From 1b4c09a92000b25bf1f47aceb9db1017d8c02922 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Tue, 17 Jun 2014 13:54:17 +0200
Subject: [PATCH] Do not express closest points in local frame.
---
include/fcl/narrowphase/narrowphase.h | 3 ---
1 file changed, 3 deletions(-)
diff --git a/include/fcl/narrowphase/narrowphase.h b/include/fcl/narrowphase/narrowphase.h
index fbb5ff0a..6361dec8 100644
--- a/include/fcl/narrowphase/narrowphase.h
+++ b/include/fcl/narrowphase/narrowphase.h
@@ -125,9 +125,6 @@ struct GJKSolver_libccd
max_distance_iterations, distance_tolerance,
dist, p1, p2);
- if(p1) *p1 = inverse(tf1).transform(*p1);
- if(p2) *p2 = inverse(tf2).transform(*p2);
-
details::GJKInitializer<S1>::deleteGJKObject(o1);
details::GJKInitializer<S2>::deleteGJKObject(o2);
--
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