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Refactor hfield-convex collision code. This should be a no-op.

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PiperOrigin-RevId: 837045492
Change-Id: I82851615c7f69774da83cab361316e5a6e9982c6
This commit is contained in:
Kyle Bayes
2025-11-26 03:25:12 -08:00
committed by Copybara-Service
parent fcad41a5b1
commit ae24034f24
9 changed files with 162 additions and 138 deletions
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src/engine/engine_core_smooth.c
+1 -1
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@@ -377,7 +377,7 @@ void mj_camlight(const mjModel* m, mjData* d) {
case mjCAMLIGHT_TRACK:
case mjCAMLIGHT_TRACKCOM:
// fixed global orientation
mju_copy(d->cam_xmat+9*i, m->cam_mat0+9*i, 9);
mju_copy9(d->cam_xmat+9*i, m->cam_mat0+9*i);
// position: track camera body
if (m->cam_mode[i] == mjCAMLIGHT_TRACK) {