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

…eshold is greater than zero
tesseract-robotics · Nov 6, 2023 · 13564bc · 13564bc
1 parent 291f8be
commit 13564bc
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)
   {
     // TODO: Should the order be flipped?
     if (!static_manager_->empty())