From f826c7fb00bda885631f82451a0a4f0ccb9eda27 Mon Sep 17 00:00:00 2001
From: Christian Godenschwager <christian.godenschwager@fau.de>
Date: Thu, 9 Aug 2018 13:51:43 +0200
Subject: [PATCH] Fix `contains` functions of ConvexPolyhedron
---
src/mesh/pe/rigid_body/ConvexPolyhedron.cpp | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/src/mesh/pe/rigid_body/ConvexPolyhedron.cpp b/src/mesh/pe/rigid_body/ConvexPolyhedron.cpp
index 248d2498b..eb3c3c3ee 100644
--- a/src/mesh/pe/rigid_body/ConvexPolyhedron.cpp
+++ b/src/mesh/pe/rigid_body/ConvexPolyhedron.cpp
@@ -299,8 +299,10 @@ bool ConvexPolyhedron::containsRelPointImpl( real_t px, real_t py, real_t pz ) c
for(auto fh : mesh_.faces())
{
- const TriangleMesh::Point & p = mesh_.normal(fh);
- if( p[0] * px + p[1] * py + p[2] * pz >= real_t(0) )
+ const TriangleMesh::Normal & n = mesh_.normal(fh); // Plane normal
+ const TriangleMesh::Point & pp = mesh_.point(mesh_.to_vertex_handle(mesh_.halfedge_handle(fh))); // Point on plane
+
+ if( n[0] * (px - pp[0]) + n[1] * (py - pp[1]) + n[2] * (pz - pp[2]) >= real_t(0) )
return false;
}
--
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