Verified Commit 3a574ad3 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

collision: sphere/sphere fix distance lower bound value

parent 018425e9
Pipeline #14896 passed with stage
in 27 minutes and 31 seconds
......@@ -121,7 +121,7 @@ namespace fcl {
unit = c1c2/dist;
// Unlike in distance computation, we consider the security margin.
FCL_REAL penetrationDepth = r1 + r2 + margin - dist;
result.updateDistanceLowerBound (-penetrationDepth);
result.updateDistanceLowerBound (-penetrationDepth+margin);
bool collision = (penetrationDepth >= 0);
if (collision) {
// Take contact point at the middle of intersection between each sphere
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