutexLocker>
 #include <QDebug>
@@ -87,7 +88,7 @@ void Tracker::start_tracker(QFrame* videoframe)
     layout = layout_;
 }
 
-#define HT_PI 3.1415926535
+#define HT_PI OPENTRACK_PI
 
 void Tracker::getRT(cv::Matx33d& r_, cv::Vec3d& t_)
 {
@@ -181,7 +182,7 @@ bool Tracker::open_camera()
 
 void Tracker::set_intrinsics()
 {
-    static constexpr double pi = 3.1415926f;
+    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 fov_w = 2.*atan(tan(diag_fov/2.)/sqrt(1. + h/(double)w * h/(double)w));
diff --git a/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp b/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp
index 621e601a..9a5697dd 100644
--- a/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp
+++ b/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp
@@ -1,13 +1,11 @@
 #include "ftnoir_tracker_freepie-udp.h"
 #include "opentrack/plugin-api.hpp"
+#include "opentrack-compat/pi-constant.hpp"
 
 #include <cinttypes>
 #include <algorithm>
 #include <cmath>
 
-#ifndef M_PI
-#   define M_PI 3.14159265358979323846
-#endif
 
 TrackerImpl::TrackerImpl() : pose { 0,0,0, 0,0,0 }, should_quit(false)
 {
@@ -43,7 +41,7 @@ void TrackerImpl::run() {
         Mask = flag_Raw | flag_Orient
     };
 
-    (void) sock.bind(QHostAddress::Any, (int) s.port, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
+    sock.bind(QHostAddress::Any, (unsigned short) s.port, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
 
     while (!should_quit) {
         int order[] = {
@@ -92,7 +90,7 @@ void TrackerImpl::run() {
             };
             int indices[] = { s.add_yaw, s.add_pitch, s.add_roll };
             QMutexLocker foo(&mtx);
-            static constexpr double r2d = 180 / M_PI;
+            static constexpr double r2d = 180 / OPENTRACK_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 1e3c1189..33156f85 100644
--- a/tracker-hydra/ftnoir_tracker_hydra.cpp
+++ b/tracker-hydra/ftnoir_tracker_hydra.cpp
@@ -1,6 +1,7 @@
 /* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
 #include "ftnoir_tracker_hydra.h"
 #include "opentrack/plugin-api.hpp"
+#include "opentrack-compat/pi-constant.hpp"
 #include <cstdio>
 #include <cmath>
 #ifdef _WIN32
@@ -9,10 +10,6 @@
 #endif
 #include <sixense.h>
 
-#ifndef M_PI
-#   define M_PI 3.14159265358979323846
-#endif
-
 Hydra_Tracker::Hydra_Tracker() : should_quit(false) {}
 
 #include <sixense_math.hpp>
@@ -42,7 +39,7 @@ 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/M_PI;
+    static constexpr double r2d = 180/OPENTRACK_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.h b/tracker-pt/ftnoir_tracker_pt.h
index 40f9ad4a..d2f69ac2 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -17,6 +17,7 @@
 #include "pt_video_widget.h"
 #include "opentrack-compat/timer.hpp"
 #include "opentrack/opencv-camera-dialog.hpp"
+#include "opentrack-compat/pi-constant.hpp"
 
 #include <QThread>
 #include <QMutex>
@@ -32,7 +33,7 @@ class TrackerDialog_PT;
 // Constantly processes the tracking chain in a separate thread
 class Tracker_PT : public QThread, public ITracker, private pt_types
 {
-    static constexpr double pi = 3.14159265359;
+    static constexpr double pi = OPENTRACK_PI;
 
     Q_OBJECT
     friend class camera_dialog;
@@ -76,8 +77,8 @@ private:
     volatile bool ever_success;
     volatile unsigned char commands;
 
-    static constexpr f rad2deg = f(180/3.14159265);
-    //static constexpr float deg2rad = float(3.14159265/180);
+    static constexpr f rad2deg = f(180/OPENTRACK_PI);
+    //static constexpr float deg2rad = float(OPENTRACK_PI/180);
 };
 
 class TrackerDll : public Metadata
diff --git a/tracker-pt/ftnoir_tracker_pt_settings.h b/tracker-pt/ftnoir_tracker_pt_settings.h
index 830bf92e..f5256f18 100644
--- a/tracker-pt/ftnoir_tracker_pt_settings.h
+++ b/tracker-pt/ftnoir_tracker_pt_settings.h
@@ -8,6 +8,7 @@
 
 #pragma once
 
+#include "opentrack-compat/pi-constant.hpp"
 #include <limits>
 #include <opencv2/core.hpp>
 
