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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_util.c
+3 -3
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@@ -686,7 +686,7 @@ void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body) {
// orientation of the COM (inertial) frame of b-th body
mjtNum ximat[9];
mju_copy(ximat, d->ximat+9*b, 9);
mju_copy9(ximat, d->ximat+9*b);
// save the inertia matrix of b-th body
mjtNum inertia[9] = {0};
@@ -885,11 +885,11 @@ void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9],
break;
case mjSAMEFRAME_BODY:
case mjSAMEFRAME_BODYROT:
mju_copy(xmat, d->xmat+9*body, 9);
mju_copy9(xmat, d->xmat+9*body);
break;
case mjSAMEFRAME_INERTIA:
case mjSAMEFRAME_INERTIAROT:
mju_copy(xmat, d->ximat+9*body, 9);
mju_copy9(xmat, d->ximat+9*body);
break;
}
}