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Fix row-major matrix multiplication order in hierarchical ROI transforms

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ComputeChildOffsets and ApplyHierarchyTransform had the multiplication
operands swapped. In row-major convention with translation in row 3:
  offset = child_world * inverse(parent_world)
  child_new = offset * new_parent_world

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Christian Semmler 2026-03-28 14:27:34 -07:00
parent b566ddaea8
commit 39ee0b33d5
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GPG Key ID: 086DAA1360BEEE5C
1 changed files with 2 additions and 2 deletions
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4
extensions/src/common/animutils.cpp
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@ -375,7 +375,7 @@ std::vector<MxMatrix> AnimUtils::ComputeChildOffsets(LegoROI* p_parent)
for (auto it = children->begin(); it != children->end(); it++) {
MxMatrix offset;
offset.Product(parentInv, ((LegoROI*) *it)->GetLocal2World());
offset.Product(((LegoROI*) *it)->GetLocal2World(), parentInv);
offsets.push_back(offset);
}
@ -398,7 +398,7 @@ void AnimUtils::ApplyHierarchyTransform(
size_t i = 0;
for (auto it = children->begin(); it != children->end() && i < p_offsets.size(); it++, i++) {
MxMatrix childWorld;
childWorld.Product(p_transform, p_offsets[i]);
childWorld.Product(p_offsets[i], p_transform);
((LegoROI*) *it)->WrappedSetLocal2WorldWithWorldDataUpdate(childWorld);
}
}