From f6e4392b514711e36afd2d52dfd2a633c7aaaaf5 Mon Sep 17 00:00:00 2001
From: David Allemang <david.allemang@kitware.com>
Date: Sat, 4 Feb 2023 10:02:28 -0500
Subject: [PATCH] ENH: Simplify mirror compute

---
 vis/include/mirror.hpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/vis/include/mirror.hpp b/vis/include/mirror.hpp
index 89e7aba..d624717 100644
--- a/vis/include/mirror.hpp
+++ b/vis/include/mirror.hpp
@@ -18,11 +18,10 @@ Eigen::Matrix<float, N, N> mirror(const tc::Group<> &group) {
             auto angle = M_PI / group.get(c, r);
             auto dot = res.col(c).dot(res.col(r));
 
-            res(r, c) = (cos(angle) - dot) / res(r, r);
+            res(r, c) = (dot - cos(angle)) / res(r, r);
         }
 
         res(c, c) = sqrt(1 - res.col(c).squaredNorm());
-        res.col(c) *= -1;
     }
 
     return res;