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Guilhem Saurel
hpp-fcl
Commits
a9dd3221
Commit
a9dd3221
authored
Apr 30, 2020
by
Joseph Mirabel
Browse files
Add missing computation of the normal
parent
c6cfcad8
Changes
1
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Inline
Side-by-side
include/hpp/fcl/narrowphase/narrowphase.h
View file @
a9dd3221
...
...
@@ -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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