From 9cab5a42a4aa874e0599cfb2ec7d6596c9cd3a0b Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Thu, 29 Aug 2024 11:45:50 -0700
Subject: [PATCH] Remove unnecessary normal vector computation from mju_wrap
 cylinder case.

PiperOrigin-RevId: 669010760
Change-Id: Ie3869a9f112ca88b2a7ec4990c402ef3e92d36a8
---
 src/engine/engine_util_misc.c | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c
index 95c66781..2b5d1fe4 100644
--- a/src/engine/engine_util_misc.c
+++ b/src/engine/engine_util_misc.c
@@ -341,10 +341,6 @@ mjtNum mju_wrap(mjtNum* wpnt, const mjtNum* x0, const mjtNum* x1,
     mju_cross(axis[1], normal, axis[0]);
     mju_normalize3(axis[1]);
   } else {
-    // normal = z
-    normal[2] = 1;
-    normal[0] = normal[1] = 0;
-
     // 1st axis = x
     axis[0][0] = 1;
     axis[0][1] = axis[0][2] = 0;