From 317f480224e7c9a02b5ebaff311cadf4b8985ac7 Mon Sep 17 00:00:00 2001 From: Kyle Bayes Date: Tue, 17 Sep 2024 08:36:55 -0700 Subject: [PATCH] Properly initialize hfield mjCCDObj for collisions. PiperOrigin-RevId: 675580798 Change-Id: I119258c46562f73af4b7a5d100f69d0e52fbe71c --- src/engine/engine_collision_convex.c | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/engine/engine_collision_convex.c b/src/engine/engine_collision_convex.c index 00ff5515..7fc4c64d 100644 --- a/src/engine/engine_collision_convex.c +++ b/src/engine/engine_collision_convex.c @@ -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;