From 18756ba1a5fea48d0678737f6f878570e73fec61 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Fri, 27 Sep 2024 15:48:35 +0200
Subject: [PATCH] Correct axis on quaternion from swingtwist

---
 SwingTwist.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/SwingTwist.cpp b/SwingTwist.cpp
index 1a24600..58905c7 100644
--- a/SwingTwist.cpp
+++ b/SwingTwist.cpp
@@ -49,7 +49,7 @@ SwingTwistOf<T> SwingTwistOf<T>::Degrees(float horizontal,
                                          float vertical,
                                          float twist) {
   SwingTwistOf<T> orientation = SwingTwistOf<T>(AngleOf<T>::Degrees(horizontal),
-                                                AngleOf<T>::Degrees(vertical),
+                                                -AngleOf<T>::Degrees(vertical),
                                                 AngleOf<T>::Degrees(twist));
   // DirectionOf<T> swing = DirectionOf<T>::Degrees(horizontal, vertical);
   // AngleOf<T> twistAngle = AngleOf<T>::Degrees(twist);
@@ -59,7 +59,7 @@ SwingTwistOf<T> SwingTwistOf<T>::Degrees(float horizontal,
 
 template <typename T>
 Quaternion SwingTwistOf<T>::ToQuaternion() const {
-  Quaternion q = Quaternion::Euler(this->swing.vertical.InDegrees(),
+  Quaternion q = Quaternion::Euler(-this->swing.vertical.InDegrees(),
                                    this->swing.horizontal.InDegrees(),
                                    this->twist.InDegrees());
   return q;