From 7c52b9e74692fbe8d31c9069388c52043a67727a Mon Sep 17 00:00:00 2001
From: mm0zct <the_cartographer@hotmail.com>
Date: Tue, 25 Jun 2013 00:48:48 +0100
Subject: Added Sixense Razer Hydra

---
 facetracknoir/rotation.h | 42 ++++++++++++++++++++++++++++++++++++------
 1 file changed, 36 insertions(+), 6 deletions(-)

(limited to 'facetracknoir/rotation.h')

diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
index 9dcea285..1a4e705b 100644
--- a/facetracknoir/rotation.h
+++ b/facetracknoir/rotation.h
@@ -7,7 +7,7 @@
 
 #ifndef ROTATION_H
 #define ROTATION_H
-
+#include <cmath>
 // ----------------------------------------------------------------------------
 class Rotation {
 	friend Rotation operator*(const Rotation& A, const Rotation& B);
@@ -16,16 +16,46 @@ public:
 	Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }
 	Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
 
-	Rotation inv();	// inverse
+	Rotation inv(){	// inverse
+		return Rotation(a,-b,-c,-d);
+	}
+
 
 	// conversions
-	void fromEuler(double yaw, double pitch, double roll);
-	void toEuler(volatile double& yaw, volatile double& pitch, volatile double& roll);
-	
+	// see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+	void fromEuler(double yaw, double pitch, double roll)
+	{
+		double sin_phi = sin(roll/2.0);
+		double cos_phi = cos(roll/2.0);
+		double sin_the = sin(pitch/2.0);
+		double cos_the = cos(pitch/2.0);
+		double sin_psi = sin(yaw/2.0);
+		double cos_psi = cos(yaw/2.0);
+
+		a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
+		b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
+		c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
+		d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
+	}
+
+	void Rotation::toEuler(double& yaw, double& pitch, double& roll)
+	{
+		roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));
+		pitch = asin(2.0*(a*c - b*d));
+		yaw =  atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));
+	}
+
 protected:
 	double a,b,c,d; // quaternion coefficients
 };
 
-Rotation operator*(const Rotation& A, const Rotation& B); // composition of rotations
 
+
+Rotation operator*(const Rotation& A, const Rotation& B)
+{
+	return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication
+				    A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
+				    A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
+				    A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
+}
 #endif //ROTATION_H
-- 
cgit v1.2.3


From cdb407f7b789908e2fbe10e46462d45eced2625f Mon Sep 17 00:00:00 2001
From: mm0zct <the_cartographer@hotmail.com>
Date: Tue, 25 Jun 2013 01:44:10 +0100
Subject: Fixed rotation.h

---
 facetracknoir/facetracknoir.rc |  2 +-
 facetracknoir/rotation.h       | 29 ++++++++++++++++++++---------
 2 files changed, 21 insertions(+), 10 deletions(-)

(limited to 'facetracknoir/rotation.h')

diff --git a/facetracknoir/facetracknoir.rc b/facetracknoir/facetracknoir.rc
index fcae12b3..655baa9d 100644
--- a/facetracknoir/facetracknoir.rc
+++ b/facetracknoir/facetracknoir.rc
@@ -1,2 +1,2 @@
-#include "resource.h"
+#include <windows.h>
 IDI_ICON1               ICON                    "facetracknoir.ico"
diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
index 1a4e705b..a1500969 100644
--- a/facetracknoir/rotation.h
+++ b/facetracknoir/rotation.h
@@ -10,7 +10,7 @@
 #include <cmath>
 // ----------------------------------------------------------------------------
 class Rotation {
-	friend Rotation operator*(const Rotation& A, const Rotation& B);
+
 public:
 	Rotation() : a(1.0),b(0.0),c(0.0),d(0.0) {}
 	Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }
@@ -38,12 +38,30 @@ public:
 		d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
 	}
 
-	void Rotation::toEuler(double& yaw, double& pitch, double& roll)
+	void toEuler(double& yaw, double& pitch, double& roll)
 	{
 		roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));
 		pitch = asin(2.0*(a*c - b*d));
 		yaw =  atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));
 	}
+	
+/*	 const Rotation operator*(const Rotation& A, const Rotation& B)
+	{
+		return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication
+						A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
+						A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
+						A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
+	}*/
+
+
+		 const Rotation operator*(const Rotation& B)
+	{
+		const Rotation& A = *this;
+		return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication
+						A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
+						A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
+						A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
+	}
 
 protected:
 	double a,b,c,d; // quaternion coefficients
@@ -51,11 +69,4 @@ protected:
 
 
 
-Rotation operator*(const Rotation& A, const Rotation& B)
-{
-	return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication
-				    A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
-				    A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
-				    A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
-}
 #endif //ROTATION_H
-- 
cgit v1.2.3