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Commit 22b391cf authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
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[GJK] Fix GJKSolver_indep::shapeTriangleInteraction. 

  If GJK returns fail, assume no collision.
  Fix computation of closest points.
parent 6f3ca783
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