From a16800f497ebe66cf1055b31680972e8ce2b4f66 Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Tue, 9 Aug 2016 14:00:45 +0200
Subject: [PATCH] [BUG FIX LIBCDD] using diagonal generator ray avois crashing
libcdd...
---
src/static_equilibrium.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/static_equilibrium.cpp b/src/static_equilibrium.cpp
index cd4f0ca..35d6b40 100644
--- a/src/static_equilibrium.cpp
+++ b/src/static_equilibrium.cpp
@@ -99,7 +99,7 @@ bool StaticEquilibrium::setNewContacts(Cref_matrixX3 contactPoints, Cref_matrixX
A.bottomRows<3>() = crossMatrix(-1.0*contactPoints.row(i).transpose());
// compute generators
- theta = 0.0;
+ theta = acos(1/sqrt(2));
for(int j=0; j<cg; j++)
{
G.col(j) = frictionCoefficient*sin(theta)*T1
--
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