From a1edfb87c791d2acb709bf27d14882c697cd1bb3 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 10 May 2017 13:31:07 +0200
Subject: [PATCH] Fix some uninitialized Vec3f
---
include/hpp/fcl/math/transform.h | 4 ++--
src/narrowphase/narrowphase.cpp | 4 ++--
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/include/hpp/fcl/math/transform.h b/include/hpp/fcl/math/transform.h
index db0792b8..3f08e0b9 100644
--- a/include/hpp/fcl/math/transform.h
+++ b/include/hpp/fcl/math/transform.h
@@ -100,8 +100,8 @@ public:
/// @brief Construct transform from rotation
Transform3f(const Matrix3f& R_) : matrix_set(true),
- T(Vec3f::Zero()),
- R(R_)
+ R(R_),
+ T(Vec3f::Zero())
{
q = Quaternion3f(R_);
}
diff --git a/src/narrowphase/narrowphase.cpp b/src/narrowphase/narrowphase.cpp
index 30334bca..a2ed4d32 100644
--- a/src/narrowphase/narrowphase.cpp
+++ b/src/narrowphase/narrowphase.cpp
@@ -142,7 +142,7 @@ bool sphereSphereIntersect(const Sphere& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal)
{
- Vec3f diff = tf2.transform(Vec3f()) - tf1.transform(Vec3f());
+ Vec3f diff = tf2.getTranslation() - tf1.getTranslation();
FCL_REAL len = diff.norm();
if(len > s1.radius + s2.radius)
return false;
@@ -161,7 +161,7 @@ bool sphereSphereIntersect(const Sphere& s1, const Transform3f& tf1,
}
if(contact_points)
- *contact_points = tf1.transform(Vec3f(0,0,0)) + diff * s1.radius / (s1.radius + s2.radius);
+ *contact_points = tf1.getTranslation() + diff * s1.radius / (s1.radius + s2.radius);
return true;
}
--
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