Sloped plane snaps back to horizontal on rendering

[osrf-migration]

Original report (archived issue) by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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Description

It looks like plane updates are resetting the normal direction, but not the pose.

Steps to Reproduce

1. Load the sloped_normal world, which has this ground plane:

    <model name="ground_plane">
     ...
    <visual name="visual">
      <geometry>
        <plane>
          <normal>0.2 0.0 1</normal>
          <size>100 100</size>
        </plane>
      </geometry>
    </visual>
    ...
    </model>
   

2. Press play and see the world snap to horizontal:

   

3. Now try the sloped_pose world, which has a slope due to model pose, not normal, i.e.:

    <model name="ground_plane">
      <pose>0 0 0 0.1 0 0</pose>
        ...
       <visual name="visual">
          <geometry>
        <plane>
          <normal>0 0 1</normal>
          <size>100 100</size>
        </plane>
      </geometry>
    </visual>
    ...
    </model>
   

4. Press play, and the plane doesn't move, as it should be.

Expected behavior:

The plane should maintain its normal direction once simulation starts.

Actual behavior:

It looks like the plane's normal is being reset to unit Z.

Reproduces how often:

100%

Versions

default branch, version 2 candidate

Additional Information

I suspect we may be forgetting to propagate the normal correctly at some point.