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Set anchor correctly when creating waypoints from navstates

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This commit is contained in:
Emma Broman
2020-04-01 14:50:35 +02:00
parent 3ddb4e6575
commit 413bf210d0
1 changed files with 2 additions and 1 deletions
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3
modules/autonavigation/waypoint.cpp
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@@ -91,6 +91,7 @@ Waypoint::Waypoint(const glm::dvec3& pos, const glm::dquat& rot, const std::stri
Waypoint::Waypoint(const NavigationState& ns, const double minBoundingSphere) {
// OBS! The following code is exactly the same as used in
// NavigationHandler::applyNavigationState. Should probably be made into a function.
// TODO: make that function
const SceneGraphNode* referenceFrame = sceneGraphNode(ns.referenceFrame);
const SceneGraphNode* anchorNode = sceneGraphNode(ns.anchor); // The anchor is also the target
@@ -124,7 +125,7 @@ Waypoint::Waypoint(const NavigationState& ns, const double minBoundingSphere) {
pose.rotation = neutralCameraRotation * yawRotation * pitchRotation;
nodeDetails = WaypointNodeDetails{ ns.referenceFrame, minBoundingSphere };
nodeDetails = WaypointNodeDetails{ ns.anchor, minBoundingSphere };
}
glm::dvec3 Waypoint::position() const { return pose.position; }