From 39a8de4dbd350ea828c1135fc33915061043081d Mon Sep 17 00:00:00 2001 From: Stephane LOUIS DIT PICARD Date: Thu, 6 Mar 2025 09:42:08 +0000 Subject: [PATCH] fix: compute invalid matrix on get reloc info --- .../RelocalizationInformationImpl.cs | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/server/worldstorage/src/ETSI.ARF.OpenAPI.WorldStorage/ETSI-ARF/ControllersImpl/RelocalizationInformationImpl.cs b/server/worldstorage/src/ETSI.ARF.OpenAPI.WorldStorage/ETSI-ARF/ControllersImpl/RelocalizationInformationImpl.cs index f4cf095..657f32c 100644 --- a/server/worldstorage/src/ETSI.ARF.OpenAPI.WorldStorage/ETSI-ARF/ControllersImpl/RelocalizationInformationImpl.cs +++ b/server/worldstorage/src/ETSI.ARF.OpenAPI.WorldStorage/ETSI-ARF/ControllersImpl/RelocalizationInformationImpl.cs @@ -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 { -- GitLab