diff options
| -rw-r--r-- | tracker-steamvr/steamvr.cpp | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/tracker-steamvr/steamvr.cpp b/tracker-steamvr/steamvr.cpp index 8998149c..d32c9d44 100644 --- a/tracker-steamvr/steamvr.cpp +++ b/tracker-steamvr/steamvr.cpp @@ -275,9 +275,11 @@ void steamvr::matrix_to_euler(double& yaw, double& pitch, double& roll, const vr using std::atan2; using std::sqrt; - yaw = atan2((double)-result.m[2][0], sqrt(double(result.m[2][1]) * result.m[2][1] + result.m[2][2] * result.m[2][2])); - pitch = atan2((double)result.m[2][1], (double)result.m[2][2]); - roll = atan2((double)result.m[1][0], (double)result.m[0][0]); + using d = double; + + yaw = atan2(d(-result.m[2][0]), sqrt(d(result.m[2][1]) * d(result.m[2][1]) + d(result.m[2][2]) * d(result.m[2][2]))); + pitch = atan2(d(result.m[2][1]), d(result.m[2][2])); + roll = atan2(d(result.m[1][0]), d(result.m[0][0])); // TODO: gimbal lock avoidance? } |