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)

        //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)

        float hydraXOffset = -vrSettings.getPosTrackHydraOffsetX();

        float hydraYOffset = -vrSettings.getPosTrackHydraOffsetY();

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

        correctionToCentreEyePosition.rotateAroundZ(rollHeadDegrees*PIOVER180);

        correctionToCentreEyePosition.rotateAroundX(pitchHeadDegrees*PIOVER180);

        //Add the hydra position (in head tracker reference frame) to the camera offset

        //to get the camera position in head tracker reference frame

        headPos = vecAdd(rel,correctionToCentreEyePosition);

          //We compute the "ideal" neck model position, in head tracker reference frame

          Vec3 neckModelToCentreEyePosition = Vec3.createVectorHelper(0, vrSettings.neckBaseToEyeHeight, -vrSettings.eyeProtrusion);

          neckModelToCentreEyePosition.rotateAroundZ(rollHeadDegrees*PIOVER180);

          neckModelToCentreEyePosition.rotateAroundX(pitchHeadDegrees*PIOVER180);

          //The actual hydra position on the head is offset from the eye center by this amount

          Vec3 originOffset = correctionToCentreEyePosition.subtract(neckModelToCentreEyePosition);

       

          //Counteract the base station yaw to get back to absolute razer coordinates

          //The actual hydra position on the head is offset from the eye center by this amount

          Vec3 originOffset = correctionToCentreEyePosition.subtract(neckModelToCentreEyePosition);

       

          //Counteract the base station yaw to get back to absolute razer coordinates

            // save raw - originOffset as origin. That way, when origin is subtracted in the future,

          // positions very close to the current location+orientation will have the eye in the correct spot

          origin = originOffset.subtract(raw);