headPos = Vec3.createVectorHelper(0, 0, 0);

            return;

        }

       

        if( resetOriginRotation )

        {

          //TODO: this might be backwards: with only a razer to test the yawHeadDegrees, its always the same!

          if( Minecraft.getMinecraft().headTracker != this ) //if the positional tracker is the hydra, they are always aligned

          {

            baseStationYawOffset = cont1Yaw - yawHeadDegrees; //assume hydra oriented straight with head orientation

            if( vrSettings.posTrackHydraLoc == vrSettings.POS_TRACK_HYDRA_LOC_BACK_OF_HEAD)   // TODO: Also needed for HMD top?

                {

                    //assume hydra oriented at 90degrees to head orientation

              if (vrSettings.posTrackHydraBIsPointingLeft)

                    {

                        baseStationYawOffset -= 90;

                    }

                    else

                    {

                        baseStationYawOffset += 90;

                    }

                }

          }

          resetOriginRotation = false;

        }

       

        // Using a single controller. Select controller. poll() has already switch left and right depending on configuration

        //cont1 is for head tracking, if head tracking is enabled (TODO: make head tracking optional?)

        float rawX = cont1PosX;

        float rawY = cont1PosY;

        float rawZ = cont1PosZ;

        if (vrSettings.posTrackHydraLoc == vrSettings.POS_TRACK_HYDRA_LOC_HMD_LEFT_AND_RIGHT)

        {

          //Otherwise, use average of controllers

            rawX = (cont1PosX + cont2PosX) / 2.0f;

            rawY = (cont1PosY + cont2PosY) / 2.0f;

            rawZ = (cont1PosZ + cont2PosZ) / 2.0f;

        }

        // Correct for distance from base y axis skew

        // TODO: figure out why the heck this is required for Stella's Hydras...

        // TODO: rename this gameSetting to "hydraXRotationSkew" or other sensible name

        rawY += rawZ * MathHelper.sin(vrSettings.posTrackHydraYAxisDistanceSkewAngleDeg*PIOVER180 );

       

        //Raw is the absolute coordinate in hydra reference frame of the sample (possible average of two controllers)

        Vec3 raw = Vec3.createVectorHelper(rawX, rawY, rawZ);

       

        //Rel is the relative coordinate in hydra reference frame

        Vec3 rel = origin.subtract(raw);

       

        //Account for hydra base station / head tracker orientation not aligned

        //After this, rel is in body coordinates (relative to head tracker reference frame, not accounting for mouse-induced world yaw offset)

        rel.rotateAroundY(baseStationYawOffset*PIOVER180);

        //Now, compute the offset from the hydra controller to the camera location. Straight from the settings (although negated -

        //vrSettings stores eye center -> hydra values for user readability. We need hydra -> eye center values here)

        // The configured offset is for a 0,0,0 rotation head. Apply current head orientation to get final offset

        Vec3 correctionToCentreEyePosition = Vec3.createVectorHelper(hydraXOffset, hydraYOffset, hydraZOffset);

        correctionToCentreEyePosition.rotateAroundZ(rollHeadDegrees*PIOVER180);