Fix computation of closest points in global frame.

include/fcl/narrowphase/narrowphase.h

@@ -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;
     }