From 8ff1ca8af6b933e2cf1be30b97a1f6360388df09 Mon Sep 17 00:00:00 2001 From: ZappoMan Date: Wed, 12 Apr 2017 16:11:06 -0700 Subject: [PATCH] swap the velocity components --- libraries/controllers/src/controllers/Pose.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/controllers/src/controllers/Pose.cpp b/libraries/controllers/src/controllers/Pose.cpp index 0c0de95bb4..fc0891799e 100644 --- a/libraries/controllers/src/controllers/Pose.cpp +++ b/libraries/controllers/src/controllers/Pose.cpp @@ -75,7 +75,7 @@ namespace controller { glm::mat4 result = original * mat; auto translationOut = ::extractTranslation(result); auto rotationOut = ::glmExtractRotation(result); - auto velocityOut = velocity + glm::cross(angularVelocity, translation - translationOut); // warning: this may be completely wrong + auto velocityOut = velocity + glm::cross(angularVelocity, translationOut - translation); // warning: this may be completely wrong auto angularVelocityOut = angularVelocity; Pose pose(translationOut,