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Fix bug in nativeccd multiccd.

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PiperOrigin-RevId: 740495321
Change-Id: I7eaa0da8514e27c233d49567c276d1d238808d1f
This commit is contained in:
Kyle Bayes
2025-03-25 14:55:25 -07:00
committed by Copybara-Service
parent 69f8349203
commit d6943731b2
2 changed files with 41 additions and 1 deletions
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src/engine/engine_collision_gjk.c
+1 -1
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@@ -1546,7 +1546,7 @@ static mjtNum planeNormal(mjtNum res[3], const mjtNum v1[3], const mjtNum v2[3],
// find what side of a plane a point p lies
static int halfspace(const mjtNum a[3], const mjtNum n[3], const mjtNum p[3]) {
mjtNum diff[3] = {p[0] - a[0], p[1] - a[1], p[2] - a[2]};
return dot3(diff, n) > 0;
return dot3(diff, n) >= 0.0;
}