diff options
Diffstat (limited to 'simple.c')
| -rw-r--r-- | simple.c | 15 |
1 files changed, 13 insertions, 2 deletions
@@ -9,6 +9,9 @@ #include <openhmd.h> #include <stdio.h> +#include <math.h> + +#define PI 3.141593654 void ohmd_sleep(double); @@ -56,10 +59,18 @@ int main(int argc, char** argv) for(int i = 0; i < 10000; i++){ ohmd_ctx_update(ctx); - float quat[4]; - ohmd_device_getf(hmd, OHMD_ROTATION_QUAT, quat); + float quat[4],quat_[4]; + ohmd_device_getf(hmd, OHMD_ROTATION_QUAT, quat_); + quat[0]=quat_[0]; + quat[1]=quat_[1]; + quat[2]=quat_[3]; + quat[3]=quat_[2]; + float oculus_yaw = atan2( 2.0* (quat[1]*quat[2]+quat[0]*quat[3]), (quat[0]*quat[0]+quat[1]*quat[1]-quat[2]*quat[2]-quat[3]*quat[3]) ); + float oculus_pitch = asin(2.0*(quat[0]*quat[2]-quat[1]*quat[3])); + float oculus_roll = -atan2(2.0*(quat[2]*quat[3]+quat[0]*quat[1]), -(quat[0]*quat[0]-quat[1]*quat[1]-quat[2]*quat[2]+quat[3]*quat[3])); printf("quat:\t %f\t%f\t%f\t%f\n", quat[0],quat[1],quat[2],quat[3]); + printf("oculus yaw, pitch, roll = \t%f\t%f\t%f\n", oculus_yaw*180/PI, oculus_pitch*180/PI, oculus_roll*180/PI); ohmd_sleep(.01); } |