From b6fb37149fdbe379635433535ae630c40c798a9e Mon Sep 17 00:00:00 2001
From: jpan <jpan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Mon, 5 Mar 2012 21:13:41 +0000
Subject: [PATCH] n = R * n --> n = R * s.n
git-svn-id: https://kforge.ros.org/fcl/fcl_ros@80 253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/src/geometric_shapes_utility.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/trunk/fcl/src/geometric_shapes_utility.cpp b/trunk/fcl/src/geometric_shapes_utility.cpp
index 0f91c576..06224945 100644
--- a/trunk/fcl/src/geometric_shapes_utility.cpp
+++ b/trunk/fcl/src/geometric_shapes_utility.cpp
@@ -127,7 +127,7 @@ void computeBV<AABB>(const Plane& s, const SimpleTransform& tf, AABB& bv)
{
Matrix3f R = tf.getRotation() * s.getLocalRotation();
- Vec3f n = R * n;
+ Vec3f n = R * s.n;
AABB bv_;
if(n[1] == (BVH_REAL)0.0 && n[2] == (BVH_REAL)0.0)
--
GitLab