logic/simple-mat: fix axis swap sign

It lied in euler-to-rmat and not rmat-to-euler because rotating a vector by an
rmat returned a vector as if rmat had different signs

1 files changed, 7 insertions, 7 deletions

diff --git a/opentrack-logic/simple-mat.cpp b/opentrack-logic/simple-mat.cpp
index 6397ed4e..1aaeb296 100644
--- a/opentrack-logic/simple-mat.cpp
+++ b/opentrack-logic/simple-mat.cpp
@@ -12,21 +12,21 @@ euler_t OPENTRACK_LOGIC_EXPORT rmat_to_euler(const dmat<3, 3>& R)
     const double cy = sqrt(R(2,2)*R(2, 2) + R(2, 1)*R(2, 1));
     const bool large_enough = cy > 1e-10;
     if (large_enough)
-        return euler_t(atan2(-R(2, 1), R(2, 2)),
+        return euler_t(atan2(-R(1, 0), R(0, 0)),
                        atan2(R(2, 0), cy),
-                       atan2(-R(1, 0), R(0, 0)));
+                       atan2(-R(2, 1), R(2, 2)));
     else
-        return euler_t(0.,
+        return euler_t(atan2(R(0, 1), R(1, 1)),
                        atan2(R(2, 0), cy),
-                       atan2(R(0, 1), R(1, 1)));
+                       0);
 }
 
 // tait-bryan angles, not euler
 rmat OPENTRACK_LOGIC_EXPORT euler_to_rmat(const euler_t& input)
 {
-    const double H = input(0);
-    const double P = input(1);
-    const double B = input(2);
+    const double H = -input(0);
+    const double P = -input(1);
+    const double B = -input(2);
 
     using std::cos;
     using std::sin;