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Humanoid Path Planner
hpp-fcl
Commits
68e14b69
Commit
68e14b69
authored
Jul 03, 2020
by
Joseph Mirabel
Browse files
Fix ShapeShapeCollide
parent
3a4dc1c5
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/collision_func_matrix.cpp
View file @
68e14b69
...
...
@@ -85,10 +85,10 @@ std::size_t ShapeShapeCollide(const CollisionGeometry* o1, const Transform3f& tf
if
(
distance
<=
0
)
{
if
(
result
.
numContacts
()
<
request
.
num_max_contacts
)
{
const
Vec3f
&
p1
=
distanceResult
.
nearest_points
[
0
];
assert
(
!
request
.
enable_contact
||
p1
=
=
distanceResult
.
nearest_points
[
1
]
)
;
const
Vec3f
&
p2
=
distanceResult
.
nearest_points
[
1
];
Contact
contact
(
o1
,
o2
,
distanceResult
.
b1
,
distanceResult
.
b2
,
p1
,
(
p1
+
p2
)
/
2
,
distanceResult
.
normal
,
-
distance
+
request
.
security_margin
);
...
...
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