Commit 43e40c05 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Set distance and contact point on failure in shape distance algo.

parent 481d232e
......@@ -249,7 +249,11 @@ namespace fcl
// normal = tf1.getRotation() * epa.normal;
normal = tf2.getRotation() * epa.normal;
p1 = p2 = tf1.transform(w0 - epa.normal*(epa.depth *0.5));
return false;
}
distance = -std::numeric_limits<FCL_REAL>::max();
gjk.getClosestPoints (shape, p1, p2);
p1 = p2 = tf1.transform (p1);
}
return false;
}
......
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