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Fix input array size in mju_mulMatMat3.

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PiperOrigin-RevId: 616802192
Change-Id: I4dbc07d392b23a7014331ab850b685c1b82d3dcf
This commit is contained in:
Alessio Quaglino
2024-03-18 05:59:33 -07:00
committed by Copybara-Service
parent 8afcfd0fa1
commit acaf86a96f
2 changed files with 6 additions and 6 deletions
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src/engine/engine_util_blas.c
+3 -3
View File
@@ -181,7 +181,7 @@ void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]) {
// multiply 3x3 matrices,
void mju_mulMatMat3(mjtNum res[9], const mjtNum a[3], const mjtNum b[9]) {
void mju_mulMatMat3(mjtNum res[9], const mjtNum a[9], const mjtNum b[9]) {
res[0] = a[0]*b[0] + a[1]*b[3] + a[2]*b[6];
res[1] = a[0]*b[1] + a[1]*b[4] + a[2]*b[7];
res[2] = a[0]*b[2] + a[1]*b[5] + a[2]*b[8];
@@ -196,7 +196,7 @@ void mju_mulMatMat3(mjtNum res[9], const mjtNum a[3], const mjtNum b[9]) {
// multiply 3x3 matrices, first argument transposed
void mju_mulMatTMat3(mjtNum res[9], const mjtNum a[3], const mjtNum b[9]) {
void mju_mulMatTMat3(mjtNum res[9], const mjtNum a[9], const mjtNum b[9]) {
res[0] = a[0]*b[0] + a[3]*b[3] + a[6]*b[6];
res[1] = a[0]*b[1] + a[3]*b[4] + a[6]*b[7];
res[2] = a[0]*b[2] + a[3]*b[5] + a[6]*b[8];
@@ -211,7 +211,7 @@ void mju_mulMatTMat3(mjtNum res[9], const mjtNum a[3], const mjtNum b[9]) {
// multiply 3x3 matrices, second argument transposed
void mju_mulMatMatT3(mjtNum res[9], const mjtNum a[3], const mjtNum b[9]) {
void mju_mulMatMatT3(mjtNum res[9], const mjtNum a[9], const mjtNum b[9]) {
res[0] = a[0]*b[0] + a[1]*b[1] + a[2]*b[2];
res[1] = a[0]*b[3] + a[1]*b[4] + a[2]*b[5];
res[2] = a[0]*b[6] + a[1]*b[7] + a[2]*b[8];
src/engine/engine_util_blas.h
+3 -3
View File
@@ -110,13 +110,13 @@ MJAPI void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]
MJAPI void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
// multiply 3x3 matrices
MJAPI void mju_mulMatMat3(mjtNum res[9], const mjtNum mat1[3], const mjtNum mat2[9]);
MJAPI void mju_mulMatMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]);
// multiply 3x3 matrices, first argument transposed
MJAPI void mju_mulMatTMat3(mjtNum res[9], const mjtNum a[3], const mjtNum b[9]);
MJAPI void mju_mulMatTMat3(mjtNum res[9], const mjtNum a[9], const mjtNum b[9]);
// multiply 3x3 matrices, second argument transposed
MJAPI void mju_mulMatMatT3(mjtNum res[9], const mjtNum mat1[3], const mjtNum mat2[9]);
MJAPI void mju_mulMatMatT3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]);
//------------------------------ 4D/quaternion operations ------------------------------------------