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Merge pull request #590 from ignitionrobotics/merge6main
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Merge part of 6 -> main
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scpeters authored Mar 21, 2022
2 parents 322128e + 50a01ac commit 6f5faaf
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Showing 4 changed files with 9 additions and 5 deletions.
4 changes: 2 additions & 2 deletions include/ignition/rendering/base/BaseCamera.hh
Original file line number Diff line number Diff line change
Expand Up @@ -355,7 +355,7 @@ namespace ignition
{
math::Pose3d targetCamPose = math::Pose3d(this->followOffset,
this->WorldRotation());
targetCamPose += this->followNode->WorldPose();
targetCamPose = this->followNode->WorldPose() * targetCamPose;

math::Vector3d pos = this->WorldPosition() +
(targetCamPose.Pos() - this->WorldPosition()) * this->followPGain;
Expand All @@ -375,7 +375,7 @@ namespace ignition
}
else
{
targetPose += this->trackNode->WorldPose();
targetPose = this->trackNode->WorldPose() * targetPose;
}

math::Pose3d p =
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2 changes: 1 addition & 1 deletion include/ignition/rendering/base/BaseJointVisual.hh
Original file line number Diff line number Diff line change
Expand Up @@ -406,7 +406,7 @@ namespace ignition

// get rotation of joint visual in model frame
ignition::math::Quaterniond quatFromModel =
(this->LocalPose() + parentInitPose).Rot();
(parentInitPose * this->LocalPose()).Rot();

// rotate arrow visual so that the axis vector applies to the model
// frame.
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2 changes: 1 addition & 1 deletion include/ignition/rendering/base/BaseNode.hh
Original file line number Diff line number Diff line change
Expand Up @@ -428,7 +428,7 @@ namespace ignition
return pose;
}

return pose + parent->WorldPose();
return parent->WorldPose() * pose;
}

//////////////////////////////////////////////////
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6 changes: 5 additions & 1 deletion ogre2/src/Ogre2Material.cc
Original file line number Diff line number Diff line change
Expand Up @@ -692,7 +692,11 @@ void Ogre2Material::UpdateShaderParams(ConstShaderParamsPtr _params,
continue;
}

if (!_ogreParams->_findNamedConstantDefinition(name_param.first))
if (!_ogreParams->_findNamedConstantDefinition(name_param.first) &&
!(Ogre2RenderEngine::Instance()->GraphicsAPI() !=
GraphicsAPI::OPENGL &&
(ShaderParam::PARAM_TEXTURE == name_param.second.Type() ||
ShaderParam::PARAM_TEXTURE_CUBE == name_param.second.Type())))
{
ignwarn << "Unable to find GPU program parameter: "
<< name_param.first << std::endl;
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