From baf84265b8627e6f868bc92ea6422e4e78dacb9c Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Fri, 9 May 2025 04:12:17 -0700
Subject: [PATCH] Improve wrap_circle.

PiperOrigin-RevId: 756704385
Change-Id: Id44ba317c6072790763a958f4227a76278d3ab74
---
 src/engine/engine_util_misc.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c
index b7f06601..03435f48 100644
--- a/src/engine/engine_util_misc.c
+++ b/src/engine/engine_util_misc.c
@@ -107,12 +107,12 @@ static mjtNum wrap_circle(mjtNum pnt[4], const mjtNum end[4], const mjtNum* side
     return -1;
   }
 
+  mjtNum sqrt0 = mju_sqrt(sqlen0 - sqrad);
+  mjtNum sqrt1 = mju_sqrt(sqlen1 - sqrad);
+
   // construct the two solutions, compute goodness
   mjtNum sol[2][2][2], good[2];
   for (int i=0; i < 2; i++) {
-    mjtNum sqrt0 = mju_sqrt(sqlen0 - sqrad);
-    mjtNum sqrt1 = mju_sqrt(sqlen1 - sqrad);
-
     int sgn = (i == 0 ? 1 : -1);
 
     sol[i][0][0] = (end[0]*sqrad + sgn*radius*end[1]*sqrt0)/sqlen0;