From a822de144cd679af6c27262d86884483b1fc634e Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Mon, 4 Jul 2016 10:37:46 +0200
Subject: logic/tracker: get roll for camera centering from inertial centering

It stays centered this way. Sadly yaw and pitch are still somewhat not
fixed in the user's reference frame.
---
 opentrack-logic/tracker.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

(limited to 'opentrack-logic')

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_);
-- 
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