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Fix latent bug in multiccd so that we can never write more contacts than what the buffer space allows.

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PiperOrigin-RevId: 958505449
Change-Id: I77cb1142405df5107be46ca0dbef6effc690028d
This commit is contained in:
Kyle Bayes
2026-08-03 12:06:27 -07:00
committed by Copybara-Service
parent 382af63dc3
commit 0bfa4e984c
1 changed files with 6 additions and 4 deletions
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src/engine/engine_collision_gjk.c
+6 -4
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@@ -1727,10 +1727,12 @@ static void polygonClip(mjCCDStatus* status, const mjtNum* face1, int nface1,
return; return;
} }
// no pruning needed // no pruning needed (cap to max contacts)
for (int i = 0; i < 3*npolygon; i += 3) { int maxcon = sizeof(status->x2) / (3*sizeof(status->x2[0]));
copy3(status->x2 + i, polygon + i); npolygon = (npolygon < maxcon) ? npolygon : maxcon;
sub3(status->x1 + i, status->x2 + i, dir); for (int i = 0; i < npolygon; i++) {
copy3(status->x2 + 3*i, polygon + 3*i);
sub3(status->x1 + 3*i, status->x2 + 3*i, dir);
} }
status->nx = npolygon; status->nx = npolygon;
} }