diff options
| -rw-r--r-- | src/poser_turveytori.c | 20 |
1 files changed, 15 insertions, 5 deletions
diff --git a/src/poser_turveytori.c b/src/poser_turveytori.c index e10a323..86b763b 100644 --- a/src/poser_turveytori.c +++ b/src/poser_turveytori.c @@ -1366,14 +1366,24 @@ static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *ob wcPos[2] += so->ctx->bsd[lh].Pose.Pos[2]; FLT newOrientation[4]; - //quatrotateabout(newOrientation, rotQuat, so->ctx->bsd[lh].Pose.Rot); - quatrotateabout(newOrientation, so->ctx->bsd[lh].Pose.Rot, rotQuat); + //quatrotateabout(newOrientation, rotQuat, so->ctx->bsd[lh].Pose.Rot); // turns the wrong way + //quatrotateabout(newOrientation, so->ctx->bsd[lh].Pose.Rot, rotQuat); // turns the wrong way + + FLT invRot[4]; + quatgetreciprocal(invRot, rotQuat); + //quatrotateabout(newOrientation, invRot, so->ctx->bsd[lh].Pose.Rot); // turns correctly, rotations not aligned + //quatrotateabout(newOrientation, so->ctx->bsd[lh].Pose.Rot, invRot); // turns correctly, rotations not aligned + + FLT invPoseRot[4]; + quatgetreciprocal(invPoseRot, so->ctx->bsd[lh].Pose.Rot); + + //quatrotateabout(newOrientation, rotQuat, invPoseRot); // turns the wrong way, rotations not aligned + //quatrotateabout(newOrientation, invPoseRot, rotQuat); // turns the wrong way, rotations not aligned //FLT invRot[4]; //quatgetreciprocal(invRot, rotQuat); - //quatrotateabout(newOrientation, invRot, so->ctx->bsd[lh].Pose.Rot); - ////quatrotateabout(newOrientation, so->ctx->bsd[lh].Pose.Rot, invRot); - + quatrotateabout(newOrientation, invRot, invPoseRot); // turns correctly, rotations aligned <-- This seems to be the best. + //quatrotateabout(newOrientation, invPoseRot, invRot); // turns correctly, rotations aligned, (x & y flipped?) so->OutPose.Pos[0] = wcPos[0]; so->OutPose.Pos[1] = wcPos[1]; |