Follow-Up on Connected Body Changes #1479
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cielavenir
approved these changes
Dec 18, 2024
| if( resolvedJointName.empty() ) { | ||
| // Can be empty after being deinitialized | ||
| continue; | ||
| } |
|
thanks |
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Description
@cielavenir discovered a problem in the newly introduced
_UpdateConnectedBodyInfofunction. I added a check to skip resolved joint names that are empty strings.Some other tests are failing due to unrelated reasons. In the function
_UpdateFromInfo, there are codes that check and compare two transforms (of links, geometries, etc.) to see if the original body should be updated according to the given infos. The current check, which is done viaCompareTransformdoes not take into account the fact thatquatand-quatrepresents the same rotation. This results in the update function returningUFIR_RequireReinitializeinstead ofUFIR_NoChange.The function that compares two transforms (for the purpose of checking for updates) was originally implemented similar to
TransformDistanceFast. The function implementation (as well as the function name itself) was changed in Fix Updating Link Transform #955. The later implementation directly compare values one by one.