From de6955edbb22ebaf12adcaf2b66c78ad6e454870 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 28 Jun 2017 10:49:05 +0200
Subject: [PATCH] Fix Intersect::buildTrianglePlane
---
src/intersect.cpp | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/src/intersect.cpp b/src/intersect.cpp
index 7991ae4a..bf168dfd 100644
--- a/src/intersect.cpp
+++ b/src/intersect.cpp
@@ -882,8 +882,9 @@ bool Intersect::intersect_Triangle(const Vec3f& P1, const Vec3f& P2, const Vec3f
{
Vec3f n1, n2;
FCL_REAL t1, t2;
- buildTrianglePlane(P1, P2, P3, &n1, &t1);
- buildTrianglePlane(Q1, Q2, Q3, &n2, &t2);
+ bool n1defined = buildTrianglePlane(P1, P2, P3, &n1, &t1);
+ bool n2defined = buildTrianglePlane(Q1, Q2, Q3, &n2, &t2);
+ assert (n1defined && n2defined);
Vec3f deepest_points1[3];
unsigned int num_deepest_points1 = 0;
@@ -920,6 +921,7 @@ bool Intersect::intersect_Triangle(const Vec3f& P1, const Vec3f& P2, const Vec3f
*normal = -n2;
*penetration_depth = penetration_depth1;
}
+ assert(*num_contact_points > 0);
}
return true;
@@ -1115,7 +1117,7 @@ bool Intersect::buildTrianglePlane(const Vec3f& v1, const Vec3f& v2, const Vec3f
if (norm2 > 0)
{
*n = n_ / sqrt(norm2);
- *t = n_.dot(v1);
+ *t = n->dot(v1);
return true;
}
--
GitLab