diff options
Diffstat (limited to 'logic/pipeline.cpp')
| -rw-r--r-- | logic/pipeline.cpp | 9 |
1 files changed, 6 insertions, 3 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; } |