Fixed parenting of SDF model and link entity transforms #591
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The pose information from the SDF is a value relative to it's attached frame. The `GetLocalTransfromURDF` function was misnamed and returning the a local transform for any SDF link supplied to the function. Also the `PrefabMakerUtils::SetEntityParent` function which is used to attach a child entity to a parent entity, preserves the world transform of the child entity. Therefore any pose information on child entities such as nested models or links on a model would be set in world space and not in local space. Signed-off-by: lumberyard-employee-dm <56135373+lumberyard-employee-dm@users.noreply.github.com>
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The parent child hierarchy is established through an SDF joint element which references a child and a parent link. The hieararchy itself shouldn't be used to adjust the world transform between the two links, only to have the child link entity to be under parent link entity for organization purposes. Signed-off-by: lumberyard-employee-dm <56135373+lumberyard-employee-dm@users.noreply.github.com>
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* Fixed parenting of SDF model and link entity transforms The pose information from the SDF is a value relative to it's attached frame. The `GetLocalTransfromURDF` function was misnamed and returning the a local transform for any SDF link supplied to the function. Also the `PrefabMakerUtils::SetEntityParent` function which is used to attach a child entity to a parent entity, preserves the world transform of the child entity. Therefore any pose information on child entities such as nested models or links on a model would be set in world space and not in local space. * Fixed the setup of the parent child entity hierarchy between SDF links The parent child hierarchy is established through an SDF joint element which references a child and a parent link. The hieararchy itself shouldn't be used to adjust the world transform between the two links, only to have the child link entity to be under parent link entity for organization purposes. --------- Signed-off-by: lumberyard-employee-dm <56135373+lumberyard-employee-dm@users.noreply.github.com>
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* Fixed parenting of SDF model and link entity transforms The pose information from the SDF is a value relative to it's attached frame. The `GetLocalTransfromURDF` function was misnamed and returning the a local transform for any SDF link supplied to the function. Also the `PrefabMakerUtils::SetEntityParent` function which is used to attach a child entity to a parent entity, preserves the world transform of the child entity. Therefore any pose information on child entities such as nested models or links on a model would be set in world space and not in local space. * Fixed the setup of the parent child entity hierarchy between SDF links The parent child hierarchy is established through an SDF joint element which references a child and a parent link. The hieararchy itself shouldn't be used to adjust the world transform between the two links, only to have the child link entity to be under parent link entity for organization purposes. --------- Signed-off-by: lumberyard-employee-dm <56135373+lumberyard-employee-dm@users.noreply.github.com>
michalpelka
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Dec 6, 2023
* Fixed parenting of SDF model and link entity transforms The pose information from the SDF is a value relative to it's attached frame. The `GetLocalTransfromURDF` function was misnamed and returning the a local transform for any SDF link supplied to the function. Also the `PrefabMakerUtils::SetEntityParent` function which is used to attach a child entity to a parent entity, preserves the world transform of the child entity. Therefore any pose information on child entities such as nested models or links on a model would be set in world space and not in local space. * Fixed the setup of the parent child entity hierarchy between SDF links The parent child hierarchy is established through an SDF joint element which references a child and a parent link. The hieararchy itself shouldn't be used to adjust the world transform between the two links, only to have the child link entity to be under parent link entity for organization purposes. --------- Signed-off-by: lumberyard-employee-dm <56135373+lumberyard-employee-dm@users.noreply.github.com>
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The pose information from the SDF is a value relative to it's attached frame. The
GetLocalTransfromURDFfunction was misnamed and returning the a local transform for any SDF link supplied to the function.Also the
PrefabMakerUtils::SetEntityParentfunction which is used to attach a child entity to a parent entity, preserves the world transform of the child entity. Therefore any pose information on child entities such as nested models or links on a model would be set in world space and not in local space.How was this PR tested?
Verified that the nested model entities and link entities were transformed relative to the parent model entity
