diff options
| -rw-r--r-- | tracker-steamvr/steamvr.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/tracker-steamvr/steamvr.cpp b/tracker-steamvr/steamvr.cpp index 3f0cd1d4..4cdec5e8 100644 --- a/tracker-steamvr/steamvr.cpp +++ b/tracker-steamvr/steamvr.cpp @@ -282,12 +282,13 @@ void steamvr::matrix_to_euler(double& yaw, double& pitch, double& roll, const vr { using std::atan2; using std::sqrt; + using std::asin; using d = double; yaw = atan2(d(result.m[2][0]), d(result.m[0][0])); - pitch = atan2(d(result.m[2][1]), d(result.m[2][2])); - roll = atan2(d(result.m[1][0]), d(result.m[0][0])); + pitch = atan2(-d(result.m[1][2]), d(result.m[1][1])); + roll = asin(d(result.m[1][0])); // TODO: gimbal lock avoidance? } |