Commit 1b4c09a9 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Do not express closest points in local frame.

parent d5363027
......@@ -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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