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-rw-r--r--opentrack-logic/tracker.cpp7
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_);