From a06c09115772cbc7d4754218cb200b47d3c34394 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Mon, 2 Mar 2026 10:02:24 -0800
Subject: [PATCH] Fix repeated call to restrict pointer.

PiperOrigin-RevId: 877451707
Change-Id: I4849ccb8562ea1926173209da9934c11de64a109
---
 src/engine/engine_collision_convex.c | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/engine/engine_collision_convex.c b/src/engine/engine_collision_convex.c
index 568c0c51..d25a6401 100644
--- a/src/engine/engine_collision_convex.c
+++ b/src/engine/engine_collision_convex.c
@@ -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);