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Fix potential division by zero in mj_tendonDot.

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PiperOrigin-RevId: 742246626
Change-Id: I1f897bd0ca28e0efdffc5a93fadca35221eaeb38
This commit is contained in:
Yuval Tassa
2025-03-31 06:40:20 -07:00
committed by Copybara-Service
parent 01d4c46753
commit 8bcfe07e14
1 changed files with 2 additions and 3 deletions
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src/engine/engine_core_smooth.c
+2 -3
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@@ -938,15 +938,14 @@ void mj_tendonDot(const mjModel* m, mjData* d, int id, mjtNum* Jdot) {
// dpnt = 3D position difference, normalize
mjtNum dpnt[3];
mju_sub3(dpnt, wpnt+3, wpnt);
mjtNum norm = mju_norm3(dpnt);
mju_scl3(dpnt, dpnt, 1/norm);
mjtNum norm = mju_normalize3(dpnt);
// dvel = d / dt (dpnt)
mjtNum dvel[3];
mju_sub3(dvel, wvel+3, wvel);
mjtNum dot = mju_dot3(dpnt, dvel);
mju_addToScl3(dvel, dpnt, -dot);
mju_scl3(dvel, dvel, 1/norm);
mju_scl3(dvel, dvel, norm > mjMINVAL ? 1/norm : 0);
// TODO(tassa ) write sparse branch, requires mj_jacDotSparse
// if (mj_isSparse(m)) { ... }