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| author | Mike Turvey <mturvey6@gmail.com> | 2017-05-21 16:42:11 -0700 |
|---|---|---|
| committer | Mike Turvey <mturvey6@gmail.com> | 2017-05-21 16:42:11 -0700 |
| commit | ce0aa4741f273fbdd936d6d5a8badd61ae112c60 (patch) | |
| tree | 71a3667d83de75c0ce5e2cef61b1075854ae8505 /src | |
| parent | 39f4fbc9397e347d1f406c845d42324eb052e7bb (diff) | |
| download | libsurvive-ce0aa4741f273fbdd936d6d5a8badd61ae112c60.tar.gz libsurvive-ce0aa4741f273fbdd936d6d5a8badd61ae112c60.tar.bz2 | |
Use the IMU to determine +Z
This feature removes the requirement that you calibrate
with the tracked object in any particular orientation.
The IMU on the tracked object will be used to determine
what direction is "up"
Diffstat (limited to 'src')
| -rw-r--r-- | src/poser_turveytori.c | 12 | ||||
| -rw-r--r-- | src/survive_data.c | 2 |
2 files changed, 7 insertions, 7 deletions
diff --git a/src/poser_turveytori.c b/src/poser_turveytori.c index 0222a46..4837f94 100644 --- a/src/poser_turveytori.c +++ b/src/poser_turveytori.c @@ -1569,10 +1569,10 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) // with world coordinate system, it will have Z oriented correctly. // let's get the quaternion that represents this rotation. - //FLT downQuat[4]; + FLT downQuat[4]; FLT negZ[3] = { 0,0,1 }; //quatfrom2vectors(downQuat, negZ, td->down); - //quatfrom2vectors(downQuat, td->down, negZ); + quatfrom2vectors(downQuat, td->down, negZ); { int sensorCount = 0; @@ -1585,8 +1585,8 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) FLT norm[3] = { so->sensor_normals[i * 3 + 0] , so->sensor_normals[i * 3 + 1] , so->sensor_normals[i * 3 + 2] }; FLT point[3] = { so->sensor_locations[i * 3 + 0] , so->sensor_locations[i * 3 + 1] , so->sensor_locations[i * 3 + 2] }; - //quatrotatevector(norm, downQuat, norm); - //quatrotatevector(point, downQuat, point); + quatrotatevector(norm, downQuat, norm); + quatrotatevector(point, downQuat, point); to->sensor[sensorCount].normal.x = norm[0]; to->sensor[sensorCount].normal.y = norm[1]; @@ -1617,8 +1617,8 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) FLT norm[3] = { so->sensor_normals[i * 3 + 0] , so->sensor_normals[i * 3 + 1] , so->sensor_normals[i * 3 + 2] }; FLT point[3] = { so->sensor_locations[i * 3 + 0] , so->sensor_locations[i * 3 + 1] , so->sensor_locations[i * 3 + 2] }; - //quatrotatevector(norm, downQuat, norm); - //quatrotatevector(point, downQuat, point); + quatrotatevector(norm, downQuat, norm); + quatrotatevector(point, downQuat, point); to->sensor[sensorCount].normal.x = norm[0]; to->sensor[sensorCount].normal.y = norm[1]; diff --git a/src/survive_data.c b/src/survive_data.c index 157650d..1b80269 100644 --- a/src/survive_data.c +++ b/src/survive_data.c @@ -6,7 +6,7 @@ #include <string.h> #include <math.h> /* for sqrt */ -//#define USE_TURVEYBIGUATOR +#define USE_TURVEYBIGUATOR #ifdef USE_TURVEYBIGUATOR |