fix #24

605eab57 · Ioan A Sucan · 7fb1820d · 605eab57
Commit 605eab57 authored Feb 15, 2014 by Ioan A Sucan
--- a/src/narrowphase/narrowphase.cpp
+++ b/src/narrowphase/narrowphase.cpp
@@ -1637,7 +1637,7 @@ bool capsuleHalfspaceIntersect(const Capsule& s1, const Transform3f& tf1,
  Vec3f dir_z = R.getColumn(2);

  FCL_REAL cosa = dir_z.dot(new_s2.n);
-  if(cosa < halfspaceIntersectTolerance<FCL_REAL>())
+  if(std::abs(cosa) < halfspaceIntersectTolerance<FCL_REAL>())
  {
    FCL_REAL signed_dist = new_s2.signedDistance(T);
    FCL_REAL depth = s1.radius - signed_dist;