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Fix frame accumulation order for <frame> meta-element.

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PiperOrigin-RevId: 588803425
Change-Id: Id0289c34d1a6cfb6007540a29cc1f32d879e43ed
This commit is contained in:
Alessio Quaglino
2023-12-07 08:35:46 -08:00
committed by Copybara-Service
parent d12fe594d9
commit 1db0a9946f
4 changed files with 82 additions and 45 deletions
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src/user/user_objects.cc
+7 -7
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@@ -993,7 +993,7 @@ void mjCBody::Compile(void) {
// frame
if (frame) {
mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
}
// accumulate rbound, contype, conaffinity over geoms
@@ -1101,7 +1101,7 @@ void mjCFrame::Compile() {
// compile parents and accumulate result
if (frame) {
frame->Compile();
mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
}
mjuu_normvec(quat, 4);
@@ -1263,7 +1263,7 @@ int mjCJoint::Compile(void) {
mjuu_zerovec(pos, 3);
} else if (frame) {
double qunit[4] = {1, 0, 0, 0};
mjuu_frameaccum(pos, qunit, frame->pos, frame->quat);
mjuu_frameaccumChild(frame->pos, frame->quat, pos, qunit);
}
// convert reference angles to radians for hinge joints
@@ -1878,7 +1878,7 @@ void mjCGeom::Compile(void) {
// frame
if (frame) {
mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
}
}
@@ -1990,7 +1990,7 @@ void mjCSite::Compile(void) {
// frame
if (frame) {
mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
}
// normalize quaternion
@@ -2055,7 +2055,7 @@ void mjCCamera::Compile(void) {
// frame
if (frame) {
mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
}
// normalize quaternion
@@ -2159,7 +2159,7 @@ void mjCLight::Compile(void) {
// frame
if (frame) {
mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
}
// normalize direction, make sure it is not zero