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fix confusion about transform ordering 😳
1 parent b1277a1 commit 13ac94e

7 files changed

Lines changed: 29 additions & 24 deletions

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‎crates/store/re_types/definitions/rerun/archetypes/transform3d.fbs‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,10 @@ namespace rerun.archetypes;
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/// A transform between two 3D spaces, i.e. a pose.
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///
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/// All components are applied in the inverse order they are listed here.
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/// E.g. if both a 4x4 matrix with a translation and a translation vector are present,
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/// the translation is applied first, followed by the matrix.
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/// From the point of view of the entity's coordinate system,
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/// all components are applied in the inverse order they are listed here.
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/// E.g. if both a translation and a max3x3 transform are present,
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/// the 3x3 matrix is applied first, followed by the translation.
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///
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/// Each transform component can be listed multiple times, but transform tree propagation is only possible
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/// if there's only one instance for each transform component.

‎crates/store/re_types/src/archetypes/transform3d.rs‎

Lines changed: 4 additions & 3 deletions
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‎crates/viewer/re_space_view_spatial/src/contexts/transform_context.rs‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -368,20 +368,20 @@ fn get_parent_from_child_transform(
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// Order is specified by order of components in the Transform3D archetype.
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// See `has_transform_expected_order`
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let mut transform = glam::Affine3A::IDENTITY;
371-
if let Some(mat3x3) = result.get_instance::<TransformMat3x3>(resolver, 0) {
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transform *= glam::Affine3A::from(mat3x3);
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if let Some(translation) = result.get_instance::<Translation3D>(resolver, 0) {
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transform *= glam::Affine3A::from(translation);
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}
374-
if let Some(scale) = result.get_instance::<Scale3D>(resolver, 0) {
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transform *= glam::Affine3A::from(scale);
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if let Some(rotation) = result.get_instance::<RotationAxisAngle>(resolver, 0) {
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transform *= glam::Affine3A::from(rotation);
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}
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if let Some(rotation) = result.get_instance::<RotationQuat>(resolver, 0) {
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transform *= glam::Affine3A::from(rotation);
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}
380-
if let Some(rotation) = result.get_instance::<RotationAxisAngle>(resolver, 0) {
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transform *= glam::Affine3A::from(rotation);
380+
if let Some(scale) = result.get_instance::<Scale3D>(resolver, 0) {
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transform *= glam::Affine3A::from(scale);
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}
383-
if let Some(translation) = result.get_instance::<Translation3D>(resolver, 0) {
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transform *= glam::Affine3A::from(translation);
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if let Some(mat3x3) = result.get_instance::<TransformMat3x3>(resolver, 0) {
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transform *= glam::Affine3A::from(mat3x3);
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}
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let transform_relation = result

‎crates/viewer/re_viewer/src/reflection/mod.rs‎

Lines changed: 1 addition & 1 deletion
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‎docs/content/reference/types/archetypes/transform3d.md‎

Lines changed: 4 additions & 3 deletions
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‎rerun_cpp/src/rerun/archetypes/transform3d.hpp‎

Lines changed: 4 additions & 3 deletions
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‎rerun_py/rerun_sdk/rerun/archetypes/transform3d.py‎

Lines changed: 4 additions & 3 deletions
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