From bb488fec29e2d4424021e01d51efa2781d9a189e Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Fri, 21 Nov 2025 07:57:20 -0800
Subject: [PATCH] Remove MPR from comment.

PiperOrigin-RevId: 835224192
Change-Id: I659231b30d4c00d9bf586f0efdac138331862df7
---
 src/engine/engine_collision_convex.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_collision_convex.c b/src/engine/engine_collision_convex.c
index cf755390..18815143 100644
--- a/src/engine/engine_collision_convex.c
+++ b/src/engine/engine_collision_convex.c
@@ -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