[numerics] correct the projection with the right polar cone
@@ -28,8 +28,7 @@ unsigned int projectionOnRollingCone(double* r, double mu, double mur)
double normT = hypot(r[1], r[2]);
double normMT = hypot(r[3], r[4]);
-
- if ((mu * normT <= - r[0]) && ((mur * normMT <= - r[0])))
+ if (mu * normT + mur * normMT <= - r[0])
{
r[0] = 0.0;
r[1] = 0.0;
