Remove MPR from comment.

PiperOrigin-RevId: 835224192 Change-Id: I659231b30d4c00d9bf586f0efdac138331862df7
2025-11-21 07:57:20 -08:00
parent f8b92410d4
commit bb488fec29
1 changed files with 1 additions and 1 deletions
@@ -1752,7 +1752,7 @@ int mjc_HFieldElem(const mjModel* m, const mjData* d, mjContact* con,
            continue;
          }

-          // run MPR, save contact
+          // run ccd, save contact
          if (mjc_penetration(m, &obj1, &obj2, &ccd, &depth, &dirccd, &vecccd) == 0) {
            if (!ccdVec3Eq(&dirccd, ccd_vec3_origin)) {
              // fill in contact data, transform to global coordinates