Introduce mjPreContact, a minimal struct passed into the collision functions.

PiperOrigin-RevId: 918533795 Change-Id: I2b5af05c1479b25d5c2cfdc690321a26fce6ede6
2026-05-20 10:47:11 -07:00
parent 53b3137a12
commit 7174d33f08
25 changed files with 709 additions and 406 deletions
@@ -266,7 +266,7 @@ MjvLight::~MjvLight() {
    delete ptr_;
  }
 }
-MjvLight::MjvLight() : ptr_(new mjvLight) {
+MjvLight::MjvLight() : ptr_(new mjvLight()) {
  owned_ = true;
 }
 MjvLight::MjvLight(const MjvLight &other) : MjvLight() {