Fix FCL contact test when calculate distance is false but contact thr…

…eshold is greater than zero
tesseract-robotics · Nov 5, 2023 · 2e192aa · 2e192aa
1 parent 2437054
commit 2e192aa
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/tesseract_collision/fcl/src/fcl_discrete_managers.cpp b/tesseract_collision/fcl/src/fcl_discrete_managers.cpp
@@ -314,7 +314,7 @@ IsContactAllowedFn FCLDiscreteBVHManager::getIsContactAllowedFn() const { return
 void FCLDiscreteBVHManager::contactTest(ContactResultMap& collisions, const ContactRequest& request)
 {
   ContactTestData cdata(active_, collision_margin_data_, fn_, request, collisions);
-  if (collision_margin_data_.getMaxCollisionMargin() > 0 && request.calculate_distance)
+  if (collision_margin_data_.getMaxCollisionMargin() > 0 || request.calculate_distance)
   {
     // TODO: Should the order be flipped?
     if (!static_manager_->empty())