From 89c0170c6b8e7b9a813cda57bbdfb750d1142228 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 28 Aug 2019 12:00:56 +0200
Subject: [PATCH] [GJK] SimplexV.d is not normalized.
---
src/narrowphase/gjk.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/narrowphase/gjk.cpp b/src/narrowphase/gjk.cpp
index 86ef02e9..af596e66 100644
--- a/src/narrowphase/gjk.cpp
+++ b/src/narrowphase/gjk.cpp
@@ -419,9 +419,9 @@ GJK::Status GJK::evaluate(const MinkowskiDiff& shape_, const Vec3f& guess)
void GJK::getSupport(const Vec3f& d, bool dIsNormalized, SimplexV& sv) const
{
- if (dIsNormalized) sv.d = d;
- else sv.d.noalias() = d.normalized();
- shape.support(sv.d, true, sv.w);
+ // Was sv.d.noalias() = d.normalized();
+ sv.d.noalias() = d;
+ shape.support(sv.d, dIsNormalized, sv.w);
}
void GJK::removeVertex(Simplex& simplex)
--
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