fixed bug in meshConservativeAdvancementOrientedNodeCanStop (#271)

"1" is index of "y" coordinate
flexible-collision-library · Mar 26, 2018 · 2b0f911 · 2b0f911
1 parent 2d3d8f7
commit 2b0f911
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/.../narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node-inl.h b/.../narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node-inl.h
@@ -621,7 +621,7 @@ bool meshConservativeAdvancementOrientedNodeCanStop(
     // n is in local frame of c1, so we need to turn n into the global frame
     Vector3<S> n_transformed =
       getBVAxis(model1->getBV(c1).bv, 0) * n[0] +
-      getBVAxis(model1->getBV(c1).bv, 1) * n[2] +  // TODO(JS): not n[1]?
+      getBVAxis(model1->getBV(c1).bv, 1) * n[1] +
       getBVAxis(model1->getBV(c1).bv, 2) * n[2];
     Quaternion<S> R0;
     motion1->getCurrentRotation(R0);