From 06f12a93725fac5eb731eddfc5735623967f88bb Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Wed, 15 Jul 2026 07:50:16 -0700
Subject: [PATCH] Set max in hill climbing support. When imax is the optimal
 index then this reduces from three iterations down to one.

PiperOrigin-RevId: 948334160
Change-Id: Ia12fbc853fc65f70c525a617cfdced6e98d30dca
---
 src/engine/engine_collision_convex.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_collision_convex.c b/src/engine/engine_collision_convex.c
index f823ec21..02e5bce3 100644
--- a/src/engine/engine_collision_convex.c
+++ b/src/engine/engine_collision_convex.c
@@ -406,9 +406,9 @@ static void mjc_hillclimbSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[
   mjtNum local_dir[3];
   mulMatTVec3(local_dir, mat, dir);
 
-  mjtNum max = -FLT_MAX;
   int prev = -1;
   int imax = obj->meshindex >= 0 ? obj->meshindex : 0;
+  mjtNum max = dot3f(local_dir, verts + 3*vert_globalid[imax]);
 
   // hillclimb until no change
   while (imax != prev) {