Fix sign in cylinder support function.

PiperOrigin-RevId: 785394029 Change-Id: I010edab0ba8734a9b91626669fa309a0ddb346e5
2025-07-21 05:10:57 -07:00
parent db72d0d53c
commit 3283fb8655
1 changed files with 1 additions and 1 deletions
@@ -304,7 +304,7 @@ static void mjc_cylinderSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3
  }

  // set result in Z direction
-  tmp[2] = mju_sign(local_dir[2]) * size[1];
+  tmp[2] = local_dir[2] >= 0 ? size[1] : -size[1];

  // transform result to global frame
  localToGlobal(res, mat, tmp, pos);