centering changes

1 files changed, 3 insertions, 16 deletions

diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 4e12132e..8892c85a 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -51,22 +51,9 @@ double Tracker::map(double pos, bool invertp, Mapping& axis)
 // http://stackoverflow.com/a/18436193
 static dmat<3, 1> rmat_to_euler(const dmat<3, 3>& R)
 {
-    static constexpr double pi = 3.141592653;
-    const double up = 90 * pi / 180.;
-    if (R(0, 2) > 0.9991)
-    {
-        double roll = atan(R(1, 0) / R(2, 0));
-        return dmat<3, 1>({0., up, roll});
-    }
-    if (R(0, 2) < -0.9991)
-    {
-        double roll = atan(R(1, 0) / R(2, 0));
-        return dmat<3, 1>({0., -up, roll});
-    }
-    // don't use atan2 here, confuses quadrants. see issue #63 -sh
-    double pitch = asin(R(0, 2));
-    double roll = atan(R(1, 2) / R(2, 2));
-    double yaw = atan(R(0, 1) / R(0, 0));
+    double pitch = asin(-R(0, 2));
+    double roll = atan2(R(1, 2), R(2, 2));
+    double yaw = atan2(R(0, 1), R(0, 0));
     return dmat<3, 1>({yaw, pitch, roll});
 }