@@ -16,7 +17,7 @@ struct pt_types
     using f = double;
 
     static constexpr f eps = std::numeric_limits<f>::epsilon();
-    static constexpr f pi = f(3.14159265358979323846);
+    static constexpr f pi = f(OPENTRACK_PI);
 
     template<int n> using vec = cv::Vec<f, n>;
     using vec2 = vec<2>;
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index 52b4cb32..16740b91 100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -13,6 +13,7 @@
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "ftnoir_tracker_pt_settings.h"
+#include "opentrack-compat/pi-constant.hpp"
 #include <QMutex>
 
 #include <vector>
@@ -29,7 +30,7 @@ public:
 
     settings_pt s;
 private:
-    static constexpr double pi = 3.14159265359;
+    static constexpr double pi = OPENTRACK_PI;
 
     std::vector<vec2> points;
     QMutex mtx;
diff --git a/tracker-rift-025/ftnoir_tracker_rift_025.cpp b/tracker-rift-025/ftnoir_tracker_rift_025.cpp
index aab8d530..d39599a9 100644
--- a/tracker-rift-025/ftnoir_tracker_rift_025.cpp
+++ b/tracker-rift-025/ftnoir_tracker_rift_025.cpp
@@ -2,12 +2,10 @@
 #include "ftnoir_tracker_rift_025.h"
 #include "opentrack/plugin-api.hpp"
 #include "OVR.h"
+#include "opentrack-compat/pi-constant.hpp"
 #include <cstdio>
 #include <cmath>
 
-#ifndef M_PI
-#   define M_PI 3.14159265358979323846
-#endif
 
 using namespace OVR;
 
@@ -87,7 +85,7 @@ void Rift_Tracker::data(double *data)
             old_yaw = yaw_;
         }
 
-        static constexpr double r2d = 180 / M_PI;
+        static constexpr double r2d = 180 / OPENTRACK_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 853dfcf9..749a927f 100644
--- a/tracker-rift-042/ftnoir_tracker_rift_042.cpp
+++ b/tracker-rift-042/ftnoir_tracker_rift_042.cpp
@@ -7,10 +7,6 @@
 #include <cstring>
 #include <cmath>
 
-#ifndef M_PI
-#   define M_PI 3.14159265358979323846
-#endif
-
 using namespace OVR;
 
 Rift_Tracker::Rift_Tracker() : old_yaw(0), hmd(nullptr)
@@ -66,7 +62,7 @@ void Rift_Tracker::data(double *data)
                     yaw_ += s.constant_drift;
                 old_yaw = yaw_;
             }
-            static constexpr double d2r = 180 / M_PI;
+            static constexpr double d2r = 180 / OPENTRACK_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 c1a07407..94c8dc41 100644
--- a/tracker-rift-080/ftnoir_tracker_rift_080.cpp
+++ b/tracker-rift-080/ftnoir_tracker_rift_080.cpp
@@ -4,12 +4,9 @@
 #include "OVR_CAPI.h"
 #include "Extras/OVR_Math.h"
 #include "OVR_CAPI_0_8_0.h"
+#include "opentrack-compat/pi-constant.hpp"
 #include <cstdio>
 
-#ifndef M_PI
-#   define M_PI 3.14159265358979323846
-#endif
-
 using namespace OVR;
 
 Rift_Tracker::Rift_Tracker() : old_yaw(0), hmd(nullptr)
@@ -63,7 +60,7 @@ void Rift_Tracker::data(double *data)
                     yaw_ += s.constant_drift;
                 old_yaw = yaw_;
             }
-            static constexpr double d2r = 180 / M_PI;
+            static constexpr double d2r = 180 / OPENTRACK_PI;
             data[Yaw] = yaw_                   * -d2r;
             data[Pitch] = double(pitch)        *  d2r;
             data[Roll] = double(roll)          *  d2r;
diff --git a/tracker-test/test.h b/tracker-test/test.h
index 500b28f4..afb11f6f 100644
--- a/tracker-test/test.h
+++ b/tracker-test/test.h
@@ -2,6 +2,7 @@
 #include "ui_test.h"
 #include "opentrack/plugin-api.hpp"
 #include "opentrack-compat/timer.hpp"
+#include "opentrack-compat/pi-constant.hpp"
 
 class FTNoIR_Tracker : public ITracker
 {
@@ -12,7 +13,7 @@ public:
     void data(double *data) override;
 
 private:
-    static constexpr double pi = 3.14159265358979323846;
+    static constexpr double pi = OPENTRACK_PI;
     static constexpr double r2d = 180 / pi;
     static constexpr double d2r = pi / 180;