From dce544c32c32a990f58a8339ff348ca7ec4f937f Mon Sep 17 00:00:00 2001 From: Louis Montaut Date: Fri, 3 Jun 2022 10:56:49 +0200 Subject: [PATCH] core: assertion check in initialize_gjk in GJKSolver --- include/hpp/fcl/narrowphase/narrowphase.h | 1 + 1 file changed, 1 insertion(+) diff --git a/include/hpp/fcl/narrowphase/narrowphase.h b/include/hpp/fcl/narrowphase/narrowphase.h index ebd2b6d0a..61a2193d9 100644 --- a/include/hpp/fcl/narrowphase/narrowphase.h +++ b/include/hpp/fcl/narrowphase/narrowphase.h @@ -65,6 +65,7 @@ struct HPP_FCL_DLLAPI GJKSolver { support_hint = support_func_cached_guess; break; case GJKInitialGuess::BoundingVolumeGuess: + assert((s1.aabb_radius > 0) && (s2.aabb_radius > 0)); guess.noalias() = s1.aabb_center - (shape.oR1 * s2.aabb_center + shape.ot1); support_hint =