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Fix typos in engine_ray.c.

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PiperOrigin-RevId: 685273762
Change-Id: I6812a83ef2d84fa07a42812acb87c363a3e1a11d
This commit is contained in:
Taylor Howell
2024-10-12 16:04:42 -07:00
committed by Copybara-Service
parent 78ade58aff
commit 99259eb0d3
1 changed files with 2 additions and 2 deletions
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src/engine/engine_ray.c
+2 -2
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@@ -343,7 +343,7 @@ static mjtNum ray_cylinder(const mjtNum* pos, const mjtNum* mat, const mjtNum* s
int side;
if (mju_abs(lvec[2]) > mjMINVAL) {
for (side=-1; side <= 1; side+=2) {
// soludion of: lpnt[2] + x*lvec[2] = side*height_size
// solution of: lpnt[2] + x*lvec[2] = side*height_size
sol = (side*size[1]-lpnt[2])/lvec[2];
// process if non-negative
@@ -417,7 +417,7 @@ static mjtNum ray_box(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
for (int i=0; i < 3; i++) {
if (mju_abs(lvec[i]) > mjMINVAL) {
for (int side=-1; side <= 1; side+=2) {
// soludion of: lpnt[i] + x*lvec[i] = side*size[i]
// solution of: lpnt[i] + x*lvec[i] = side*size[i]
sol = (side*size[i]-lpnt[i])/lvec[i];
// process if non-negative