[Defaulttype] RigidTypes: Fix various bugs in RigidCoord/RigidMass and add unit tests#5988
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fredroy wants to merge 9 commits intosofa-framework:masterfrom
Open
[Defaulttype] RigidTypes: Fix various bugs in RigidCoord/RigidMass and add unit tests#5988fredroy wants to merge 9 commits intosofa-framework:masterfrom
fredroy wants to merge 9 commits intosofa-framework:masterfrom
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The fix was changing orientation *= a.getOrientation() (right-multiply) to orientation = a.getOrientation() * orientation (left-multiply), matching the order used in operator+.
fredroy
added
pr: fix
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[ci-build][with-all-tests] |
bakpaul
reviewed
Mar 5, 2026
bakpaul
approved these changes
Mar 5, 2026
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Mostly about 2d (which seems to be totally not used as some functions cannot compile)
But also some ones in 3d which are interesting:
and add a lot of unit tests
[with-all-tests]
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