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Don't normalize mjData->qpos quaternions in-place.

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PiperOrigin-RevId: 647927542
Change-Id: I13b0be55498d1da3af2cdc414cfed4c3908a6fe1
This commit is contained in:
Yuval Tassa
2024-06-29 03:06:07 -07:00
committed by Copybara-Service
parent 0e19722c61
commit 4d4b0bb2c3
10 changed files with 157 additions and 22 deletions
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src/engine/engine_util_spatial.c
+1 -1
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@@ -247,8 +247,8 @@ void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale) {
mju_copy3(tmp, vel);
angle = scale * mju_normalize3(tmp);
mju_axisAngle2Quat(qrot, tmp, angle);
mju_mulQuat(quat, quat, qrot);
mju_normalize4(quat);
mju_mulQuat(quat, quat, qrot);
}