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Merge pull request #2348 from jjyyxx:patch-3

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PiperOrigin-RevId: 785518837
Change-Id: I2bbdcb6aea0ff3edfa354389ef758c2d34b93f68
This commit is contained in:
Copybara-Service
2025-07-21 11:49:39 -07:00
parent 3901dcde96 5fa6b43539
commit 6416e548aa
1 changed files with 3 additions and 3 deletions
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src/engine/engine_vis_visualize.c
+3 -3
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@@ -207,6 +207,9 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
FINISH FINISH
} }
// mat = contact frame rotation matrix (normal along x)
mju_transpose(mat, con->frame, 3, 3);
// contact frame // contact frame
if (vopt->frame == mjFRAME_CONTACT) { if (vopt->frame == mjFRAME_CONTACT) {
// set length and width of axis cylinders using half regular frame scaling // set length and width of axis cylinders using half regular frame scaling
@@ -244,9 +247,6 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
continue; continue;
} }
// mat = contact frame rotation matrix (normal along x)
mju_transpose(mat, con->frame, 3, 3);
// get contact force:torque in contact frame // get contact force:torque in contact frame
mj_contactForce(m, d, i, confrc); mj_contactForce(m, d, i, confrc);