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Fix box-box distance computation.

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PiperOrigin-RevId: 829431553
Change-Id: I9e28bc8eb7687c3c83e5ff68c65e93d8a07378a9
This commit is contained in:
Taylor Howell
2025-11-07 07:36:05 -08:00
committed by Copybara-Service
parent 45b079cfe8
commit 883836848a
5 changed files with 37 additions and 5 deletions
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src/engine/engine_collision_box.c
+1 -1
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@@ -965,7 +965,7 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
for (i = 0; i < n; i++)
{
con[i].dist = points[i][2];
con[i].dist = 2 * points[i][2];
points[i][2] += hz;
mju_mulMatVec3(tmp2, r, points[i]);