Initialize contact frame in planeVertex contact.

PiperOrigin-RevId: 574416404 Change-Id: I305f7113364ad9198947c5aa7346bb832fc43146
2023-10-18 02:54:48 -07:00
parent 98cc3a6fb2
commit d0294b7cc0
1 changed files with 1 additions and 0 deletions
@@ -1688,6 +1688,7 @@ static int planeVertex(mjContact* con, const mjtNum* pos, mjtNum rad,
  // construct contact
  con->dist = -dst-2*rad;
  mju_scl3(con->frame, nrm, -1);
+  mju_zero3(con->frame+3);
  mju_addScl3(con->pos, pos+3*v, nrm, -0.5*dst);
  con->vert[1] = v;
  return 1;