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Fix repeated call to restrict pointer.

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PiperOrigin-RevId: 877451707
Change-Id: I4849ccb8562ea1926173209da9934c11de64a109
This commit is contained in:
Kyle Bayes
2026-03-02 10:02:24 -08:00
committed by Copybara-Service
parent d00ddea269
commit a06c091157
1 changed files with 3 additions and 2 deletions
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src/engine/engine_collision_convex.c
+3 -2
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@@ -112,8 +112,9 @@ static int mjc_penetration(mjCCDObj* obj1, mjCCDObj* obj2, mjContact* con, int n
int nwitness = status.nx;
for (int i = 0; i < nwitness; i++, con++) {
con->dist = margin + dist;
mji_add3(con->pos, status.x1 + 3*i, status.x2 + 3*i);
mji_scl3(con->pos, con->pos, 0.5);
con->pos[0] = 0.5*(status.x1[3*i + 0] + status.x2[3*i + 0]);
con->pos[1] = 0.5*(status.x1[3*i + 1] + status.x2[3*i + 1]);
con->pos[2] = 0.5*(status.x1[3*i + 2] + status.x2[3*i + 2]);
mji_sub3(con->frame, status.x1 + 3*i, status.x2 + 3*i);
mju_normalize3(con->frame);
mji_zero3(con->frame + 3);