Commit 49bfef68 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Fix MeshShapeCollisionTraversalNodeOBB

parent 3462f35b
......@@ -312,6 +312,14 @@ public:
return !overlap(this->tf1.getRotation(), this->tf1.getTranslation(), this->model2_bv, this->model1->getBV(b1).bv);
}
bool BVTesting(int b1, int /*b2*/, FCL_REAL& sqrDistLowerBound) const
{
if(this->enable_statistics) this->num_bv_tests++;
return !overlap(this->tf1.getRotation(), this->tf1.getTranslation(),
this->model2_bv, this->model1->getBV(b1).bv,
this->request, sqrDistLowerBound);
}
void leafTesting(int b1, int b2, FCL_REAL& sqrDistLowerBound) const
{
details::meshShapeCollisionOrientedNodeLeafTesting
......
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