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Guilhem Saurel
hpp-fcl
Commits
12e5357c
Commit
12e5357c
authored
Aug 28, 2019
by
Joseph Mirabel
Browse files
[Bug] Fix computation of penetration depth for triangle / triangle query.
parent
c83a604f
Changes
1
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Inline
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src/narrowphase/narrowphase.cpp
View file @
12e5357c
...
...
@@ -672,6 +672,9 @@ bool GJKSolver_indep::shapeDistance<Capsule, Capsule>
(
P1
,
P2
,
P3
,
Q1
,
Q2
,
Q3
,
tf1
,
tf2
,
normal
);
dist
=
-
penetrationDepth
;
assert
(
dist
<=
1e-6
);
// GJK says Inside when below GJK.tolerance. So non intersecting
// triangle may trigger "Inside" and have no penetration.
return
penetrationDepth
<
0
;
}
dist
=
0
;
return
false
;
...
...
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