logic/{simple-mat,tracker}: fix translation compensation signs

They didn't match between rotation and translation again.

2 files changed, 4 insertions, 4 deletions

diff --git a/opentrack-logic/simple-mat.cpp b/opentrack-logic/simple-mat.cpp
index 748e083b..6397ed4e 100644
--- a/opentrack-logic/simple-mat.cpp
+++ b/opentrack-logic/simple-mat.cpp
@@ -26,7 +26,7 @@ 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 B = input(2);
 
     using std::cos;
     using std::sin;
diff --git a/opentrack-logic/tracker.cpp b/opentrack-logic/tracker.cpp
index a1f206a1..b16da9aa 100644
--- a/opentrack-logic/tracker.cpp
+++ b/opentrack-logic/tracker.cpp
@@ -64,13 +64,13 @@ double Tracker::map(double pos, Mapping& axis)
 void Tracker::t_compensate(const rmat& rmat, const euler_t& xyz_, euler_t& output, bool rz)
 {
     // TY is really yaw axis. need swapping accordingly.
-    const euler_t ret = rmat * euler_t(xyz_(TZ), -xyz_(TX), -xyz_(TY));
+    const euler_t ret = rmat * euler_t(xyz_(TZ), xyz_(TX), xyz_(TY));
     if (!rz)
         output(2) = ret(0);
     else
         output(2) = xyz_(2);
-    output(1) = -ret(2);
-    output(0) = -ret(1);
+    output(1) = ret(2);
+    output(0) = ret(1);
 }
 
 #include "opentrack-compat/nan.hpp"