Small change to orientation
This definitely works a little better. There are still issues.
@@ -1366,8 +1366,8 @@ static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *ob
wcPos[2] += so->ctx->bsd[lh].Pose.Pos[2];
FLT newOrientation[4];
- quatrotateabout(newOrientation, rotQuat, so->ctx->bsd[lh].Pose.Rot); // turns the wrong way
- //quatrotateabout(newOrientation, so->ctx->bsd[lh].Pose.Rot, rotQuat); // turns the wrong way
+ //quatrotateabout(newOrientation, rotQuat, so->ctx->bsd[lh].Pose.Rot); // turns the wrong way
+ quatrotateabout(newOrientation, so->ctx->bsd[lh].Pose.Rot, rotQuat); // turns the wrong way
FLT invRot[4];
quatgetreciprocal(invRot, rotQuat);
