Commit daefc96e authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Make GJKSolver_indep return normal in world frame

parent 59725e77
......@@ -82,7 +82,7 @@ struct GJKSolver_indep
w0 += shape.support(epa.result.c[i]->d, 0) * epa.result.p[i];
}
if(penetration_depth) *penetration_depth = -epa.depth;
if(normal) *normal = epa.normal;
if(normal) *normal = tf2.getRotation() * epa.normal;
if(contact_points) *contact_points = tf1.transform(w0 - epa.normal*(epa.depth *0.5));
return true;
}
......
Markdown is supported
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