Fix small typo/bug in gjk implementation.

PiperOrigin-RevId: 645378191 Change-Id: Icdba53b30c934ac3059bb6f7b6d1081d71823131
google-deepmind · Jun 21, 2024 · 14fe527 · 14fe527
1 parent 1e84548
commit 14fe527
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/engine/engine_collision_gjk.c b/src/engine/engine_collision_gjk.c
@@ -309,7 +309,7 @@ static void S2D(mjtNum lambda[3], const mjtNum simplex[9]) {
     p_o_2D[0] = p_o[1];
     p_o_2D[1] = p_o[2];
   } else if (index == 1) {
-    s1_2D[0] = s1[9];
+    s1_2D[0] = s1[0];
     s1_2D[1] = s1[2];
 
     s2_2D[0] = s2[0];