diff options
| -rw-r--r-- | opentrack-logic/tracker.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/opentrack-logic/tracker.cpp b/opentrack-logic/tracker.cpp index b16da9aa..a1f206a1 100644 --- a/opentrack-logic/tracker.cpp +++ b/opentrack-logic/tracker.cpp @@ -64,13 +64,13 @@ double Tracker::map(double pos, Mapping& axis) void Tracker::t_compensate(const rmat& rmat, const euler_t& xyz_, euler_t& output, bool rz) { // TY is really yaw axis. need swapping accordingly. - const euler_t ret = rmat * euler_t(xyz_(TZ), xyz_(TX), xyz_(TY)); + const euler_t ret = rmat * euler_t(xyz_(TZ), -xyz_(TX), -xyz_(TY)); if (!rz) output(2) = ret(0); else output(2) = xyz_(2); - output(1) = ret(2); - output(0) = ret(1); + output(1) = -ret(2); + output(0) = -ret(1); } #include "opentrack-compat/nan.hpp" |