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Fix computation of aabb_center #273

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merged 2 commits into from
Mar 16, 2022
Merged

Fix computation of aabb_center #273

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4e22a3e
hfield: fix computation of aabb_center
jcarpent Mar 15, 2022
c23ca3a
cmake: sync submodule
jcarpent Mar 15, 2022
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2 changes: 1 addition & 1 deletion cmake
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Submodule cmake updated 1 files
+23 −19 cxx-standard.cmake
7 changes: 4 additions & 3 deletions include/hpp/fcl/hfield.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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