Commit 605eab57 authored by Ioan A Sucan's avatar Ioan A Sucan
Browse files

fix #24

parent 7fb1820d
......@@ -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;
......
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