From 49bfef683060e33f70a57df1ff25e4b3d0b5d201 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sun, 21 Apr 2019 22:40:06 +0200
Subject: [PATCH] Fix MeshShapeCollisionTraversalNodeOBB
---
include/hpp/fcl/traversal/traversal_node_bvh_shape.h | 8 ++++++++
1 file changed, 8 insertions(+)
diff --git a/include/hpp/fcl/traversal/traversal_node_bvh_shape.h b/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
index 0d9730fe..738d63c5 100644
--- a/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
+++ b/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
@@ -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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