From e9460a2c9ab7e50dfb4a469bf999060ab55f58e9 Mon Sep 17 00:00:00 2001
From: Thomas Krijnen <t.krijnen@gmail.com>
Date: Fri, 28 Mar 2025 12:10:03 +0100
Subject: [PATCH] Actually Eigen::Quaterniond arg order is *w* xyz

---
 src/ifcgeom/mapping/mapping.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/ifcgeom/mapping/mapping.cpp b/src/ifcgeom/mapping/mapping.cpp
index 04f8db4589..3abb7e41fe 100644
--- a/src/ifcgeom/mapping/mapping.cpp
+++ b/src/ifcgeom/mapping/mapping.cpp
@@ -874,7 +874,8 @@ void mapping::initialize_units_() {
     if (settings_.get<ModelRotation>().has()) {
         auto vs = settings_.get<ModelRotation>().get();
         if (vs.size() == 4) {
-            auto m3 = Eigen::Quaterniond(vs[0], vs[1], vs[2], vs[3]).normalized().matrix();
+            // @nb W, X, Y, Z
+            auto m3 = Eigen::Quaterniond(vs[3], vs[0], vs[1], vs[2]).normalized().matrix();
             Eigen::Matrix4d m4 = Eigen::Matrix4d::Identity();
             m4 << m3;
             offset_and_rotation_ *= m4;