Commit 0426652f authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
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[GJK] Fix assert

  - if collision is very small epa algorithm may return slightly negative
    penetration.
parent baa37422
......@@ -138,7 +138,7 @@ namespace fcl
distance = -epa.depth;
normal = -epa.normal;
p1 = p2 = tf1.transform(w0 - epa.normal*(epa.depth *0.5));
assert (distance <= 0);
assert (distance <= 1e-6);
break;
}
case details::GJK::Valid:
......
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