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Diffstat (limited to 'opentrack')
| -rw-r--r-- | opentrack/tracker.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index 89a2ada6..f5658503 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -52,7 +52,7 @@ double Tracker::map(double pos, bool invertp, Mapping& axis) static dmat<3, 1> rmat_to_euler(const dmat<3, 3>& R) { // don't use atan2 here, confuses quadrants. see issue #63 -sh - double pitch = atan( -R(0, 2) / sqrt(R(1,2)*R(1,2) + R(2,2)*R(2,2)) ); + double pitch = atan( -R(2,0) / (sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2))) ); double roll = atan(R(1, 2) / R(2, 2)); double yaw = atan(R(0, 1) / R(0, 0)); return dmat<3, 1>({yaw, pitch, roll}); |