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-rw-r--r--tracker-steamvr/steamvr.cpp15
1 files changed, 10 insertions, 5 deletions
diff --git a/tracker-steamvr/steamvr.cpp b/tracker-steamvr/steamvr.cpp
index 0fc07afc..5ea62610 100644
--- a/tracker-steamvr/steamvr.cpp
+++ b/tracker-steamvr/steamvr.cpp
@@ -250,19 +250,24 @@ bool steamvr::center()
with_vr_lock([&](vr_t v, error_t)
{
if (v)
+ // Reset yaw and position
v->ResetSeatedZeroPose();
});
- return false;
+ // Use chaperone universe real world up instead of OpenTrack's initial pose centering
+ // Note: Controllers will be centered based on initial headset position.
+ // TODO: may want to center controller/tracker yaw and position (only) when used alone
+ return true;
}
void steamvr::matrix_to_euler(double& yaw, double& pitch, double& roll, const vr::HmdMatrix34_t& result)
{
using std::atan2;
- using std::asin;
- yaw = atan2(double(result.m[2][0]), double(result.m[0][0]));
- pitch = atan2(double(result.m[1][1]), double(result.m[1][2]));
- roll = asin(double(result.m[1][0]));
+ 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]);
+
+ // TODO: gimbal lock avoidance?
}
steamvr_dialog::steamvr_dialog()