From 79082ea1ae74727ba1d979a188d6eeef40603397 Mon Sep 17 00:00:00 2001
From: Saran Tunyasuvunakool <stunya@google.com>
Date: Sat, 28 May 2022 04:01:23 -0700
Subject: [PATCH] Fix an out-of-bound read bug in `mj_collision` exclusion
 handling.

PiperOrigin-RevId: 451609651
Change-Id: Ifc10753ee65d176e609a9b742414d2c2f13d8bd0
---
 src/engine/engine_collision_driver.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
index b3feedfe..34eeaaa2 100644
--- a/src/engine/engine_collision_driver.c
+++ b/src/engine/engine_collision_driver.c
@@ -104,7 +104,7 @@ void mj_collision(const mjModel* m, mjData* d) {
       // handle exclusion
       if (nexclude) {
         // advance exadr while exclude_signature < signature
-        while (m->exclude_signature[exadr]<signature && exadr<nexclude) {
+        while (exadr<nexclude && m->exclude_signature[exadr]<signature) {
           exadr++;
         }