Merge pull request #6679 from cyberbotics/sync-master-e6987d266

Merge master into develop

Author: omichel

docs/reference/changelog-r2024.md

@@ -39,4 +39,5 @@ Released on December **th, 2023.
     - Fixed crash on macos when closing Webots under some circumstances ([#6635](https://github.com/cyberbotics/webots/pull/6635)).
     - Fixed error on macos when when putting displays and cameras in separate windows ([#6635](https://github.com/cyberbotics/webots/pull/6635)).
     - Fixed crash when `wb_supervisor_field_get_name` was called with NULL ([#6647](https://github.com/cyberbotics/webots/pull/6647)).
+    - Fixed bug where the wrong y coordinate was used for one corner of the box drawn to represent a box-plane collision ([#6677](https://github.com/cyberbotics/webots/pull/6677)).
     - Fixed handling of remote assets from unofficial sources ([#6585](https://github.com/cyberbotics/webots/pull/6585)).

src/webots/app/WbContactPointsRepresentation.cpp

@@ -182,9 +182,9 @@ void WbContactPointsRepresentation::updateRendering() {
                   odeContacts[cg0 + 3].contactGeom().pos[2]);
         addVertex(mContactMesh, index++, odeContacts[cg0 + 3].contactGeom().pos[0], odeContacts[cg0 + 3].contactGeom().pos[1],
                   odeContacts[cg0 + 3].contactGeom().pos[2]);
-        addVertex(mContactMesh, index++, odeContacts[cg0 + 2].contactGeom().pos[0], odeContacts[cg0 + 1].contactGeom().pos[1],
+        addVertex(mContactMesh, index++, odeContacts[cg0 + 2].contactGeom().pos[0], odeContacts[cg0 + 2].contactGeom().pos[1],
                   odeContacts[cg0 + 2].contactGeom().pos[2]);
-        addVertex(mContactMesh, index++, odeContacts[cg0 + 2].contactGeom().pos[0], odeContacts[cg0 + 1].contactGeom().pos[1],
+        addVertex(mContactMesh, index++, odeContacts[cg0 + 2].contactGeom().pos[0], odeContacts[cg0 + 2].contactGeom().pos[1],
                   odeContacts[cg0 + 2].contactGeom().pos[2]);
         addVertex(mContactMesh, index++, odeContacts[cg0].contactGeom().pos[0], odeContacts[cg0].contactGeom().pos[1],
                   odeContacts[cg0].contactGeom().pos[2]);