From 0dac756d534b3fe800013026330aebe833d7cfc0 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Mon, 10 Aug 2026 02:06:33 -0700
Subject: [PATCH] Initialize height field object in mjc_HFieldElem.

PiperOrigin-RevId: 962018078
Change-Id: Ibfdbb45110d3406b40b5ddc36da19606bdd4878a
---
 src/engine/engine_collision_convex.c | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/engine/engine_collision_convex.c b/src/engine/engine_collision_convex.c
index 936bbedf..c0336890 100644
--- a/src/engine/engine_collision_convex.c
+++ b/src/engine/engine_collision_convex.c
@@ -1591,8 +1591,7 @@ int mjc_HFieldElem(const mjModel* m, mjData* d, mjPreContact* con, int g, int f,
   mjtNum xmin, xmax, ymin, ymax, zmin, zmax;
   int dr[2], cnt, rmin, rmax, cmin, cmax;
   mjCCDObj obj1;
-  obj1.center = mjc_center;
-  obj1.support = mjc_prism_support;
+  mjc_initCCDObj(&obj1, m, d, g, 0);
 
   // get hfield info
   int hid = m->geom_dataid[g];