Merge branch 'master' of github.com:opentrack/opentrack

Conflicts:
	ftnoir_tracker_rift/ftnoir_tracker_rift.cpp

3 files changed, 49 insertions, 41 deletions

diff --git a/facetracknoir/facetracknoir.rc b/facetracknoir/facetracknoir.rc
index fcae12b3..655baa9d 100644
--- a/facetracknoir/facetracknoir.rc
+++ b/facetracknoir/facetracknoir.rc
@@ -1,2 +1,2 @@
-#include "resource.h"

+#include <windows.h>

 IDI_ICON1               ICON                    "facetracknoir.ico"

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
diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
index 9dcea285..a1500969 100644
--- a/facetracknoir/rotation.h
+++ b/facetracknoir/rotation.h
@@ -7,25 +7,66 @@
 

 #ifndef ROTATION_H

 #define ROTATION_H

-

+#include <cmath>

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

 class Rotation {

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

+

 public:

 	Rotation() : a(1.0),b(0.0),c(0.0),d(0.0) {}

 	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 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));

+	}

 	

+/*	 const 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);

+	}*/

+

+

+		 const Rotation operator*(const Rotation& B)

+	{

+		const Rotation& A = *this;

+		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);

+	}

+

 protected:

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

 };

 

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

+

 

 #endif //ROTATION_H