From 3be6dee6b8de305ba8a2bb5b0e051c738c558f90 Mon Sep 17 00:00:00 2001
From: Bastian Hofmann <bastian.hofmann@xitaso.com>
Date: Wed, 15 Mar 2023 09:10:51 +0000
Subject: [PATCH] Add way of keeping heading if no target Quaternion is given.

---
 src/ign_actor_plugin/src/ActorSystem.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/ign_actor_plugin/src/ActorSystem.cpp b/src/ign_actor_plugin/src/ActorSystem.cpp
index 8a040a8..048796a 100644
--- a/src/ign_actor_plugin/src/ActorSystem.cpp
+++ b/src/ign_actor_plugin/src/ActorSystem.cpp
@@ -172,6 +172,15 @@ void ActorSystem::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ec
                 movementDetails.rotateToTargetDuration = 0.0;
                 movementDetails.moveDuration = 0.0;
             }
+            
+            if( 
+                movementDetails.target.Rot().W() == 0 &&
+                movementDetails.target.Rot().X() == 0 &&
+                movementDetails.target.Rot().Y() == 0 &&
+                movementDetails.target.Rot().Z() == 0
+            ){
+                movementDetails.target.Rot() = movementDetails.targetDiff.Rot();
+            }
 
             movementDetails.rotateToEndDuration = Angle(movementDetails.targetDiff.Rot(),movementDetails.target.Rot()) / turnSpeed;
         }