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Accumulate successive fixed-joint transforms left-to-right. #11

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Accumulate successive fixed-joint transforms left-to-right. #11

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4 changes: 2 additions & 2 deletions crates/optik/src/kinematics.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -67,14 +67,14 @@ impl KinematicChain {
match joint.typ {
JointType::Fixed => {
// Accumulate the transforms from successive fixed joints.
(joints, joint.origin * collapsed_tfm)
(joints, collapsed_tfm * joint.origin)
}
_ => {
// When we encounter an articulated joint, apply the
// accumulated fixed joint transforms (if any) and then
// reset the accumulation.
let new_joint = Joint {
origin: joint.origin * collapsed_tfm,
origin: collapsed_tfm * joint.origin,
..joint
};
joints.push(new_joint);
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