Fix quaternion conversion

rpavlik · rpavlik · commit 502e9420e813 · 2014-12-19T16:23:50.000-06:00
diff --git a/OSVR-Unity/Assets/OSVRUnity/src/Math.cs b/OSVR-Unity/Assets/OSVRUnity/src/Math.cs
@@ -26,8 +26,8 @@ public static Vector3 ConvertPosition(OSVR.ClientKit.Vec3 vec)
 
             public static Quaternion ConvertOrientation(OSVR.ClientKit.Quaternion quat)
             {
-                /// Quaternions are not handed
-                return new Quaternion((float)quat.x, (float)quat.y, (float)quat.z, (float)quat.w);
+                /// Wikipedia may say quaternions are not handed, but these needed modification.
+                return new Quaternion(-(float)quat.x, -(float)quat.y, (float)quat.z, (float)quat.w);
             }
 
             public static Matrix4x4 ConvertPose(OSVR.ClientKit.Pose3 pose)

Original file line number	Diff line number	Diff line change
`@@ -26,8 +26,8 @@ public static Vector3 ConvertPosition(OSVR.ClientKit.Vec3 vec)`
`26`	`26`
`27`	`27`	`public static Quaternion ConvertOrientation(OSVR.ClientKit.Quaternion quat)`
`28`	`28`	`{`
`29`		`- /// Quaternions are not handed`
`30`		`- return new Quaternion((float)quat.x, (float)quat.y, (float)quat.z, (float)quat.w);`
	`29`	`+ /// Wikipedia may say quaternions are not handed, but these needed modification.`
	`30`	`+ return new Quaternion(-(float)quat.x, -(float)quat.y, (float)quat.z, (float)quat.w);`
`31`	`31`	`}`
`32`	`32`
`33`	`33`	`public static Matrix4x4 ConvertPose(OSVR.ClientKit.Pose3 pose)`