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Fix bug in replaceSimplex3 in nativeccd.

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PiperOrigin-RevId: 746014344
Change-Id: I93b32ab5f67ee48ab72238de53f7cda07638cb79
This commit is contained in:
Kyle Bayes
2025-04-10 07:03:23 -07:00
committed by Copybara-Service
parent 25126e88c7
commit b1f8d444f2
4 changed files with 123 additions and 14 deletions
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test/engine/testdata/collision_convex/dice.xml
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+2 -2
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@@ -25,7 +25,7 @@
<worldbody>
<light pos="0 0 1" dir="0 0 -1" castshadow="false"/>
<body name="container" pos="0 0 -0.11">
<geom class="floor" size="0.27 0.27 0.01"/>>
<geom class="floor" size="0.27 0.27 0.01"/>
<geom class="wall" size="0.26 0.01 0.10" pos="0.01 0.26 0.11"/>
<geom class="wall" size="0.26 0.01 0.10" pos="-0.01 -0.26 0.11"/>
<geom class="wall" size="0.01 0.26 0.10" pos="0.26 -0.01 0.11"/>
@@ -37,7 +37,7 @@
<replicate count="4" offset="0 0 .1">
<body pos="-.2 -.2 0.15">
<freejoint/>
<geom size=".02 .02 .02" type="mesh" mesh="die"/>
<geom type="mesh" mesh="die"/>
</body>
</replicate>
</replicate>