diff options
| -rw-r--r-- | opentrack-logic/simple-mat.cpp | 14 |
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; |