From 499291e5c24081ba094ae4162838a0e83d5dfd8d Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 12 Dec 2025 08:24:05 -0800
Subject: [PATCH] Fix aliasing issues in engine_core_smooth.c

PiperOrigin-RevId: 843699660
Change-Id: I21d4ed09284624ce80fcd5b1d572b9084e95e1f1
---
 src/engine/engine_core_smooth.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index 8c3c29f9..efc521be 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -1159,7 +1159,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
         if (m->actuator_trntype[i] == mjTRN_JOINT) {
           mji_copy3(gearAxis, gear);
         } else {
-          mji_negQuat(quat, quat);
+          mju_negQuat(quat, quat);
           mji_rotVecQuat(gearAxis, gear, quat);
         }