chenlin/Mujoco_WASM
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Remove MPR from comment.

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PiperOrigin-RevId: 835224192
Change-Id: I659231b30d4c00d9bf586f0efdac138331862df7
This commit is contained in:
Kyle Bayes
2025-11-21 07:57:20 -08:00
committed by Copybara-Service
parent f8b92410d4
commit bb488fec29
1 changed files with 1 additions and 1 deletions
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src/engine/engine_collision_convex.c
+1 -1
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@@ -1752,7 +1752,7 @@ int mjc_HFieldElem(const mjModel* m, const mjData* d, mjContact* con,
continue; continue;
} }
// run MPR, save contact // run ccd, save contact
if (mjc_penetration(m, &obj1, &obj2, &ccd, &depth, &dirccd, &vecccd) == 0) { if (mjc_penetration(m, &obj1, &obj2, &ccd, &depth, &dirccd, &vecccd) == 0) {
if (!ccdVec3Eq(&dirccd, ccd_vec3_origin)) { if (!ccdVec3Eq(&dirccd, ccd_vec3_origin)) {
// fill in contact data, transform to global coordinates // fill in contact data, transform to global coordinates