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Fix bug with the position of bounding sphere in mj_multiRay.

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PiperOrigin-RevId: 529665457
Change-Id: I486a094303b3b26c8067f8be7aca03afbe8e6217
This commit is contained in:
Alessio Quaglino
2023-05-05 02:52:28 -07:00
committed by Copybara-Service
parent e38fb136e7
commit b798f89212
2 changed files with 10 additions and 6 deletions
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src/engine/engine_ray.c
+3 -1
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@@ -957,9 +957,11 @@ static mjtNum mju_singleRay(const mjModel* m, mjData* d, const mjtNum pnt[3], co
// exclude body using bounding sphere test
if (m->body_bvhadr[b] != -1) {
mjtNum* pos = m->bvh_aabb + 6*m->body_bvhadr[b];
mjtNum center[3];
mjtNum* size = pos + 3;
mjtNum ssz = size[0]*size[0] + size[1]*size[1] + size[2]*size[2];
if (ray_sphere(pos, NULL, ssz, pnt, vec)<0) {
mju_add3(center, pos, d->xipos+3*b);
if (ray_sphere(center, NULL, ssz, pnt, vec)<0) {
continue;
}
}