Commit 4a155e8b authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Fix usage of GJK guess in GJKSolver.

parent a9943a27
......@@ -74,7 +74,7 @@ namespace fcl
shape.set (&s1, &s2, tf1, tf2);
details::GJK gjk((unsigned int )gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess, support_hint);
details::GJK::Status gjk_status = gjk.evaluate(shape, guess, support_hint);
if(enable_cached_guess) {
cached_guess = gjk.getGuessFromSimplex();
support_func_cached_guess = gjk.support_hint;
......@@ -148,7 +148,7 @@ namespace fcl
shape.set (&s, &tri);
details::GJK gjk((unsigned int )gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess, support_hint);
details::GJK::Status gjk_status = gjk.evaluate(shape, guess, support_hint);
if(enable_cached_guess) {
cached_guess = gjk.getGuessFromSimplex();
support_func_cached_guess = gjk.support_hint;
......@@ -226,7 +226,7 @@ namespace fcl
shape.set (&s1, &s2, tf1, tf2);
details::GJK gjk((unsigned int) gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess, support_hint);
details::GJK::Status gjk_status = gjk.evaluate(shape, guess, support_hint);
if(enable_cached_guess) {
cached_guess = gjk.getGuessFromSimplex();
support_func_cached_guess = gjk.support_hint;
......
......@@ -510,7 +510,7 @@ bool GJKSolver::shapeDistance<Capsule, Capsule>
shape.set (&t1, &t2);
details::GJK gjk((unsigned int) gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess, support_hint);
details::GJK::Status gjk_status = gjk.evaluate(shape, guess, support_hint);
if(enable_cached_guess) {
cached_guess = gjk.getGuessFromSimplex();
support_func_cached_guess = gjk.support_hint;
......
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