From c5a239cc1460c45e5ca99cfbcf27ef7eeb2ac40c Mon Sep 17 00:00:00 2001
From: isucan <isucan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Tue, 5 Jun 2012 00:03:54 +0000
Subject: [PATCH] fix bug for when manager is empty
git-svn-id: https://kforge.ros.org/fcl/fcl_ros@90 253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/src/broad_phase_collision.cpp | 3 +++
1 file changed, 3 insertions(+)
diff --git a/trunk/fcl/src/broad_phase_collision.cpp b/trunk/fcl/src/broad_phase_collision.cpp
index dad4ba31..7d4ae568 100644
--- a/trunk/fcl/src/broad_phase_collision.cpp
+++ b/trunk/fcl/src/broad_phase_collision.cpp
@@ -456,6 +456,9 @@ void SSaPCollisionManager::distance(CollisionObject* obj, void* cdata_, Distance
void SSaPCollisionManager::collide(void* cdata, CollisionCallBack callback) const
{
+ if (size() < 1)
+ return;
+
// simple sweep and prune method
double delta_x = (objs_x[objs_x.size() - 1])->getAABB().min_[0] - (objs_x[0])->getAABB().min_[0];
double delta_y = (objs_x[objs_y.size() - 1])->getAABB().min_[1] - (objs_y[0])->getAABB().min_[1];
--
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