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Properly initialize hfield mjCCDObj for collisions.

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PiperOrigin-RevId: 675580798
Change-Id: I119258c46562f73af4b7a5d100f69d0e52fbe71c
This commit is contained in:
Kyle Bayes
2024-09-17 08:36:55 -07:00
committed by Copybara-Service
parent bd811a44e7
commit 317f480224
1 changed files with 1 additions and 3 deletions
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src/engine/engine_collision_convex.c
+1 -3
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@@ -700,9 +700,7 @@ int mjc_ConvexHField(const mjModel* m, const mjData* d,
int ncol = m->hfield_ncol[hid]; int ncol = m->hfield_ncol[hid];
int dr[2], cnt, rmin, rmax, cmin, cmax; int dr[2], cnt, rmin, rmax, cmin, cmax;
const float* data = m->hfield_data + m->hfield_adr[hid]; const float* data = m->hfield_data + m->hfield_adr[hid];
mjCCDObj obj1; mjCCDObj obj1 = {m, d, -1, -1, -1, -1, -1, 0, {1, 0, 0, 0}, mjc_prism_center, mjc_prism_support};
obj1.center = mjc_prism_center;
obj1.support = mjc_prism_support;
// ccd-related // ccd-related
ccd_vec3_t dirccd, vecccd; ccd_vec3_t dirccd, vecccd;