Added Sixense Razer Hydra

1 files changed, 36 insertions, 6 deletions

diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
index 9dcea285..1a4e705b 100644
--- a/facetracknoir/rotation.h
+++ b/facetracknoir/rotation.h
@@ -7,7 +7,7 @@
 

 #ifndef ROTATION_H

 #define ROTATION_H

-

+#include <cmath>

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

 class Rotation {

 	friend Rotation operator*(const Rotation& A, const Rotation& B);

@@ -16,16 +16,46 @@ public:
 	Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }

 	Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}

 

-	Rotation inv();	// inverse

+	Rotation inv(){	// inverse

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

+	}

+

 

 	// conversions

-	void fromEuler(double yaw, double pitch, double roll);

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

-	

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

+	void 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(double& yaw, double& pitch, 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));

+	}

+

 protected:

 	double a,b,c,d; // quaternion coefficients

 };

 

-Rotation operator*(const Rotation& A, const Rotation& B); // composition of rotations

 

+

+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);

+}

 #endif //ROTATION_H