Commit 31e52cc9 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
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[OBB] Simplify expression in obbDisjointAndLowerBoundDistance.

parent 0e2a07a9
......@@ -314,18 +314,13 @@ bool obbDisjointAndLowerBoundDistance (const Matrix3f& B, const Vec3f& T,
// Corner of b axis aligned bounding box the closest to the origin
Vec3f AABB_corner (T.cwiseAbs () - Bf * b);
Vec3f diff3 (AABB_corner - a);
diff3 = diff3.cwiseMax (0);
//for (Vec3f::Index i=0; i<3; ++i) diff3 [i] = std::max (0, diff3 [i]);
squaredLowerBoundDistance = diff3.squaredNorm ();
squaredLowerBoundDistance = (AABB_corner - a).cwiseMax (0).squaredNorm ();
if (squaredLowerBoundDistance > breakDistance2)
return true;
AABB_corner = (B.transpose () * T).cwiseAbs () - Bf.transpose () * a;
// diff3 = | B^T T| - b - Bf^T a
diff3 = AABB_corner - b;
diff3 = diff3.cwiseMax (0);
squaredLowerBoundDistance = diff3.squaredNorm ();
// | B^T T| - b - Bf^T a
squaredLowerBoundDistance = (AABB_corner - b).cwiseMax (0).squaredNorm ();
if (squaredLowerBoundDistance > breakDistance2)
return true;
......
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