From d0294b7cc012a26ad61b823f68873c77624e0f71 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 18 Oct 2023 02:54:48 -0700
Subject: [PATCH] Initialize contact frame in planeVertex contact.

PiperOrigin-RevId: 574416404
Change-Id: I305f7113364ad9198947c5aa7346bb832fc43146
---
 src/engine/engine_collision_driver.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
index 11433b0c..10920162 100644
--- a/src/engine/engine_collision_driver.c
+++ b/src/engine/engine_collision_driver.c
@@ -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;