Commit 89c0170c authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

[GJK] SimplexV.d is not normalized.

parent 9812d9bc
......@@ -419,9 +419,9 @@ GJK::Status GJK::evaluate(const MinkowskiDiff& shape_, const Vec3f& guess)
void GJK::getSupport(const Vec3f& d, bool dIsNormalized, SimplexV& sv) const
if (dIsNormalized) sv.d = d;
else sv.d.noalias() = d.normalized();, true, sv.w);
// Was sv.d.noalias() = d.normalized();
sv.d.noalias() = d;, dIsNormalized, sv.w);
void GJK::removeVertex(Simplex& simplex)
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