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Update mj_geomDistance: don't flip geoms for nativeccd.

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PiperOrigin-RevId: 824463375
Change-Id: Ic9c4cac916129b88575e0366e1b95353ce716ca2
This commit is contained in:
Taylor Howell
2025-10-27 04:47:45 -07:00
committed by Copybara-Service
parent 8c5154c9a3
commit 85e9cff0c1
2 changed files with 41 additions and 6 deletions
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src/engine/engine_support.c
+2 -2
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@@ -486,10 +486,10 @@ mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2,
return dist;
}
// use nativecdd if flag is enabled
// use nativeccd if flag is enabled
if (!mjDISABLED(mjDSBL_NATIVECCD)) {
if (func == mjc_Convex || func == mjc_BoxBox) {
return mj_geomDistanceCCD(m, d, g1, g2, distmax, fromto);
return mj_geomDistanceCCD(m, d, geom1, geom2, distmax, fromto);
}
}