From 31e52cc90748f2a2b80232682ec2214fb71f140d Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 6 Dec 2018 16:14:29 +0100
Subject: [PATCH] [OBB] Simplify expression in
obbDisjointAndLowerBoundDistance.
---
src/BV/OBB.cpp | 11 +++--------
1 file changed, 3 insertions(+), 8 deletions(-)
diff --git a/src/BV/OBB.cpp b/src/BV/OBB.cpp
index b462aaff..8e0fdcc3 100644
--- a/src/BV/OBB.cpp
+++ b/src/BV/OBB.cpp
@@ -314,18 +314,13 @@ bool obbDisjointAndLowerBoundDistance (const Matrix3f& B, const Vec3f& T,
// Corner of b axis aligned bounding box the closest to the origin
Vec3f AABB_corner (T.cwiseAbs () - Bf * b);
- Vec3f diff3 (AABB_corner - a);
- diff3 = diff3.cwiseMax (0);
- //for (Vec3f::Index i=0; i<3; ++i) diff3 [i] = std::max (0, diff3 [i]);
- squaredLowerBoundDistance = diff3.squaredNorm ();
+ squaredLowerBoundDistance = (AABB_corner - a).cwiseMax (0).squaredNorm ();
if (squaredLowerBoundDistance > breakDistance2)
return true;
AABB_corner = (B.transpose () * T).cwiseAbs () - Bf.transpose () * a;
- // diff3 = | B^T T| - b - Bf^T a
- diff3 = AABB_corner - b;
- diff3 = diff3.cwiseMax (0);
- squaredLowerBoundDistance = diff3.squaredNorm ();
+ // | B^T T| - b - Bf^T a
+ squaredLowerBoundDistance = (AABB_corner - b).cwiseMax (0).squaredNorm ();
if (squaredLowerBoundDistance > breakDistance2)
return true;
--
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