From 52eff3da0fef69bd2c362eebb23b34b285f5a3a8 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Mon, 6 Oct 2025 11:39:25 -0700 Subject: [PATCH] Fix mismatched argument format in `mju_mulInertVec` declaration. PiperOrigin-RevId: 815818142 Change-Id: Id9caa581962705095f227a113505fc3e3ddd1054 --- src/engine/engine_util_spatial.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/engine/engine_util_spatial.h b/src/engine/engine_util_spatial.h index c90cb27f..e704facb 100644 --- a/src/engine/engine_util_spatial.h +++ b/src/engine/engine_util_spatial.h @@ -102,7 +102,7 @@ void mju_inertCom(mjtNum res[10], const mjtNum inert[3], const mjtNum mat[9], void mju_dofCom(mjtNum res[6], const mjtNum axis[3], const mjtNum offset[3]); // multiply 6D vector (rotation, translation) by 6D inertia matrix -MJAPI void mju_mulInertVec(mjtNum res[6], const mjtNum inert[10], const mjtNum vec[6]); +MJAPI void mju_mulInertVec(mjtNum* res, const mjtNum inert[10], const mjtNum vec[6]); // multiply dof matrix by vector void mju_mulDofVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n);