Fixed scaled rotation matrix for Pose (and derived) nodes#6246
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stefaniapedrazzi merged 5 commits intomasterfrom Jun 26, 2023
Merged
Fixed scaled rotation matrix for Pose (and derived) nodes#6246stefaniapedrazzi merged 5 commits intomasterfrom
stefaniapedrazzi merged 5 commits intomasterfrom
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omichel
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That looks good to me.
Thank you.
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After #5978, if the Pose (or derived) node has a scaled parent Transform then the
WbAbstractPose::rotationMatrix()function returns the scaled 3x3 submatrix instead of the rotation matrix.Even for pose, the extracted 3x3 matrix needs to be unscaled in order to return a valid rotation matrix.