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Submodels: Fix initial position offset

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Fixes https://sourceforge.net/p/flightgear/codetickets/2521/

For submodels with rotation offsets, the rotation was applied to the
translation offset.
This is incorrect: translation offsets should be in the aircraft local
frame, and thus are not affected by submodel rotation offsets.
This commit is contained in:
Colin Geniet 2021-01-17 21:35:48 +01:00 committed by James Turner
parent 02814ebe35
commit 4f4a81d12b
1 changed files with 3 additions and 8 deletions
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11
src/AIModel/submodel.cxx
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@ -712,9 +712,9 @@ void FGSubmodelMgr::loadSubmodels()
SGVec3d FGSubmodelMgr::getCartOffsetPos(submodel* sm) const SGVec3d FGSubmodelMgr::getCartOffsetPos(submodel* sm) const
{ {
// Transform to the right coordinate frame, configuration is done in // Transform to the right coordinate frame, configuration is done in
// the x-forward, y-right, z-up coordinates (feet), computation // either x-backward, y-right, z-up coordinates (meter),
// in the simulation usual body x-forward, y-right, z-down coordinates // or (deprecated) x-forward, y-right, z-up coordinates (feet).
// (meters) ) // computation in the simulation usual body x-forward, y-right, z-down coordinates (meters)
SGVec3d offset; SGVec3d offset;
if (sm->offsets_in_meter) { if (sm->offsets_in_meter) {
offset = SGVec3d(-sm->x_offset->get_value(), offset = SGVec3d(-sm->x_offset->get_value(),
@ -736,11 +736,6 @@ SGVec3d FGSubmodelMgr::getCartOffsetPos(submodel* sm) const
IC.elevation, IC.elevation,
IC.roll); IC.roll);
// postrotate by any pitch/heasing/roll offset
hlTrans *= SGQuatd::fromYawPitchRollDeg(sm->yaw_offset->get_value(),
sm->pitch_offset->get_value(),
0.0);
// The offset converted to the usual body fixed coordinate system // The offset converted to the usual body fixed coordinate system
// rotated to the earth-fixed coordinates axis // rotated to the earth-fixed coordinates axis
SGVec3d off = hlTrans.backTransform(offset); SGVec3d off = hlTrans.backTransform(offset);