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Fix a box-box bad collision in NativeCCD.

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PiperOrigin-RevId: 713683497
Change-Id: I0c4cfd55d00faa196d8759046c87ee4ef74f01ab
This commit is contained in:
Kyle Bayes
2025-01-09 08:34:49 -08:00
committed by Copybara-Service
parent 90049343b9
commit daba00ca9d
2 changed files with 68 additions and 4 deletions
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src/engine/engine_collision_gjk.c
+4 -4
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@@ -1104,19 +1104,19 @@ static int polytope4(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj
int v4 = newVertex(pt, status->simplex1 + 9, status->simplex2 + 9);
// if the origin is on a face, replace the 3-simplex with a 2-simplex
if (attachFace(pt, v1, v2, v3, 1, 3, 2) == 0.0) {
if (attachFace(pt, v1, v2, v3, 1, 3, 2) < mjMINVAL) {
replaceSimplex3(pt, status, v1, v2, v3);
return polytope3(pt, status, obj1, obj2);
}
if (attachFace(pt, v1, v4, v2, 2, 3, 0) == 0.0) {
if (attachFace(pt, v1, v4, v2, 2, 3, 0) < mjMINVAL) {
replaceSimplex3(pt, status, v1, v4, v2);
return polytope3(pt, status, obj1, obj2);
}
if (attachFace(pt, v1, v3, v4, 0, 3, 1) == 0.0) {
if (attachFace(pt, v1, v3, v4, 0, 3, 1) < mjMINVAL) {
replaceSimplex3(pt, status, v1, v3, v4);
return polytope3(pt, status, obj1, obj2);
}
if (attachFace(pt, v4, v3, v2, 2, 0, 1) == 0.0) {
if (attachFace(pt, v4, v3, v2, 2, 0, 1) < mjMINVAL) {
replaceSimplex3(pt, status, v4, v3, v2);
return polytope3(pt, status, obj1, obj2);
}