From 22b391cfee794ca7d55bb23867aa8c5f59989e86 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Sun, 13 Jan 2019 19:42:30 +0100
Subject: [PATCH] [GJK] Fix GJKSolver_indep::shapeTriangleInteraction.
If GJK returns fail, assume no collision.
Fix computation of closest points.
---
include/hpp/fcl/narrowphase/narrowphase.h | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/include/hpp/fcl/narrowphase/narrowphase.h b/include/hpp/fcl/narrowphase/narrowphase.h
index a92d3011..a3b6bbf8 100644
--- a/include/hpp/fcl/narrowphase/narrowphase.h
+++ b/include/hpp/fcl/narrowphase/narrowphase.h
@@ -142,6 +142,7 @@ namespace fcl
break;
}
case details::GJK::Valid:
+ case details::GJK::Failed:
{
col = false;
Vec3f w0 (Vec3f::Zero()), w1 (Vec3f::Zero());
@@ -152,8 +153,8 @@ namespace fcl
w1 += shape.support(-gjk.getSimplex()->vertex[i]->d, 1) * p;
}
distance = (w0 - w1).norm();
- p1 = w0;
- p2 = shape.toshape0.transform(w1);
+ p1 = tf1.transform (w0);
+ p2 = tf1.transform (w1);
assert (distance > 0);
}
break;
--
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