Commit 8cb56bd6 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Fix computation of closest points in global frame.

parent 519ab5d5
......@@ -617,8 +617,8 @@ struct GJKSolver_indep
if(distance) *distance = (w0 - w1).length();
if(p1) *p1 = w0;
if(p2) *p2 = w1;
if(p1) *p1 = tf1.transform (w0);
if(p2) *p2 = tf1.transform (w1);
return true;
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