Commit a1edfb87 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Fix some uninitialized Vec3f

parent f77bad18
...@@ -100,8 +100,8 @@ public: ...@@ -100,8 +100,8 @@ public:
/// @brief Construct transform from rotation /// @brief Construct transform from rotation
Transform3f(const Matrix3f& R_) : matrix_set(true), Transform3f(const Matrix3f& R_) : matrix_set(true),
T(Vec3f::Zero()), R(R_),
R(R_) T(Vec3f::Zero())
{ {
q = Quaternion3f(R_); q = Quaternion3f(R_);
} }
......
...@@ -142,7 +142,7 @@ bool sphereSphereIntersect(const Sphere& s1, const Transform3f& tf1, ...@@ -142,7 +142,7 @@ bool sphereSphereIntersect(const Sphere& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2, const Sphere& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) 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(); FCL_REAL len = diff.norm();
if(len > s1.radius + s2.radius) if(len > s1.radius + s2.radius)
return false; return false;
...@@ -161,7 +161,7 @@ bool sphereSphereIntersect(const Sphere& s1, const Transform3f& tf1, ...@@ -161,7 +161,7 @@ bool sphereSphereIntersect(const Sphere& s1, const Transform3f& tf1,
} }
if(contact_points) 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; return true;
} }
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment