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Zero out stale lambda coordinate in S3D in GJK.

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PiperOrigin-RevId: 958414972
Change-Id: Ia21f8959a990c18b9d67959be5b2adeb1d3fa1dd
This commit is contained in:
Yuval Tassa
2026-08-03 09:24:30 -07:00
committed by Copybara-Service
parent eb049fb287
commit d33f297b56
2 changed files with 2 additions and 1 deletions
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test/engine/engine_collision_gjk_test.cc
+1 -1
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@@ -1397,7 +1397,7 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD15) {
mjtNum dist;
int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
ASSERT_EQ(ncons, sizeof(mjtNum) == 8 ? 4 : 0);
ASSERT_EQ(ncons, 4);
}
TEST_F(MjGjkTest, SmallBoxMesh) {