From beca38353983cdfe986ab7e7c6de553dd637ae6d Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Mon, 29 Jun 2015 13:26:47 +0200
Subject: [PATCH] Revert "Fix computation of closest points in global frame."
This reverts commit 9122b15d82753ba006e473306b14b5c646b3f4ec.
---
include/hpp/fcl/narrowphase/narrowphase.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/hpp/fcl/narrowphase/narrowphase.h b/include/hpp/fcl/narrowphase/narrowphase.h
index 84c074c6..a09c3ddc 100644
--- a/include/hpp/fcl/narrowphase/narrowphase.h
+++ b/include/hpp/fcl/narrowphase/narrowphase.h
@@ -617,8 +617,8 @@ struct GJKSolver_indep
if(distance) *distance = (w0 - w1).length();
- if(p1) *p1 = tf1.transform (w0);
- if(p2) *p2 = tf1.transform (w1);
+ if(p1) *p1 = w0;
+ if(p2) *p2 = w1;
return true;
}
--
GitLab