From 98f885945bc2ffbd1373833098396a9aa1708ecf Mon Sep 17 00:00:00 2001
From: jpan <jpan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Fri, 10 Aug 2012 17:31:19 +0000
Subject: [PATCH] a small bug in fcl
git-svn-id: https://kforge.ros.org/fcl/fcl_ros@162 253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/include/fcl/collision_object.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/trunk/fcl/include/fcl/collision_object.h b/trunk/fcl/include/fcl/collision_object.h
index 33e51318..e638684b 100644
--- a/trunk/fcl/include/fcl/collision_object.h
+++ b/trunk/fcl/include/fcl/collision_object.h
@@ -170,12 +170,12 @@ public:
{
if(t.getQuatRotation().isIdentity())
{
- aabb = cgeom->aabb_local;
+ aabb = translate(cgeom->aabb_local, t.getTranslation());
}
else
{
Vec3f center = t.transform(cgeom->aabb_center);
- Vec3f delta(cgeom->aabb_radius, cgeom->aabb_radius, cgeom->aabb_radius);
+ Vec3f delta(cgeom->aabb_radius);
aabb.min_ = center - delta;
aabb.max_ = center + delta;
}
--
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