Commit 15ff829d authored by Robin Strudel's avatar Robin Strudel Committed by rstrudel
Browse files

Remove useless redundancy

parent 1a43a995
......@@ -4,7 +4,6 @@
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// Modified by Florent Lamiraux 2014
#include <cmath>
#include <limits>
......@@ -74,17 +73,6 @@ namespace fcl {
{
// Check if the segments degenerate into points
s = t = 0.0;
FCL_REAL distance = (p1-p2).norm();
Vec3f normal = (p1 - p2) / distance;
result.normal = normal;
distance = distance - (radius1 + radius2);
result.min_distance = distance;
if (request.enable_nearest_points)
{
result.nearest_points[0] = p1 - radius1 * normal;
result.nearest_points[1] = p2 + radius2 * normal;
}
return distance;
}
else if (a <= EPSILON)
{
......@@ -100,7 +88,7 @@ namespace fcl {
}
else
{
// Always non-negative, equal 0 if the segments are parallel
// Always non-negative, equal 0 if the segments are colinear
FCL_REAL denom = fmax(a*e-b*b, 0);
if (denom > EPSILON)
......
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