From 4e22a3ec5d53a7668580443ecd56763ec4b3cb8f Mon Sep 17 00:00:00 2001 From: Justin Carpentier Date: Tue, 15 Mar 2022 18:33:54 +0100 Subject: [PATCH 1/2] hfield: fix computation of aabb_center --- include/hpp/fcl/hfield.h | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/include/hpp/fcl/hfield.h b/include/hpp/fcl/hfield.h index d5b018245..da75463b7 100644 --- a/include/hpp/fcl/hfield.h +++ b/include/hpp/fcl/hfield.h @@ -273,12 +273,13 @@ class HPP_FCL_DLLAPI HeightField /// @brief Compute the AABB for the HeightField, used for broad-phase collision void computeLocalAABB() { - Vec3f A(x_grid[0],y_grid[0],min_height); - Vec3f B(x_grid[x_grid.size()-1],y_grid[y_grid.size()-1],max_height); - AABB aabb_(A,B); + const Vec3f A(x_grid[0],y_grid[0],min_height); + const Vec3f B(x_grid[x_grid.size()-1],y_grid[y_grid.size()-1],max_height); + const AABB aabb_(A,B); aabb_radius = (A-B).norm()/2.; aabb_local = aabb_; + aabb_center = aabb_.center(); } /// \brief Comparison operators From c23ca3a5d806c5183fd2727ce590c8634c21bb87 Mon Sep 17 00:00:00 2001 From: Justin Carpentier Date: Tue, 15 Mar 2022 19:12:27 +0100 Subject: [PATCH 2/2] cmake: sync submodule --- cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake b/cmake index 7a5475bcb..332976cc4 160000 --- a/cmake +++ b/cmake @@ -1 +1 @@ -Subproject commit 7a5475bcbac62643eb5c03744f1ee16f83607fe2 +Subproject commit 332976cc4d5305256c79a479e55ad7ab2ecc42f1