Fix bug in S2D and improve readability of GJK + EPA code.

PiperOrigin-RevId: 663261102 Change-Id: Ibb1d801078cc02bc7ccec246be6dc50fa4f2be18
2024-08-15 04:34:30 -07:00
parent 1f5f9a8a67
commit 7f09a7d8c6
2 changed files with 64 additions and 49 deletions
@@ -218,7 +218,7 @@ TEST_F(MjGjkTest, CapsuleCapsule) {
  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
  mjtNum dist = run_gjk(model, data, geom1, geom2, nullptr, nullptr);

-  EXPECT_NEAR(dist, 0.4765, .0001);
+  EXPECT_NEAR(dist, 0.4711, .0001);
  mj_deleteData(data);
  mj_deleteModel(model);
 }