Fix convention issues.

include/gepetto/viewer/corba/windows-manager.hh

@@ -29,7 +29,14 @@ namespace graphics {
         osgVector3 position;
         osgQuat quat;
         Configuration() {}
-        explicit Configuration(const float* a) : position(a[0],a[1],a[2]), quat(a[3],a[4],a[5],a[6]) {}
+        /// \param XYZW when false, the 4 last parameters are a quaternion (w,x,y,z)
+        ///             otherwise, a quaternion (x,y,z,w)
+        explicit Configuration(const float* a, bool XYZW)
+          : position(a[0],a[1],a[2])
+          , quat(a[(XYZW ? 3 : 4)],
+                 a[(XYZW ? 4 : 5)],
+                 a[(XYZW ? 5 : 6)],
+                 a[(XYZW ? 6 : 3)]) {}
         Configuration(const osgVector3& p, const osgQuat& q) : position(p), quat(q) {}
     };
     struct NodeConfiguration : Configuration {

src/graphical-interface.impl.cpp

@@ -55,12 +55,14 @@ namespace graphics {
           typedef const GraphicalInterface::Transform  In_t;
           typedef       Configuration  Out_t;
           typedef       Transform_slice* Ret_t;
-          static Out_t op  (In_t in) { return Out_t(in); }
+          static Out_t op  (In_t in) { return Out_t(in, false); /* false means (w,x,y,z) -> (x,y,z,w) */ }
           static Ret_t ret (const Out_t& in) {
             Ret_t ret = new GraphicalInterface::Transform();
             // dofArray->length(7);
             for(int i=0; i<3; i++) ret[(ULong)i]   = in.position[i];
-            for(int i=0; i<4; i++) ret[(ULong)i+3] = (float)in.quat[i];
+            // for(int i=0; i<3; i++) ret[(ULong)i+3] = (float)in.quat[i];
+            ret[(ULong)3] = (float)in.quat[3]; // W
+            for(int i=0; i<3; i++) ret[(ULong)i+4] = (float)in.quat[i]; // XYZ
             return ret;
           }
         };