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Humanoid Path Planner
hpp-fcl
Commits
c9292413
Commit
c9292413
authored
Jun 24, 2020
by
Joseph Mirabel
Browse files
Fix calculation of normal in GJKSolver::shapeDistance
parent
7a9f09c7
Changes
1
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Side-by-side
include/hpp/fcl/narrowphase/narrowphase.h
View file @
c9292413
...
...
@@ -275,9 +275,7 @@ namespace fcl
epa
.
getClosestPoints
(
shape
,
w0
,
w1
);
assert
(
epa
.
depth
>=
-
eps
);
distance
=
(
std
::
min
)
(
0.
,
-
epa
.
depth
);
// TODO should be
// normal = tf1.getRotation() * epa.normal;
normal
=
tf2
.
getRotation
()
*
epa
.
normal
;
normal
=
tf1
.
getRotation
()
*
epa
.
normal
;
p1
=
p2
=
tf1
.
transform
(
w0
-
epa
.
normal
*
(
epa
.
depth
*
0.5
));
return
false
;
}
...
...
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