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Set orientation type in composite box. Fixes #1732.

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PiperOrigin-RevId: 643937520
Change-Id: I9ba9d9a8feae6815df35c5d21b0314165713c9d6
This commit is contained in:
Alessio Quaglino
2024-06-17 03:06:22 -07:00
committed by Copybara-Service
parent 19388eee0c
commit f15b6e5e21
1 changed files with 1 additions and 0 deletions
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src/user/user_composite.cc
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@@ -1156,6 +1156,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int erro
BoxProject(b->pos); BoxProject(b->pos);
// reorient body // reorient body
b->alt.type = mjORIENTATION_ZAXIS;
mjuu_copyvec(b->alt.zaxis, b->pos, 3); mjuu_copyvec(b->alt.zaxis, b->pos, 3);
mjuu_normvec(b->alt.zaxis, 3); mjuu_normvec(b->alt.zaxis, 3);