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Commit 4a155e8b authored by Joseph Mirabel's avatar Joseph Mirabel
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Fix usage of GJK guess in GJKSolver.

parent a9943a27
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include/hpp/fcl/narrowphase/narrowphase.h
View file @ 4a155e8b
...@@ -74,7 +74,7 @@ namespace fcl ...@@ -74,7 +74,7 @@ namespace fcl
shape.set (&s1, &s2, tf1, tf2); shape.set (&s1, &s2, tf1, tf2);
details::GJK gjk((unsigned int )gjk_max_iterations, gjk_tolerance); details::GJK gjk((unsigned int )gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess, support_hint); details::GJK::Status gjk_status = gjk.evaluate(shape, guess, support_hint);
if(enable_cached_guess) { if(enable_cached_guess) {
cached_guess = gjk.getGuessFromSimplex(); cached_guess = gjk.getGuessFromSimplex();
support_func_cached_guess = gjk.support_hint; support_func_cached_guess = gjk.support_hint;
...@@ -148,7 +148,7 @@ namespace fcl ...@@ -148,7 +148,7 @@ namespace fcl
shape.set (&s, &tri); shape.set (&s, &tri);
details::GJK gjk((unsigned int )gjk_max_iterations, gjk_tolerance); details::GJK gjk((unsigned int )gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess, support_hint); details::GJK::Status gjk_status = gjk.evaluate(shape, guess, support_hint);
if(enable_cached_guess) { if(enable_cached_guess) {
cached_guess = gjk.getGuessFromSimplex(); cached_guess = gjk.getGuessFromSimplex();
support_func_cached_guess = gjk.support_hint; support_func_cached_guess = gjk.support_hint;
...@@ -226,7 +226,7 @@ namespace fcl ...@@ -226,7 +226,7 @@ namespace fcl
shape.set (&s1, &s2, tf1, tf2); shape.set (&s1, &s2, tf1, tf2);
details::GJK gjk((unsigned int) gjk_max_iterations, gjk_tolerance); details::GJK gjk((unsigned int) gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess, support_hint); details::GJK::Status gjk_status = gjk.evaluate(shape, guess, support_hint);
if(enable_cached_guess) { if(enable_cached_guess) {
cached_guess = gjk.getGuessFromSimplex(); cached_guess = gjk.getGuessFromSimplex();
support_func_cached_guess = gjk.support_hint; support_func_cached_guess = gjk.support_hint;
......
src/narrowphase/narrowphase.cpp
View file @ 4a155e8b
...@@ -510,7 +510,7 @@ bool GJKSolver::shapeDistance<Capsule, Capsule> ...@@ -510,7 +510,7 @@ bool GJKSolver::shapeDistance<Capsule, Capsule>
shape.set (&t1, &t2); shape.set (&t1, &t2);
details::GJK gjk((unsigned int) gjk_max_iterations, gjk_tolerance); details::GJK gjk((unsigned int) gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess, support_hint); details::GJK::Status gjk_status = gjk.evaluate(shape, guess, support_hint);
if(enable_cached_guess) { if(enable_cached_guess) {
cached_guess = gjk.getGuessFromSimplex(); cached_guess = gjk.getGuessFromSimplex();
support_func_cached_guess = gjk.support_hint; support_func_cached_guess = gjk.support_hint;
......
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