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Actually Eigen::Quaterniond arg order is *w* xyz

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This commit is contained in:
Thomas Krijnen
2025-03-28 12:10:03 +01:00
parent f08f9ad310
commit e9460a2c9a
1 changed files with 2 additions and 1 deletions
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src/ifcgeom/mapping/mapping.cpp
+2 -1
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@@ -874,7 +874,8 @@ void mapping::initialize_units_() {
if (settings_.get<ModelRotation>().has()) { if (settings_.get<ModelRotation>().has()) {
auto vs = settings_.get<ModelRotation>().get(); auto vs = settings_.get<ModelRotation>().get();
if (vs.size() == 4) { 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(); Eigen::Matrix4d m4 = Eigen::Matrix4d::Identity();
m4 << m3; m4 << m3;
offset_and_rotation_ *= m4; offset_and_rotation_ *= m4;