Fix sign in cylinder support function.

kbayes · copybara-github · commit 3283fb86550e · 2025-07-21T05:12:16.000-07:00
PiperOrigin-RevId: 785394029
Change-Id: I010edab0ba8734a9b91626669fa309a0ddb346e5
diff --git a/src/engine/engine_collision_convex.c b/src/engine/engine_collision_convex.c
@@ -304,7 +304,7 @@ static void mjc_cylinderSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3
   }
 
   // set result in Z direction
-  tmp[2] = mju_sign(local_dir[2]) * size[1];
+  tmp[2] = local_dir[2] >= 0 ? size[1] : -size[1];
 
   // transform result to global frame
   localToGlobal(res, mat, tmp, pos);

Original file line number	Diff line number	Diff line change
`@@ -304,7 +304,7 @@ static void mjc_cylinderSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3`
`304`	`304`	`}`
`305`	`305`
`306`	`306`	`// set result in Z direction`
`307`		`- tmp[2] = mju_sign(local_dir[2]) * size[1];`
	`307`	`+ tmp[2] = local_dir[2] >= 0 ? size[1] : -size[1];`
`308`	`308`
`309`	`309`	`// transform result to global frame`
`310`	`310`	`localToGlobal(res, mat, tmp, pos);`