Box/ray intersections are broken in 0.5.4 about geometric_shapes HOT 3 CLOSED

@LeroyR Please could you have a look at this issue, as you changed this code.

from geometric_shapes.

The intersection code seems to be fine, hit locations and ordering seems to be fine.
They cant be totally broken as the tests suite complete and my experiments did still finished as expected.

my code looks something like this:

bodies::BodyPtr body(bodies::createBodyFromShape(shape.get()));
body->setScale(1);
Eigen::Affine3d bodyPose;
tf2::fromMsg(pose, bodyPose);
body->setPose(bodyPose);
EigenSTL::vector_Vector3d intersections;
intersected = body->intersectsRay(origin, dir, &intersections, 1);
for (auto a : intersections) { ...

Can you confirm it worked in 0.5.3 or produce example points & a box that should intersect but fail?

from geometric_shapes.

This should be fixed via #109 in Melodic.

from geometric_shapes.