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Fixed UndoToolTransformOnCursor method #14

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Fixed UndoToolTransformOnCursor method #14

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856446b
Fixed UndoToolTransformOnCursor method
0mkt Dec 23, 2019
4c6146b
Merge pull request #1 from 0mkt/0mkt-extending-machina
0mkt Dec 23, 2019
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2 changes: 1 addition & 1 deletion src/Machina/RobotCursor.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -1327,7 +1327,7 @@ internal void UndoToolTransformOnCursor(RobotCursor cursor, Tool tool, RobotLogg
{
// TODO: at some point in the future, check for translationFirst here
Rotation newRot = Rotation.Combine(cursor.rotation, Rotation.Inverse(tool.TCPOrientation)); // postmultiplication by the inverse rotation
Vector worldVector = Vector.Rotation(tool.TCPPosition, cursor.rotation);
Vector worldVector = Vector.Rotation(tool.TCPPosition, newRot);
Vector newPos = cursor.position - worldVector;

cursor.prevPosition = cursor.position;
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