Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Guilhem Saurel
hpp-fcl
Commits
a5d20791
Commit
a5d20791
authored
Aug 31, 2019
by
Joseph Mirabel
Browse files
Set initial guess for triangle-triangle distance computation.
parent
7735a592
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/narrowphase/narrowphase.cpp
View file @
a5d20791
...
...
@@ -629,8 +629,9 @@ bool GJKSolver_indep::shapeDistance<Capsule, Capsule>
t1
(
tf1
.
transform
(
s1
.
a
),
tf1
.
transform
(
s1
.
b
),
tf1
.
transform
(
s1
.
c
)),
t2
(
tf2
.
transform
(
s2
.
a
),
tf2
.
transform
(
s2
.
b
),
tf2
.
transform
(
s2
.
c
));
Vec3f
guess
(
1
,
0
,
0
)
;
Vec3f
guess
;
if
(
enable_cached_guess
)
guess
=
cached_guess
;
else
guess
=
(
t1
.
a
+
t1
.
b
+
t1
.
c
-
t2
.
a
-
t2
.
b
-
t2
.
c
)
/
3
;
bool
enable_penetration
(
true
);
details
::
MinkowskiDiff
shape
;
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment