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Fix contactcompare swapping condition.

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PiperOrigin-RevId: 574276137
Change-Id: Iafbb6a99c1fb57907d3cb1d0796b6ad718e549d2
This commit is contained in:
Alessio Quaglino
2023-10-17 15:04:38 -07:00
committed by Copybara-Service
parent d0bdb78207
commit 3f3d5a3b49
1 changed files with 2 additions and 1 deletions
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src/engine/engine_collision_driver.c
+2 -1
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@@ -238,7 +238,8 @@ quicksortfunc(contactcompare, context, el1, el2) {
// for geom:geom, reproduce the order of contacts without mj_collideTree
// normally sorted by (g1, g2), but in mj_collideGeoms, g1 and g2 are swapped based on geom_type
// here we undo this swapping for the purpose of sorting - needs to be done for each mjContact
if (c1->geom[0] >= 0 && c1->geom[1] && c2->geom[0] >= 0 && c2->geom[1]) {
if (c1->geom[0] >= 0 && c1->geom[1] >= 0 &&
c2->geom[0] >= 0 && c2->geom[1] >= 0) {
if (m->geom_type[con1_obj1] > m->geom_type[con1_obj2]) {
int tmp = con1_obj1;
con1_obj1 = con1_obj2;