Added Sixense Razer Hydra

1 files changed, 1 insertions, 34 deletions

diff --git a/facetracknoir/rotation.cpp b/facetracknoir/rotation.cpp
index f6d16d2d..1a6e1e8e 100644
--- a/facetracknoir/rotation.cpp
+++ b/facetracknoir/rotation.cpp
@@ -7,42 +7,9 @@
 

 #include "rotation.h"

 

-#include <cmath>

 

-// ----------------------------------------------------------------------------

-Rotation Rotation::inv()

-{

-	return Rotation(a,-b,-c,-d);

-}

 

-// conversions

-// see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

-void Rotation::fromEuler(double yaw, double pitch, double roll)

-{

-	double sin_phi = sin(roll/2.0);

-	double cos_phi = cos(roll/2.0);

-	double sin_the = sin(pitch/2.0);

-	double cos_the = cos(pitch/2.0);

-	double sin_psi = sin(yaw/2.0);

-	double cos_psi = cos(yaw/2.0);

+// ----------------------------------------------------------------------------

 

-	a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;

-	b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;

-	c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;

-	d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;

-}

 

-void Rotation::toEuler(volatile double& yaw, volatile double& pitch, volatile double& roll)

-{

-	roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));

-	pitch = asin(2.0*(a*c - b*d));

-	yaw =  atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));

-}

 

-Rotation operator*(const Rotation& A, const Rotation& B)

-{

-	return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication

-				    A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,

-				    A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,

-				    A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);

-}
\ No newline at end of file