Commit a9dd3221 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Add missing computation of the normal

parent c6cfcad8
......@@ -225,6 +225,7 @@ namespace fcl
// assert (distance == (w0 - w1).norm());
distance = gjk.distance;
normal = (tf1.getRotation() * gjk.ray).normalized();
p1 = tf1.transform (p1);
p2 = tf1.transform (p2);
return true;
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