Fix array to quat

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rlviser-py"
-version = "0.2.0"
+version = "0.2.1"
 edition = "2021"
 description = "Python implementation that manages a UDP connection to RLViser"
 license = "MIT"

src/lib.rs

@@ -72,13 +72,8 @@ pub const OCTANE: CarConfig = CarConfig {
 };
 
 #[inline]
-fn ball_to_quat(array: [f32; 4]) -> Quat {
- Quat::from_xyzw(array[1], array[2], array[3], array[0])
-}
-
-#[inline]
-fn car_to_mat3a(array: [f32; 4]) -> Mat3A {
- Mat3A::from_quat(Quat::from_xyzw(-array[1], array[2], array[3], array[0]))
+fn array_to_quat(array: [f32; 4]) -> Quat {
+ Quat::from_xyzw(-array[1], -array[2], array[3], array[0])
 }
 
 /// Reads the RLGym state and sends it to RLViser to render
@@ -93,7 +88,7 @@ fn render_rlgym(gym_state: GymState) {
  vel: gym_state.ball.linear_velocity.into(),
  ang_vel: gym_state.ball.angular_velocity.into(),
  },
- ball_rot: ball_to_quat(gym_state.ball.quaternion),
+ ball_rot: array_to_quat(gym_state.ball.quaternion),
  pads: BOOST_PAD_LOCATIONS
  .read()
  .unwrap()
@@ -119,8 +114,11 @@ fn render_rlgym(gym_state: GymState) {
  pos: player.car_data.position.into(),
  vel: player.car_data.linear_velocity.into(),
  ang_vel: player.car_data.angular_velocity.into(),
- rot_mat: car_to_mat3a(player.car_data.quaternion),
+ rot_mat: Mat3A::from_quat(array_to_quat(player.car_data.quaternion)),
  is_on_ground: player.on_ground != 0,
+ is_demoed: player.is_demoed != 0,
+ has_flipped: player.has_flip == 0,
+ has_jumped: player.has_jump == 0,
  ..Default::default()
  },
  config: OCTANE,