From 605eab57d380cc975678aa00294bb2b4f5feb1b1 Mon Sep 17 00:00:00 2001
From: Ioan A Sucan <isucan@users.noreply.github.com>
Date: Sat, 15 Feb 2014 18:15:21 -0800
Subject: [PATCH] fix #24
---
src/narrowphase/narrowphase.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/narrowphase/narrowphase.cpp b/src/narrowphase/narrowphase.cpp
index c1088f3b..9e085217 100644
--- 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;
--
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