Fix a bug that was causing a mismatch between the orientation of the mesh frame and the vertex coordinates.

PiperOrigin-RevId: 502624466 Change-Id: Ib28fd2a118b6572be98fadb078fa2262b21cbfc0
2023-01-17 10:30:58 -08:00
parent 06557c1489
commit 6ba4d6f0de
4 changed files with 29 additions and 1 deletions
@@ -1152,7 +1152,7 @@ void mjCMesh::Process() {

    // copy quat
    for (j=0; j<4; j++) {
-      GetQuatPtr(type)[j] = quattmp[j];
+      GetQuatPtr(type)[j] = type == mjVOLUME_MESH ? quattmp[j] : GetQuatPtr(mjVOLUME_MESH)[j];
    }

    // rotate vertices and normals into axis-aligned frame