From 366a9154d414e301add8935311a5ac23984a4378 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Tue, 26 May 2015 06:47:16 -0400
Subject: [PATCH] Remove commented code in boxBoxIntersect()
---
src/narrowphase/narrowphase.cpp | 12 ++----------
1 file changed, 2 insertions(+), 10 deletions(-)
diff --git a/src/narrowphase/narrowphase.cpp b/src/narrowphase/narrowphase.cpp
index b295601f..0fb235b9 100644
--- a/src/narrowphase/narrowphase.cpp
+++ b/src/narrowphase/narrowphase.cpp
@@ -1506,20 +1506,12 @@ bool boxBoxIntersect(const Box& s1, const Transform3f& tf1,
if(contact_points)
{
- Vec3f contact_point;
- if (contacts.size()>0) {
+ if(contacts.size() > 0)
+ {
std::sort(contacts.begin(), contacts.end(), compareContactPoints);
*contact_points = contacts[0].point;
if(penetration_depth_) *penetration_depth_ = -contacts[0].depth;
}
- // for(size_t i = 0; i < contacts.size(); ++i)
- // {
- // contact_point += contacts[i].point;
- // }
-
- // contact_point = contact_point / (FCL_REAL)contacts.size();
-
- // *contact_points = contact_point;
}
return return_code != 0;
--
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