From c7d340be4f71a9ba11148acc6354f91a1b0ccdff Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Fri, 29 May 2026 03:52:24 -0700
Subject: [PATCH] Cap box<->box collisions.

PiperOrigin-RevId: 923312868
Change-Id: I801d76cf1d1d7b9ed1535d3e3c723a5e8af4162a
---
 src/engine/engine_collision_box.c | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/engine/engine_collision_box.c b/src/engine/engine_collision_box.c
index 6cf09568..f1a96934 100644
--- a/src/engine/engine_collision_box.c
+++ b/src/engine/engine_collision_box.c
@@ -1402,13 +1402,15 @@ int mjc_BoxBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, m
   }
 
   // consolidate good
-  int i = 0;
+  int ncon = 0;
   for (int j=0; j < num; j++) {
     if (dupe[j] == 0) {
-      con[i] = tmp[j];
-      i++;
+      con[ncon++] = tmp[j];
+      if (ncon >= 8) {
+        break;
+      }
     }
   }
 
-  return i;
+  return ncon;
 }