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More correct (but still not completely correct) tracker adjustments

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Eiren Rain
2021-07-19 18:35:08 +03:00
parent a20334d026
commit 1250e77771
1 changed files with 5 additions and 9 deletions
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14
src/main/java/io/eiren/vr/trackers/ReferenceAdjustedTracker.java
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@@ -44,19 +44,14 @@ public class ReferenceAdjustedTracker<E extends Tracker> implements Tracker {
*/
@Override
public void resetFull(Quaternion reference) {
resetYaw(reference);
Quaternion sensorRotation = new Quaternion();
tracker.getRotation(sensorRotation);
adjustmentYaw.mult(sensorRotation, sensorRotation);
// Use only yaw HMD rotation
Quaternion targetTrackerRotation = new Quaternion(reference);
float[] angles = new float[3];
targetTrackerRotation.toAngles(angles);
targetTrackerRotation.fromAngles(0, angles[1], 0);
sensorRotation.toAngles(angles);
sensorRotation.fromAngles(angles[0], 0, angles[2]);
adjustmentAttachment.set(sensorRotation).inverseLocal();
adjustmentAttachment.set(sensorRotation).inverseLocal().multLocal(targetTrackerRotation);
resetYaw(reference);
}
/**
@@ -76,6 +71,7 @@ public class ReferenceAdjustedTracker<E extends Tracker> implements Tracker {
Quaternion sensorRotation = new Quaternion();
tracker.getRotation(sensorRotation);
sensorRotation.multLocal(adjustmentAttachment);
sensorRotation.toAngles(angles);
sensorRotation.fromAngles(0, angles[1], 0);