From 3ee0abcf6914a0ef62c85d6d647ea4eb28a17dd3 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 20 Feb 2020 16:00:15 +0100
Subject: [PATCH] [EPA] Change tolerance for degenerated face.
---
src/narrowphase/gjk.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/narrowphase/gjk.cpp b/src/narrowphase/gjk.cpp
index 0cb287a2..329d9537 100644
--- a/src/narrowphase/gjk.cpp
+++ b/src/narrowphase/gjk.cpp
@@ -1100,7 +1100,7 @@ EPA::SimplexF* EPA::newFace(SimplexV* a, SimplexV* b, SimplexV* c, bool forced)
face->n = (b->w - a->w).cross(c->w - a->w);
FCL_REAL l = face->n.norm();
- if(l > tolerance)
+ if(l > Eigen::NumTraits<FCL_REAL>::epsilon())
{
face->n /= l;
--
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