Wrong result from TriDist

[hfogg01]

I have encountered a bug where TriDist returns the wrong result.

The sample code below outlines the issue:

#include <stdio.h>
#include <math.h>
#include "PQP.h"

int main()
{
PQP_Model *b1 = new PQP_Model;
PQP_Model *b2 = new PQP_Model;

PQP_REAL triangleS[3][3] = {
                 {8000.0000000000036,
                  6817.7672478170962,
                  571.00166381103077},
                 {7500.0000000000009,
                  6817.7672478170962,
                  571.00166381103077},
                 {7500.0000000000009,
                  6327.6345143037688,
                  571.00166381103077} };

PQP_REAL triangleT[3][3] = {
           {8000.0000000000009,
            6327.6345143037670,
            88.336618780016408},
           {7500.0,
            6327.6345143037670,
            88.336618780016408},
           {7500.0,
            6327.6345143037670,
            1015.9309593449836} };

b1->BeginModel();
b2->BeginModel();

b1->AddTri(triangleS[0], triangleS[1], triangleS[2], 0);
b2->AddTri(triangleT[0], triangleT[1], triangleT[2], 0);

b1->EndModel();
b2->EndModel();

PQP_REAL R1[3][3], R2[3][3], T1[3], T2[3];

R1[0][0] = R1[1][1] = R1[2][2] = 1.0;
R1[0][1] = R1[1][0] = R1[2][0] = 0.0;
R1[0][2] = R1[1][2] = R1[2][1] = 0.0;

R2[0][0] = R2[1][1] = R2[2][2] = 1.0;
R2[0][1] = R2[1][0] = R2[2][0] = 0.0;
R2[0][2] = R2[1][2] = R2[2][1] = 0.0;

T1[0] = 0.0;  T1[1] = 0.0; T1[2] = 0.0;
T2[0] = 0.0;  T2[1] = 0.0; T2[2] = 0.0;

PQP_DistanceResult dres;
PQP_Distance(&dres, R1, T1, b1, R2, T2, b2, 0.0, 0.0);

//dres.distance = 687.89217334989303
//but it should be:
//dres.distance = 1.8189894035458565e-12

delete b1;
delete b2;

return 0;

}