diff options
| author | Stanislaw Halik <sthalik@misaki.pl> | 2018-05-23 00:59:59 +0200 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2018-05-23 00:59:59 +0200 |
| commit | 73d07eaa496045ee1fd02c5f83530fc8fc497a8e (patch) | |
| tree | d8e9e655f42c831a2e2e61ba026cb16bff32e3b6 | |
| parent | 1f19917924ecf102a4534ca7c9e0e2aa76cfd8c9 (diff) | |
logic/pipeline: disable neck Z if reltrans Z disabled
| -rw-r--r-- | logic/pipeline.cpp | 9 | ||||
| -rw-r--r-- | logic/pipeline.hpp | 2 |
2 files changed, 7 insertions, 4 deletions
diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp index 105e672a..4756db3e 100644 --- a/logic/pipeline.cpp +++ b/logic/pipeline.cpp @@ -114,7 +114,7 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, // dynamic neck if (neck_enable) { - const euler_t neck = apply_neck(value, -neck_z); + const euler_t neck = apply_neck(value, -neck_z, disable(TZ)); for (unsigned k = 0; k < 3; k++) rel(k) += neck(k); @@ -169,7 +169,7 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, // dynamic neck if (neck_enable) { - const euler_t neck = apply_neck(value, -neck_z); + const euler_t neck = apply_neck(value, -neck_z, disable(TZ)); for (unsigned k = 0; k < 3; k++) rel(k) += neck(k); @@ -182,7 +182,7 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, }; } -euler_t reltrans::apply_neck(const Pose& value, int nz) const +euler_t reltrans::apply_neck(const Pose& value, int nz, bool disable_tz) const { euler_t neck; @@ -190,6 +190,9 @@ euler_t reltrans::apply_neck(const Pose& value, int nz) const neck = rotate(R, { 0, 0, nz }, vec3_bool()); neck(TZ) = neck(TZ) - nz; + if (disable_tz) + neck(TZ) = 0; + return neck; } diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp index 2fe0f64b..606a7bf6 100644 --- a/logic/pipeline.hpp +++ b/logic/pipeline.hpp @@ -57,7 +57,7 @@ public: const vec6_bool& disable, bool neck_enable, int neck_z); warn_result_unused - euler_t apply_neck(const Pose& value, int nz) const; + euler_t apply_neck(const Pose& value, int nz, bool disable_tz) const; }; using namespace time_units; |