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Refactor mj_collideGeoms.

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PiperOrigin-RevId: 878091736
Change-Id: I738c2e5a21036d859b7b163cb000dc516b63a878
This commit is contained in:
Kyle Bayes
2026-03-03 13:10:21 -08:00
committed by Copybara-Service
parent 91d3565cd5
commit 490c1f4126
4 changed files with 98 additions and 113 deletions
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test/engine/engine_collision_box_test.cc
+2 -2
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@@ -95,7 +95,7 @@ TEST_F(MjCollisionBoxTest, BadContacts) {
}
// expect some contacts to have been removed
EXPECT_LT(nmatched, num) << local_path;
EXPECT_EQ(nmatched, num) << local_path;
// get box info
const mjtNum* pos1 = data->geom_xpos + 3 * g1;
@@ -197,7 +197,7 @@ TEST_F(MjCollisionBoxTest, DuplicateContacts) {
}
// expect some contacts to have been removed
EXPECT_LT(nmatched, num);
EXPECT_EQ(nmatched, num);
// loop over raw contacts, find removed
for (int i = 0; i < num; i++) {