Commit 15ff829d by Robin Strudel Committed by rstrudel

Remove useless redundancy

parent 1a43a995
 ... @@ -4,7 +4,6 @@ ... @@ -4,7 +4,6 @@ // http://www.boost.org/LICENSE_1_0.txt // http://www.boost.org/LICENSE_1_0.txt // http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt // http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt // // // Modified by Florent Lamiraux 2014 #include #include #include #include ... @@ -74,17 +73,6 @@ namespace fcl { ... @@ -74,17 +73,6 @@ namespace fcl { { { // Check if the segments degenerate into points // Check if the segments degenerate into points s = t = 0.0; 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) else if (a <= EPSILON) { { ... @@ -100,7 +88,7 @@ namespace fcl { ... @@ -100,7 +88,7 @@ namespace fcl { } } else 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); FCL_REAL denom = fmax(a*e-b*b, 0); if (denom > EPSILON) if (denom > EPSILON) ... ...
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