BUG: Correct controller invert flags

was mirroring axis, not inverting rotations

Base/Scene/Controllers/imstkTrackingController.cpp

@@ -44,9 +44,9 @@ TrackingController::computeTrackingData(Vec3d& p, Quatd& r)
     if(m_invertFlags & InvertFlag::transX) p[0] = -p[0];
     if(m_invertFlags & InvertFlag::transY) p[1] = -p[1];
     if(m_invertFlags & InvertFlag::transZ) p[2] = -p[2];
-    if(m_invertFlags & InvertFlag::rotX) std::swap(r.y(), r.z());
-    if(m_invertFlags & InvertFlag::rotY) std::swap(r.x(), r.z());
-    if(m_invertFlags & InvertFlag::rotZ) std::swap(r.x(), r.y());
+    if(m_invertFlags & InvertFlag::rotX) r.x() = -r.x();
+    if(m_invertFlags & InvertFlag::rotY) r.y() = -r.y();
+    if(m_invertFlags & InvertFlag::rotZ) r.z() = -r.z();
 
     // Apply Offsets
     p = m_rotationOffset * p * m_scaling + m_translationOffset;

Examples/Sandbox/main.cpp

@@ -123,6 +123,8 @@ void testTwoFalcons()
     cam->setPosition(imstk::Vec3d(0,18,20));
     cam->setFocalPoint(imstk::UP_VECTOR*18);
     cam->setupController(hdk);
+    cam->getController()->setInversionFlags(imstk::CameraController::InvertFlag::rotY |
+                                            imstk::CameraController::InvertFlag::rotZ );
 
     // Run
     sdk->setCurrentScene("FalconsTestScene");
@@ -199,7 +201,8 @@ void testCameraController()
     // Set camera controller
     cam->setupController(client, 100);
     //LOG(INFO) << cam->getController()->getTranslationOffset(); // should be the same than initial cam position
-    //cam->getController()->setInversionFlags( (imstk::CameraController::InvertFlag::transX | imstk::CameraController::InvertFlag::transY) );
+    cam->getController()->setInversionFlags(imstk::CameraController::InvertFlag::rotY |
+                                            imstk::CameraController::InvertFlag::rotZ );
 
     // Run
     sdk->setCurrentScene("SceneTestDevice");