From 50fa598d9391b215f2acf28c541c228b27a105bf Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Fri, 8 Aug 2025 07:50:41 -0700
Subject: [PATCH] Update x_norm in tetrahedron case in GJK.

This check is never called due to the fallback to gjkIntersection, however it's needed for debugging when disabling the fallback.

PiperOrigin-RevId: 792623394
Change-Id: I7178d9afae697bd22984688e89fd1865d3c6a37f
---
 src/engine/engine_collision_gjk.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/engine/engine_collision_gjk.c b/src/engine/engine_collision_gjk.c
index 3ea8e997..6e86e5df 100644
--- a/src/engine/engine_collision_gjk.c
+++ b/src/engine/engine_collision_gjk.c
@@ -278,6 +278,7 @@ static void gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
 
     // we have a tetrahedron containing the origin so return early
     if (n == 4) {
+      x_norm = 0;
       break;
     }
   }