From 13621879c6243c07252b372d715e9b431dcfe514 Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Tue, 8 Jul 2025 10:49:25 -0700 Subject: [PATCH] Remove unnecessary loop from mj_collideOBB. PiperOrigin-RevId: 780629489 Change-Id: I715cd1f72012c0655997ba4c967fa7b5b8731d54 --- src/engine/engine_collision_driver.c | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c index cfce0779..2fe7c8fc 100644 --- a/src/engine/engine_collision_driver.c +++ b/src/engine/engine_collision_driver.c @@ -548,16 +548,14 @@ int mj_collideOBB(const mjtNum aabb1[6], const mjtNum aabb2[6], // compute centers in local coordinates if (product == NULL) { for (int i=0; i < 2; i++) { // bounding boxes - for (int j=0; j < 3; j++) { // axes - if (xmat[i]) { - mju_mulMatVec3(xcenter[i], xmat[i], aabb[i]); - } else { - mju_copy3(xcenter[i], aabb[i]); - } + if (xmat[i]) { + mju_mulMatVec3(xcenter[i], xmat[i], aabb[i]); + } else { + mju_copy3(xcenter[i], aabb[i]); + } - if (xpos[i]) { - mju_addTo3(xcenter[i], xpos[i]); - } + if (xpos[i]) { + mju_addTo3(xcenter[i], xpos[i]); } } }