Fixed scaled rotation matrix for Pose (and derived) nodes #6246
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omichel
approved these changes
Jun 26, 2023
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After #5978, if the Pose (or derived) node has a scaled parent Transform then the
WbAbstractPose::rotationMatrix()function returns the scaled 3x3 submatrix instead of the rotation matrix.Even for pose, the extracted 3x3 matrix needs to be unscaled in order to return a valid rotation matrix.