Fix bug introduced in 7942fe957e

That change removed some spurious contacts returned by mjc_BoxBox, but also removed some desirable contacts that occur during very deep penetration of two boxes (when one box is completely inside another box). This is now fixed.

PiperOrigin-RevId: 591036252
Change-Id: I84b51f2179fd6fe29618a4e908e86934c6fc6941

src/engine/engine_util_misc.h

@@ -78,9 +78,11 @@ MJAPI void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid,
 // integrate spring-damper analytically, return pos(dt)
 MJAPI mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
 
-// return 1 if point is outside box given by pos, mat, size
+// return 1 if point is outside box given by pos, mat, size * inflate
+// return -1 if point is inside box given by pos, mat, size / inflate
+// return 0 if point is between the inflated and deflated boxes
 MJAPI int mju_outsideBox(const mjtNum point[3], const mjtNum pos[3], const mjtNum mat[9],
-                         const mjtNum size[3]);
+                         const mjtNum size[3], mjtNum inflate);
 
 // print matrix
 MJAPI void mju_printMat(const mjtNum* mat, int nr, int nc);