More correct (but still not completely correct) tracker adjustments

SlimeVR · Jul 19, 2021 · 1250e77 · 1250e77
1 parent a20334d
commit 1250e77
Showing 1 changed file with 5 additions and 9 deletions.
diff --git a/src/main/java/io/eiren/vr/trackers/ReferenceAdjustedTracker.java b/src/main/java/io/eiren/vr/trackers/ReferenceAdjustedTracker.java
@@ -44,19 +44,14 @@ public void saveConfig(TrackerConfig config) {
 	 */
 	@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 void resetYaw(Quaternion reference) {
 
 		Quaternion sensorRotation = new Quaternion();
 		tracker.getRotation(sensorRotation);
+		sensorRotation.multLocal(adjustmentAttachment);
 
 		sensorRotation.toAngles(angles);
 		sensorRotation.fromAngles(0, angles[1], 0);