diff options
Diffstat (limited to 'logic')
| -rw-r--r-- | logic/tracker.cpp | 9 |
1 files changed, 6 insertions, 3 deletions
diff --git a/logic/tracker.cpp b/logic/tracker.cpp index d7f75e38..f0826a5f 100644 --- a/logic/tracker.cpp +++ b/logic/tracker.cpp @@ -65,23 +65,26 @@ double Tracker::map(double pos, Map& axis) void Tracker::t_compensate(const rmat& rmat, const euler_t& xyz, euler_t& output, bool disable_tx, bool disable_ty, bool disable_tz) { + enum { tb_Z, tb_X, tb_Y }; + // TY is really yaw axis. need swapping accordingly. + // sign changes are due to right-vs-left handedness of coordinate system used const euler_t ret = rmat * euler_t(xyz(TZ), -xyz(TX), -xyz(TY)); if (disable_tz) output(TZ) = xyz(TZ); else - output(TZ) = ret(0); + output(TZ) = ret(tb_Z); if (disable_ty) output(TY) = xyz(TY); else - output(TY) = -ret(2); + output(TY) = -ret(tb_Y); if (disable_tx) output(TX) = xyz(TX); else - output(TX) = -ret(1); + output(TX) = -ret(tb_X); } #include "compat/nan.hpp" |