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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_util_blas.c
+11 -4
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@@ -46,10 +46,17 @@ int mju_equal3(const mjtNum vec1[3], const mjtNum vec2[3]) {
// res = vec
void mju_copy3(mjtNum res[3], const mjtNum data[3]) {
res[0] = data[0];
res[1] = data[1];
res[2] = data[2];
void mju_copy3(mjtNum res[3], const mjtNum vec[3]) {
res[0] = vec[0];
res[1] = vec[1];
res[2] = vec[2];
}
// res = mat
void mju_copy9(mjtNum res[9], const mjtNum mat[9]) {
res[0] = mat[0]; res[1] = mat[1]; res[2] = mat[2];
res[3] = mat[3]; res[4] = mat[4]; res[5] = mat[5];
res[6] = mat[6]; res[7] = mat[7]; res[8] = mat[8];
}