From 665ab66abbc7c6542b25e4990a4fcea999f0861c Mon Sep 17 00:00:00 2001
From: jpan <jpan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Sun, 28 Aug 2011 04:16:59 +0000
Subject: [PATCH] git-svn-id: https://kforge.ros.org/fcl/fcl_ros@16
253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/src/BVH_utility.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/trunk/fcl/src/BVH_utility.cpp b/trunk/fcl/src/BVH_utility.cpp
index 39bf9c47..5da59a9f 100644
--- a/trunk/fcl/src/BVH_utility.cpp
+++ b/trunk/fcl/src/BVH_utility.cpp
@@ -58,8 +58,8 @@ void BVHExpand(BVHModel<OBB>& model, const Uncertainty* ucs, BVH_REAL r = 1.0)
for(int k = 0; k < 3; ++k)
{
- vs[6 * j + 2 * k] = v + uc.axis[i] * (r * uc.sigma[k]);
- vs[6 * j + 2 * k + 1] = v - uc.axis[i] * (r * uc.sigma[k]);
+ vs[6 * j + 2 * k] = v + uc.axis[k] * (r * uc.sigma[k]);
+ vs[6 * j + 2 * k + 1] = v - uc.axis[k] * (r * uc.sigma[k]);
}
}
@@ -89,8 +89,8 @@ void BVHExpand(BVHModel<RSS>& model, const Uncertainty* ucs, BVH_REAL r = 1.0)
for(int k = 0; k < 3; ++k)
{
- vs[6 * j + 2 * k] = v + uc.axis[i] * (r * uc.sigma[k]);
- vs[6 * j + 2 * k + 1] = v - uc.axis[i] * (r * uc.sigma[k]);
+ vs[6 * j + 2 * k] = v + uc.axis[k] * (r * uc.sigma[k]);
+ vs[6 * j + 2 * k + 1] = v - uc.axis[k] * (r * uc.sigma[k]);
}
}
--
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