diff options
| -rw-r--r-- | tracker-steamvr/steamvr.cpp | 15 |
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() |