From 9924d9ca897e9ab83251acc87486bd67143422b5 Mon Sep 17 00:00:00 2001
From: Michael Ahn <msa.ahn@gmail.com>
Date: Thu, 15 Aug 2024 20:36:56 -0700
Subject: [PATCH] Fixed incorrect mesh face circumradius calculation

- In 8e2f830, this was changed from `mju_norm3` to `mjuu_normvec`, but the
  latter will mutate its input to be normalized instead of just
returning the norm (the former was likely mistaken as `mju_normalize3`
which does mutate its input).
---
 src/user/user_mesh.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index 6a637f40..22fc1ca6 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -1915,7 +1915,7 @@ void mjCMesh::MakeCenter(void) {
     // compute circumradius
     double norm_a_2 = mjuu_dot3(a, a);
     double norm_b_2 = mjuu_dot3(b, b);
-    double area = mjuu_normvec(nrm, 3);
+    double area = sqrt(mjuu_dot3(nrm, nrm));
 
     // compute circumcenter
     double res[3], vec[3] = {