chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Remove unnecessary normal vector computation from mju_wrap cylinder case.

Browse Source 
PiperOrigin-RevId: 669010760
Change-Id: Ie3869a9f112ca88b2a7ec4990c402ef3e92d36a8
This commit is contained in:
Taylor Howell
2024-08-29 11:45:50 -07:00
committed by Copybara-Service
parent a1036b86d3
commit 9cab5a42a4
1 changed files with 0 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_util_misc.c
-4
View File
@@ -341,10 +341,6 @@ mjtNum mju_wrap(mjtNum* wpnt, const mjtNum* x0, const mjtNum* x1,
mju_cross(axis[1], normal, axis[0]); mju_cross(axis[1], normal, axis[0]);
mju_normalize3(axis[1]); mju_normalize3(axis[1]);
} else { } else {
// normal = z
normal[2] = 1;
normal[0] = normal[1] = 0;
// 1st axis = x // 1st axis = x
axis[0][0] = 1; axis[0][0] = 1;
axis[0][1] = axis[0][2] = 0; axis[0][1] = axis[0][2] = 0;