From 14fe527ea2efb83f263cdda9ad1fd436f190c9b4 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Fri, 21 Jun 2024 07:03:20 -0700
Subject: [PATCH] Fix small typo/bug in gjk implementation.

PiperOrigin-RevId: 645378191
Change-Id: Icdba53b30c934ac3059bb6f7b6d1081d71823131
---
 src/engine/engine_collision_gjk.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_collision_gjk.c b/src/engine/engine_collision_gjk.c
index c7c8c97d03..42a3043a6e 100644
--- 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];