From 4b5a089362ad2b4290873b76ca7ca40c1bd0d4c8 Mon Sep 17 00:00:00 2001 From: David Rose Date: Tue, 11 Dec 2001 18:31:09 +0000 Subject: [PATCH] correctly interpret quats from vrpn --- panda/src/vrpn/vrpnTracker.cxx | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/panda/src/vrpn/vrpnTracker.cxx b/panda/src/vrpn/vrpnTracker.cxx index bc81169c4c..db22fee10d 100644 --- a/panda/src/vrpn/vrpnTracker.cxx +++ b/panda/src/vrpn/vrpnTracker.cxx @@ -130,7 +130,7 @@ vrpn_position_callback(void *userdata, const vrpn_TRACKERCB info) { device->lock(); device->_data.set_time(VrpnClient::convert_to_secs(info.msg_time)); device->_data.set_pos(LPoint3f(info.pos[0], info.pos[1], info.pos[2])); - device->_data.set_orient(LOrientationf(info.quat[0], info.quat[1], info.quat[2], info.quat[3])); + device->_data.set_orient(LOrientationf(info.quat[3], info.quat[0], info.quat[1], info.quat[2])); device->unlock(); } } @@ -159,8 +159,8 @@ vrpn_velocity_callback(void *userdata, const vrpn_TRACKERVELCB info) { device->lock(); device->_data.set_time(VrpnClient::convert_to_secs(info.msg_time)); device->_data.set_pos(LPoint3f(info.vel[0], info.vel[1], info.vel[2])); - device->_data.set_orient(LOrientationf(info.vel_quat[0], info.vel_quat[1], - info.vel_quat[2], info.vel_quat[3])); + device->_data.set_orient(LOrientationf(info.vel_quat[3], info.vel_quat[0], + info.vel_quat[1], info.vel_quat[2])); device->_data.set_dt(info.vel_quat_dt); device->unlock(); } @@ -190,8 +190,8 @@ vrpn_acceleration_callback(void *userdata, const vrpn_TRACKERACCCB info) { device->lock(); device->_data.set_time(VrpnClient::convert_to_secs(info.msg_time)); device->_data.set_pos(LPoint3f(info.acc[0], info.acc[1], info.acc[2])); - device->_data.set_orient(LOrientationf(info.acc_quat[0], info.acc_quat[1], - info.acc_quat[2], info.acc_quat[3])); + device->_data.set_orient(LOrientationf(info.acc_quat[3], info.acc_quat[0], + info.acc_quat[1], info.acc_quat[2])); device->_data.set_dt(info.acc_quat_dt); device->unlock(); }