From 2e192aa6796b3bb1eada884f03a554e2d600517a Mon Sep 17 00:00:00 2001 From: Levi Armstrong Date: Sun, 5 Nov 2023 14:55:18 -0600 Subject: [PATCH] Fix FCL contact test when calculate distance is false but contact threshold is greater than zero --- tesseract_collision/fcl/src/fcl_discrete_managers.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tesseract_collision/fcl/src/fcl_discrete_managers.cpp b/tesseract_collision/fcl/src/fcl_discrete_managers.cpp index 4656f5f9d0f..cb45eeb9c51 100644 --- 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())