Fix normal only for libccd during hfield collisions.

PiperOrigin-RevId: 833933161 Change-Id: I3a4ff044276d9c7305154da09b440168f0f22305
2025-11-18 12:55:04 -08:00
parent 7569ac960d
commit e18e35f967
2 changed files with 8 additions and 5 deletions
@@ -1342,9 +1342,11 @@ int mjc_ConvexHField(const mjModel* m, const mjData* d,
  mju_copy(mat2, savemat2, 9);
  mju_copy3(pos2, savepos2);

-  // fix contact normals
-  for (int i=0; i < cnt; i++) {
-    mjc_fixNormal(m, d, con+i, g1, g2);
+  if (mjDISABLED(mjDSBL_NATIVECCD)) {
+    // fix contact normals
+    for (int i=0; i < cnt; i++) {
+      mjc_fixNormal(m, d, con+i, g1, g2);
+    }
  }

  return cnt;