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Fix aliasing violations in engine_collision_box.c

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PiperOrigin-RevId: 843647612
Change-Id: If8ad12c058a30ec475b9eb47d315019edbb8a7bb
This commit is contained in:
Yuval Tassa
2025-12-12 05:34:35 -08:00
committed by Copybara-Service
parent 600f0f20bc
commit 9fc37a3be4
1 changed files with 3 additions and 4 deletions
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src/engine/engine_collision_box.c
+3 -4
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@@ -938,11 +938,10 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
m = n; m = n;
n = 0; n = 0;
for (i = 0; i < m; i++) for (i = 0; i < m; i++) {
{
if (points[i][2] > margin) if (points[i][2] > margin)
continue; continue;
mji_copy3(points[n], points[i]); if (n != i) mji_copy3(points[n], points[i]);
depth[n] = points[n][2]; depth[n] = points[n][2];
points[n][2] *= 0.5; points[n][2] *= 0.5;
@@ -1256,7 +1255,7 @@ edgeedge:
if (c1 > margin2) if (c1 > margin2)
continue; continue;
mji_add3(points[n], points[n], tmp1); mji_addTo3(points[n], tmp1);
mju_scl3(points[n], points[n], 0.5); mju_scl3(points[n], points[n], 0.5);
depth[n] = sqrt(c1) * (tmp1[2] < 0 ? -1 : 1); depth[n] = sqrt(c1) * (tmp1[2] < 0 ? -1 : 1);