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

PiperOrigin-RevId: 837045492 Change-Id: I82851615c7f69774da83cab361316e5a6e9982c6
2025-11-26 03:25:12 -08:00
parent fcad41a5b1
commit ae24034f24
9 changed files with 162 additions and 138 deletions
@@ -1064,7 +1064,7 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
              int conid = match[j].id;
              mj_contactForce(m, d, conid, wrench + 6*j);
              mju_copy3(pos + 3*j, d->contact[conid].pos);
-              mju_copy(frame + 9*j, d->contact[conid].frame, 9);
+              mju_copy9(frame + 9*j, d->contact[conid].frame);
              if (match[j].flip) {
                mju_scl(wrench + 6*j , wrench + 6*j, -1, 6);
              }