Commit 89c0170c authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

[GJK] SimplexV.d is not normalized.

parent 9812d9bc
......@@ -419,9 +419,9 @@ GJK::Status GJK::evaluate(const MinkowskiDiff& shape_, const Vec3f& guess)
void GJK::getSupport(const Vec3f& d, bool dIsNormalized, SimplexV& sv) const
{
if (dIsNormalized) sv.d = d;
else sv.d.noalias() = d.normalized();
shape.support(sv.d, true, sv.w);
// Was sv.d.noalias() = d.normalized();
sv.d.noalias() = d;
shape.support(sv.d, dIsNormalized, sv.w);
}
void GJK::removeVertex(Simplex& simplex)
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment