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Commit 39a8de4d authored by Stephane LOUIS DIT PICARD's avatar Stephane LOUIS DIT PICARD
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fix: compute invalid matrix on get reloc info

parent d3f5ba5e
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server/worldstorage/src/ETSI.ARF.OpenAPI.WorldStorage/ETSI-ARF/ControllersImpl/RelocalizationInformationImpl.cs
+ 9
− 9
View file @ 39a8de4d
...@@ -223,7 +223,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers ...@@ -223,7 +223,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
results.Add(result); results.Add(result);
// Recursive search starting with the attached trackable // 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 else
{ {
...@@ -264,7 +264,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers ...@@ -264,7 +264,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
} }
// Recursive search starting with the attached anchor // 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 else
{ {
...@@ -323,14 +323,14 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers ...@@ -323,14 +323,14 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
if (mode == ModeWorldStorage.REQUESTTOTRACKABLESEnum) if (mode == ModeWorldStorage.REQUESTTOTRACKABLESEnum)
{ {
m = link.Matrix() * matrix; m = matrix * link.Matrix();
} }
else if (mode == ModeWorldStorage.TRACKABLESTOREQUESTEnum) else if (mode == ModeWorldStorage.TRACKABLESTOREQUESTEnum)
{ {
Matrix4x4 invert; Matrix4x4 invert;
if (Matrix4x4.Invert(link.Matrix(), out invert)) if (Matrix4x4.Invert(link.Matrix(), out invert))
{ {
m = matrix * invert; m = invert * matrix;
} }
else else
{ {
...@@ -359,7 +359,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers ...@@ -359,7 +359,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
results.Add(result); results.Add(result);
// Recursive search starting with the attached trackable // 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 else
{ {
...@@ -374,18 +374,18 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers ...@@ -374,18 +374,18 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
{ {
Matrix4x4 m; Matrix4x4 m;
m = link.Matrix() * matrix; //m = link.Matrix() * matrix;
if (mode == ModeWorldStorage.REQUESTTOTRACKABLESEnum) if (mode == ModeWorldStorage.REQUESTTOTRACKABLESEnum)
{ {
m = link.Matrix() * matrix; m = matrix * link.Matrix();
} }
else if (mode == ModeWorldStorage.TRACKABLESTOREQUESTEnum) else if (mode == ModeWorldStorage.TRACKABLESTOREQUESTEnum)
{ {
Matrix4x4 invert; Matrix4x4 invert;
if (Matrix4x4.Invert(link.Matrix(), out invert)) if (Matrix4x4.Invert(link.Matrix(), out invert))
{ {
m = matrix * invert; m = invert * matrix;
} }
else else
{ {
...@@ -400,7 +400,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers ...@@ -400,7 +400,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
} }
// Recursive search starting with the attached anchor // 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 else
{ {
......
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