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correctly interpret quats from vrpn

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This commit is contained in:
David Rose 2001-12-11 18:31:09 +00:00
parent c781776e41
commit 4b5a089362
1 changed files with 5 additions and 5 deletions
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10
panda/src/vrpn/vrpnTracker.cxx
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@ -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();
}