From fd5520b87f45d381da405fb4775ff95e14d6d7ed Mon Sep 17 00:00:00 2001
From: Adnan Munawar <adnan.munawar@live.com>
Date: Wed, 3 Jul 2024 04:51:16 +0500
Subject: [PATCH] Better update of ghost object pose

---
 ambf_framework/afFramework.cpp | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/ambf_framework/afFramework.cpp b/ambf_framework/afFramework.cpp
index de6b1ea8..4b257bc0 100644
--- a/ambf_framework/afFramework.cpp
+++ b/ambf_framework/afFramework.cpp
@@ -8030,7 +8030,18 @@ void afGhostObject::update(double dt)
     //    cTransform trans;
     //    trans << m_bulletGhostObject->getWorldTransform();
     //    setLocalTransform(trans);
-    m_bulletGhostObject->setWorldTransform(to_btTransform(m_globalTransform));
+    cTransform T_g_p = getLocalTransform();
+    if (m_parentObject){
+        cTransform T_p_w;
+        if (m_parentObject->getType() == afType::RIGID_BODY || m_parentObject->getType() == afType::SOFT_BODY || m_parentObject->getType() == afType::GHOST_OBJECT){
+            T_p_w << ((afInertialObject*)m_parentObject)->getCOMTransform();
+        }
+        else{
+            T_p_w = m_parentObject->getGlobalTransform();
+        }
+        T_g_p = T_p_w * T_g_p;
+    }
+    m_bulletGhostObject->setWorldTransform(to_btTransform(T_g_p));
     m_sensedObjectsMaps.clear();
 
     btManifoldArray* manifoldArray = new btManifoldArray();