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Fix issue #258 in jade-devel #266

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Dec 4, 2015
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Fix issue #258 in jade-devel #266

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4 changes: 4 additions & 0 deletions collision_detection_fcl/src/collision_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -364,6 +364,10 @@ bool distanceCallback(fcl::CollisionObject* o1, fcl::CollisionObject* o2, void*
const CollisionGeometryData* cd1 = static_cast<const CollisionGeometryData*>(o1->collisionGeometry()->getUserData());
const CollisionGeometryData* cd2 = static_cast<const CollisionGeometryData*>(o2->collisionGeometry()->getUserData());

// do not perform distance calculation for geoms part of the same object / link / attached body
if (cd1->sameObject(*cd2))
return false;

// If active components are specified
if (cdata->active_components_only_)
{
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