Update contype and conaffinity if fusestatic is true. Fixes #1577.

PiperOrigin-RevId: 628073529 Change-Id: I2fe88736d12ec16d72bbd4dce5d349b930147b50
2024-04-25 07:45:07 -07:00
parent 027c26a153
commit d6553ed192
2 changed files with 16 additions and 2 deletions
@@ -2955,6 +2955,15 @@ void mjCModel::FuseStatic(void) {
    sites.clear();
    FuseReindex(bodies[0]);

+    // recompute parent contype, conaffinity, and margin
+    par->contype = par->conaffinity = 0;
+    par->margin = 0;
+    for (const auto& geom : geoms) {
+      par->contype |= geom->contype;
+      par->conaffinity |= geom->conaffinity;
+      par->margin = mju_max(par->margin, geom->margin);
+    }
+
    //------------- delete body (without deleting children)

    // delete allocation