diff options
| -rw-r--r-- | opentrack-logic/tracker.cpp | 15 |
1 files changed, 7 insertions, 8 deletions
diff --git a/opentrack-logic/tracker.cpp b/opentrack-logic/tracker.cpp index 3596eb19..f67c26b0 100644 --- a/opentrack-logic/tracker.cpp +++ b/opentrack-logic/tracker.cpp @@ -64,14 +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. - dmat<3, 1> tvec( xyz(2), -xyz(0), -xyz(1) ); - const dmat<3, 1> ret = rmat * tvec; + const dmat<3, 1> ret = rmat * xyz; if (!rz) - output[2] = ret(0); + output(2) = ret(0); else - output[2] = xyz(2); - output[1] = -ret(2); - output[0] = -ret(1); + output(2) = xyz(2); + output(1) = -ret(2); + output(0) = -ret(1); } #include "opentrack-compat/nan.hpp" @@ -236,7 +235,7 @@ void Tracker::logic() value_, value_, s.tcomp_tz); - for (int i = 3; i < 6; i++) + for (int i = 0; i < 3; i++) value(i) = value_(i); } @@ -244,7 +243,7 @@ void Tracker::logic() value(i) += m(i).opts.zero; for (int i = 0; i < 6; i++) - value[i] *= inverts[i] ? -1. : 1.; + value(i) *= inverts[i] ? -1. : 1.; if (zero_) for (int i = 0; i < 6; i++) |