From ba466e3327027e87b3e6e9c2df9625f0c145aef6 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 13 Jun 2019 18:32:37 +0200
Subject: [PATCH] Fix contact point order in MeshShapeCollisionTraversalNode
---
include/hpp/fcl/traversal/traversal_node_bvh_shape.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/hpp/fcl/traversal/traversal_node_bvh_shape.h b/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
index 9c81ed71..322d4f15 100644
--- a/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
+++ b/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
@@ -235,11 +235,11 @@ public:
static const Transform3f Id;
collision =
nsolver->shapeTriangleInteraction(*(this->model2), this->tf2, p1, p2, p3,
- Id , distance, c1, c2, normal);
+ Id , distance, c2, c1, normal);
} else {
collision =
nsolver->shapeTriangleInteraction(*(this->model2), this->tf2, p1, p2, p3,
- this->tf1, distance, c1, c2, normal);
+ this->tf1, distance, c2, c1, normal);
}
if(collision) {
--
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