From 9fc37a3be4b474d8540e2e8445e0408f3916adf1 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 12 Dec 2025 05:34:35 -0800
Subject: [PATCH] Fix aliasing violations in engine_collision_box.c

PiperOrigin-RevId: 843647612
Change-Id: If8ad12c058a30ec475b9eb47d315019edbb8a7bb
---
 src/engine/engine_collision_box.c | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/engine/engine_collision_box.c b/src/engine/engine_collision_box.c
index ace8de96..b953f76f 100644
--- a/src/engine/engine_collision_box.c
+++ b/src/engine/engine_collision_box.c
@@ -938,11 +938,10 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
   m = n;
   n = 0;
 
-  for (i = 0; i < m; i++)
-  {
+  for (i = 0; i < m; i++) {
     if (points[i][2] > margin)
       continue;
-    mji_copy3(points[n], points[i]);
+    if (n != i) mji_copy3(points[n], points[i]);
 
     depth[n] = points[n][2];
     points[n][2] *= 0.5;
@@ -1256,7 +1255,7 @@ edgeedge:
         if (c1 > margin2)
           continue;
 
-      mji_add3(points[n], points[n], tmp1);
+      mji_addTo3(points[n], tmp1);
       mju_scl3(points[n], points[n], 0.5);
 
       depth[n] = sqrt(c1) * (tmp1[2] < 0 ? -1 : 1);