Revision: 6947
http://playerstage.svn.sourceforge.net/playerstage/?rev=6947&view=rev
Author: natepak
Date: 2008-08-10 18:26:25 +0000 (Sun, 10 Aug 2008)
Log Message:
-----------
Fixed visual placement of nested geometries.
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Geom.cc
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2008-08-09 02:30:28 UTC (rev
6946)
+++ code/gazebo/trunk/server/physics/Geom.cc 2008-08-10 18:26:25 UTC (rev
6947)
@@ -268,19 +268,17 @@
// Transform into CoM relative Pose
localPose = pose - this->body->GetCoMPose();
-
q[0] = localPose.rot.u;
q[1] = localPose.rot.x;
q[2] = localPose.rot.y;
q[3] = localPose.rot.z;
-
// Set the pose of the encapsulated geom; this is always relative
// to the CoM
dGeomSetPosition(this->geomId, localPose.pos.x, localPose.pos.y,
localPose.pos.z);
dGeomSetQuaternion(this->geomId, q);
- this->visualNode->SetPose(localPose);
+ this->visualNode->SetPose(pose);
if (updateCoM)
{
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