From 5a906e093c2a72f8e21a3467741f68e35b6955d4 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@gmail.com>
Date: Thu, 10 Jan 2019 15:51:42 +0100
Subject: [PATCH] Revert "[OBB] Simplify expression in
obbDisjointAndLowerBoundDistance.", fix #46
This reverts commit 31e52cc90748f2a2b80232682ec2214fb71f140d.
---
src/BV/OBB.cpp | 11 ++++++++---
1 file changed, 8 insertions(+), 3 deletions(-)
diff --git a/src/BV/OBB.cpp b/src/BV/OBB.cpp
index 8e0fdcc3..b462aaff 100644
--- a/src/BV/OBB.cpp
+++ b/src/BV/OBB.cpp
@@ -314,13 +314,18 @@ bool obbDisjointAndLowerBoundDistance (const Matrix3f& B, const Vec3f& T,
// Corner of b axis aligned bounding box the closest to the origin
Vec3f AABB_corner (T.cwiseAbs () - Bf * b);
- squaredLowerBoundDistance = (AABB_corner - a).cwiseMax (0).squaredNorm ();
+ Vec3f diff3 (AABB_corner - a);
+ diff3 = diff3.cwiseMax (0);
+ //for (Vec3f::Index i=0; i<3; ++i) diff3 [i] = std::max (0, diff3 [i]);
+ squaredLowerBoundDistance = diff3.squaredNorm ();
if (squaredLowerBoundDistance > breakDistance2)
return true;
AABB_corner = (B.transpose () * T).cwiseAbs () - Bf.transpose () * a;
- // | B^T T| - b - Bf^T a
- squaredLowerBoundDistance = (AABB_corner - b).cwiseMax (0).squaredNorm ();
+ // diff3 = | B^T T| - b - Bf^T a
+ diff3 = AABB_corner - b;
+ diff3 = diff3.cwiseMax (0);
+ squaredLowerBoundDistance = diff3.squaredNorm ();
if (squaredLowerBoundDistance > breakDistance2)
return true;
--
GitLab