Properly initialize hfield mjCCDObj for collisions.

PiperOrigin-RevId: 675580798 Change-Id: I119258c46562f73af4b7a5d100f69d0e52fbe71c
2024-09-17 08:36:55 -07:00
parent bd811a44e7
commit 317f480224
1 changed files with 1 additions and 3 deletions
@@ -700,9 +700,7 @@ int mjc_ConvexHField(const mjModel* m, const mjData* d,
  int ncol = m->hfield_ncol[hid];
  int dr[2], cnt, rmin, rmax, cmin, cmax;
  const float* data = m->hfield_data + m->hfield_adr[hid];
-  mjCCDObj obj1;
-  obj1.center = mjc_prism_center;
-  obj1.support = mjc_prism_support;
+  mjCCDObj obj1 = {m, d, -1, -1, -1, -1, -1, 0, {1, 0, 0, 0}, mjc_prism_center, mjc_prism_support};

  // ccd-related
  ccd_vec3_t dirccd, vecccd;