From e7aef7f4e9f85c472196850b54034a9ebdcca8e8 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Thu, 9 Jun 2016 10:52:36 +0200
Subject: tracker/hydra: fix float/double promotions

---
 tracker-hydra/ftnoir_tracker_hydra.cpp | 39 +++++++++++++++++++---------------
 1 file changed, 22 insertions(+), 17 deletions(-)

(limited to 'tracker-hydra')

diff --git a/tracker-hydra/ftnoir_tracker_hydra.cpp b/tracker-hydra/ftnoir_tracker_hydra.cpp
index 8d0e6832..1e3c1189 100644
--- a/tracker-hydra/ftnoir_tracker_hydra.cpp
+++ b/tracker-hydra/ftnoir_tracker_hydra.cpp
@@ -2,45 +2,50 @@
 #include "ftnoir_tracker_hydra.h"
 #include "opentrack/plugin-api.hpp"
 #include <cstdio>
+#include <cmath>
 #ifdef _WIN32
 #   define SIXENSE_STATIC_LIB
 #   define SIXENSE_UTILS_STATIC_LIB
 #endif
 #include <sixense.h>
 
+#ifndef M_PI
+#   define M_PI 3.14159265358979323846
+#endif
+
 Hydra_Tracker::Hydra_Tracker() : should_quit(false) {}
 
 #include <sixense_math.hpp>
 
 Hydra_Tracker::~Hydra_Tracker()
 {
-	
-	sixenseExit();
+
+    sixenseExit();
 }
 
 void Hydra_Tracker::start_tracker(QFrame*)
 {
-	sixenseInit();
+    sixenseInit();
 }
 
 void Hydra_Tracker::data(double *data)
 {
-    
-	sixenseSetActiveBase(0);
-	sixenseAllControllerData acd;
-	sixenseGetAllNewestData( &acd );
+
+    sixenseSetActiveBase(0);
+    sixenseAllControllerData acd;
+    sixenseGetAllNewestData( &acd );
     sixenseMath::Matrix4 mat = sixenseMath::Matrix4(acd.controllers[0].rot_mat);
 
-	float ypr[3];
-	
-	mat.getEulerAngles().fill(ypr);
-    data[TX] = acd.controllers[0].pos[0]/50.0;
-    data[TY] = acd.controllers[0].pos[1]/50.0;
-    data[TZ] = acd.controllers[0].pos[2]/50.0;
-    static constexpr double r2d = 57.295781;
-    data[Yaw] = ypr[0] * r2d;
-    data[Pitch] = ypr[1] * r2d;
-    data[Roll] = ypr[2] * r2d;
+    float ypr[3];
+
+    mat.getEulerAngles().fill(ypr);
+    data[TX] = double(acd.controllers[0].pos[0])/50;
+    data[TY] = double(acd.controllers[0].pos[1])/50;
+    data[TZ] = double(acd.controllers[0].pos[2])/50;
+    static constexpr double r2d = 180/M_PI;
+    data[Yaw] = double(ypr[0]) * r2d;
+    data[Pitch] = double(ypr[1]) * r2d;
+    data[Roll] = double(ypr[2]) * r2d;
 }
 
 OPENTRACK_DECLARE_TRACKER(Hydra_Tracker, TrackerControls, FTNoIR_TrackerDll)
-- 
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