From 86f0067266c0e7188d743fbf484f4b0d0f87596a Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Wed, 22 Feb 2017 13:30:28 -0800
Subject: [PATCH] A bug fix for logging the orientation of the base of the
 object.

---
 examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 9521b2c16..d587e802a 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -649,7 +649,7 @@ struct GenericRobotStateLogger : public InternalStateLogger
                 logData.m_values.push_back(m_loggingTimeStamp);
                 
                 btVector3 pos = mb->getBasePos();
-                btQuaternion ori = mb->getWorldToBaseRot();
+                btQuaternion ori = mb->getWorldToBaseRot().inverse();
                 btVector3 vel = mb->getBaseVel();
                 btVector3 omega = mb->getBaseOmega();