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Remove explicit mjModel dependency from engine_util_misc.c

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PiperOrigin-RevId: 780123513
Change-Id: I567e09db3cd13a93a4720742affb62b54bfa5426
This commit is contained in:
Yuval Tassa
2025-07-07 08:32:14 -07:00
committed by Copybara-Service
parent 6ccc4f77bc
commit 783e6499d8
4 changed files with 5 additions and 6 deletions
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src/engine/engine_util_misc.c
+2 -3
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@@ -422,9 +422,8 @@ mjtNum mju_wrap(mjtNum wpnt[6], const mjtNum x0[3], const mjtNum x1[3],
// all 3 semi-axes of a geom
void mju_geomSemiAxes(const mjModel* m, int geom_id, mjtNum semiaxes[3]) {
mjtNum* size = m->geom_size + 3*geom_id;
switch ((mjtGeom) m->geom_type[geom_id]) {
void mju_geomSemiAxes(mjtNum semiaxes[3], const mjtNum size[3], mjtGeom type) {
switch (type) {
case mjGEOM_SPHERE:
semiaxes[0] = size[0];
semiaxes[1] = size[0];