From 384ccbd2cb79b0c70289c770a72b380ccd4b0e81 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 18 Jun 2014 14:08:10 +0200
Subject: [PATCH] Do not express closest points in local frame.
---
include/fcl/narrowphase/narrowphase.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/include/fcl/narrowphase/narrowphase.h b/include/fcl/narrowphase/narrowphase.h
index 6361dec8..f2732160 100644
--- a/include/fcl/narrowphase/narrowphase.h
+++ b/include/fcl/narrowphase/narrowphase.h
@@ -618,7 +618,7 @@ struct GJKSolver_indep
if(distance) *distance = (w0 - w1).length();
if(p1) *p1 = w0;
- if(p2) *p2 = shape.toshape0.transform(w1);
+ if(p2) *p2 = w1;
return true;
}
--
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