diff options
Diffstat (limited to 'LibOVR/Src/OVR_SensorFusion.cpp')
| -rw-r--r-- | LibOVR/Src/OVR_SensorFusion.cpp | 21 |
1 files changed, 17 insertions, 4 deletions
diff --git a/LibOVR/Src/OVR_SensorFusion.cpp b/LibOVR/Src/OVR_SensorFusion.cpp index f396775..eac0366 100644 --- a/LibOVR/Src/OVR_SensorFusion.cpp +++ b/LibOVR/Src/OVR_SensorFusion.cpp @@ -5,12 +5,23 @@ Content : Methods that determine head orientation from sensor data over ti Created : October 9, 2012 Authors : Michael Antonov, Steve LaValle, Max Katsev -Copyright : Copyright 2012 Oculus VR, Inc. All Rights reserved. +Copyright : Copyright 2013 Oculus VR, Inc. All Rights reserved. -Use of this software is subject to the terms of the Oculus license -agreement provided at the time of installation or download, or which +Licensed under the Oculus VR SDK License Version 2.0 (the "License"); +you may not use the Oculus VR SDK except in compliance with the License, +which is provided at the time of installation or download, or which otherwise accompanies this software in either electronic or hard copy form. +You may obtain a copy of the License at + +http://www.oculusvr.com/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, the Oculus VR SDK +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. + *************************************************************************************/ #include "OVR_SensorFusion.h" @@ -256,7 +267,9 @@ void SensorFusion::handleMessage(const MessageBodyFrame& msg) } // Update the orientation quaternion based on the corrected angular velocity vector - Q = Q * Quatf(gyroCorrected, gyroCorrected.Length() * DeltaT); + float angle = gyroCorrected.Length() * DeltaT; + if (angle > 0.0f) + Q = Q * Quatf(gyroCorrected, angle); // The quaternion magnitude may slowly drift due to numerical error, // so it is periodically normalized. |