From 3514acd1b038e6f906ae2af8b46e626b85724783 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 10 Nov 2014 21:03:29 +0100 Subject: centering changes --- opentrack/tracker.cpp | 19 +++---------------- 1 file changed, 3 insertions(+), 16 deletions(-) (limited to 'opentrack/tracker.cpp') diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index 4e12132e..8892c85a 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -51,22 +51,9 @@ double Tracker::map(double pos, bool invertp, Mapping& axis) // http://stackoverflow.com/a/18436193 static dmat<3, 1> rmat_to_euler(const dmat<3, 3>& R) { - static constexpr double pi = 3.141592653; - const double up = 90 * pi / 180.; - if (R(0, 2) > 0.9991) - { - double roll = atan(R(1, 0) / R(2, 0)); - return dmat<3, 1>({0., up, roll}); - } - if (R(0, 2) < -0.9991) - { - double roll = atan(R(1, 0) / R(2, 0)); - return dmat<3, 1>({0., -up, roll}); - } - // don't use atan2 here, confuses quadrants. see issue #63 -sh - double pitch = asin(R(0, 2)); - double roll = atan(R(1, 2) / R(2, 2)); - double yaw = atan(R(0, 1) / R(0, 0)); + double pitch = asin(-R(0, 2)); + double roll = atan2(R(1, 2), R(2, 2)); + double yaw = atan2(R(0, 1), R(0, 0)); return dmat<3, 1>({yaw, pitch, roll}); } -- cgit v1.2.3