Commit 39a8de4d authored by Stephane LOUIS DIT PICARD's avatar Stephane LOUIS DIT PICARD
Browse files

fix: compute invalid matrix on get reloc info

parent d3f5ba5e

server/worldstorage/src/ETSI.ARF.OpenAPI.WorldStorage/ETSI-ARF/ControllersImpl/RelocalizationInformationImpl.cs

+9 −9
Original line number Diff line number Diff line
@@ -223,7 +223,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers 
                        results.Add(result);



                        // Recursive search starting with the attached trackable

                        results.AddRange(FindRelocInfo(trackable.UUID, mode, m, capabilities, ref history));

                        results.AddRange(FindRelocInfoAsTo(trackable.UUID, mode, m, capabilities, ref history));

                    }

                    else

                    {
@@ -264,7 +264,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers 
                        }



                        // Recursive search starting with the attached anchor

                        results.AddRange(FindRelocInfo(anchor.UUID, mode, m, capabilities, ref history));

                        results.AddRange(FindRelocInfoAsTo(anchor.UUID, mode, m, capabilities, ref history));

                    }

                    else

                    {
@@ -323,14 +323,14 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers 


                        if (mode == ModeWorldStorage.REQUESTTOTRACKABLESEnum)

                        {

                            m = link.Matrix() * matrix;

                            m = matrix * link.Matrix();

                        }

                        else if (mode == ModeWorldStorage.TRACKABLESTOREQUESTEnum)

                        {

                            Matrix4x4 invert;

                            if (Matrix4x4.Invert(link.Matrix(), out invert))

                            {

                                m = matrix * invert;

                                m = invert * matrix;

                            }

                            else

                            {
@@ -359,7 +359,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers 
                        results.Add(result);



                        // Recursive search starting with the attached trackable

                        results.AddRange(FindRelocInfo(trackable.UUID, mode, m, capabilities, ref history));

                        results.AddRange(FindRelocInfoAsFrom(trackable.UUID, mode, m, capabilities, ref history));

                    }

                    else

                    {
@@ -374,18 +374,18 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers 
                    {



                        Matrix4x4 m;

                        m = link.Matrix() * matrix;

                        //m = link.Matrix() * matrix;



                        if (mode == ModeWorldStorage.REQUESTTOTRACKABLESEnum)

                        {

                            m = link.Matrix() * matrix;

                            m = matrix * link.Matrix();

                        }

                        else if (mode == ModeWorldStorage.TRACKABLESTOREQUESTEnum)

                        {

                            Matrix4x4 invert;

                            if (Matrix4x4.Invert(link.Matrix(), out invert))

                            {

                                m = matrix * invert;

                                m = invert * matrix;

                            }

                            else

                            {
@@ -400,7 +400,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers 
                        }



                        // Recursive search starting with the attached anchor

                        results.AddRange(FindRelocInfo(anchor.UUID, mode, m, capabilities, ref history));

                        results.AddRange(FindRelocInfoAsFrom(anchor.UUID, mode, m, capabilities, ref history));

                    }

                    else

                    {