diff options
| -rw-r--r-- | opentrack-logic/tracker.cpp | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/opentrack-logic/tracker.cpp b/opentrack-logic/tracker.cpp index 6557b061..10512059 100644 --- a/opentrack-logic/tracker.cpp +++ b/opentrack-logic/tracker.cpp @@ -177,12 +177,17 @@ void Tracker::logic() rmat m_; switch (s.center_method) { + // inertial case 0: default: m_ = r * r_b.t(); break; + // relative case 1: - m_ = r_b.t() * r; + euler_t degs = rmat_to_euler(r_b.t() * r); + degs(2) = rmat_to_euler(r * r_b.t())(2); + m_ = euler_to_rmat(degs); + break; } const euler_t euler = r2d * rmat_to_euler(m_); |