core/sphere: fix signs

64d04217 · Justin Carpentier · GitHub · bcd6a0c7 · 64d04217
Unverified Commit 64d04217 authored Mar 11, 2020 by Justin Carpentier Committed by GitHub Mar 11, 2020
--- a/src/narrowphase/details.h
+++ b/src/narrowphase/details.h
@@ -268,8 +268,8 @@ namespace fcl {
      normal = -diff/len;
      dist = len - s1.radius - s2.radius;

-      p1.noalias() = o1 - normal * s1.radius;
-      p2.noalias() = o2 + normal * s2.radius;
+      p1.noalias() = o1 + normal * s1.radius;
+      p2.noalias() = o2 - normal * s2.radius;

      return (dist >=0);
    }