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u/space_overseer: Relation chain with 0 steps has valid velocities = 0

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Christoph Haag 2024-04-10 00:06:47 +02:00 committed by Simon Zeni
parent 8f6e1cca66
commit 7a387e4087
1 changed files with 9 additions and 5 deletions
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14
src/xrt/auxiliary/util/u_space_overseer.c
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@ -377,11 +377,15 @@ special_resolve(struct xrt_relation_chain *xrc, struct xrt_space_relation *out_r
// A space chain with zero step is always valid.
if (xrc->step_count == 0) {
out_relation->pose = (struct xrt_pose)XRT_POSE_IDENTITY;
out_relation->relation_flags = //
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | //
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | //
XRT_SPACE_RELATION_POSITION_VALID_BIT | //
XRT_SPACE_RELATION_POSITION_TRACKED_BIT;
out_relation->linear_velocity = (struct xrt_vec3)XRT_VEC3_ZERO;
out_relation->angular_velocity = (struct xrt_vec3)XRT_VEC3_ZERO;
out_relation->relation_flags = //
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | //
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | //
XRT_SPACE_RELATION_POSITION_VALID_BIT | //
XRT_SPACE_RELATION_POSITION_TRACKED_BIT | //
XRT_SPACE_RELATION_LINEAR_VELOCITY_VALID_BIT | //
XRT_SPACE_RELATION_ANGULAR_VELOCITY_VALID_BIT;
} else {
m_relation_chain_resolve(xrc, out_relation);
}