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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_derivative.c
+1 -1
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@@ -1193,7 +1193,7 @@ void mjd_ellipsoidFluid(const mjModel* m, mjData* d, int bodyid) {
for (int j=0; j < m->body_geomnum[bodyid]; j++) { for (int j=0; j < m->body_geomnum[bodyid]; j++) {
const int geomid = m->body_geomadr[bodyid] + j; const int geomid = m->body_geomadr[bodyid] + j;
mju_geomSemiAxes(m, geomid, semiaxes); mju_geomSemiAxes(semiaxes, m->geom_size + 3*geomid, m->geom_type[geomid]);
readFluidGeomInteraction( readFluidGeomInteraction(
m->geom_fluid + mjNFLUID*geomid, &geom_interaction_coef, m->geom_fluid + mjNFLUID*geomid, &geom_interaction_coef,
src/engine/engine_passive.c
+1 -1
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@@ -635,7 +635,7 @@ void mj_ellipsoidFluidModel(const mjModel* m, mjData* d, int bodyid) {
for (int j=0; j < m->body_geomnum[bodyid]; j++) { for (int j=0; j < m->body_geomnum[bodyid]; j++) {
const int geomid = m->body_geomadr[bodyid] + j; const int geomid = m->body_geomadr[bodyid] + j;
mju_geomSemiAxes(m, geomid, semiaxes); mju_geomSemiAxes(semiaxes, m->geom_size + 3*geomid, m->geom_type[geomid]);
readFluidGeomInteraction( readFluidGeomInteraction(
m->geom_fluid + mjNFLUID*geomid, &geom_interaction_coef, m->geom_fluid + mjNFLUID*geomid, &geom_interaction_coef,
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 // all 3 semi-axes of a geom
void mju_geomSemiAxes(const mjModel* m, int geom_id, mjtNum semiaxes[3]) { void mju_geomSemiAxes(mjtNum semiaxes[3], const mjtNum size[3], mjtGeom type) {
mjtNum* size = m->geom_size + 3*geom_id; switch (type) {
switch ((mjtGeom) m->geom_type[geom_id]) {
case mjGEOM_SPHERE: case mjGEOM_SPHERE:
semiaxes[0] = size[0]; semiaxes[0] = size[0];
semiaxes[1] = size[0]; semiaxes[1] = size[0];
src/engine/engine_util_misc.h
+1 -1
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@@ -51,7 +51,7 @@ MJAPI mjtNum mju_muscleDynamicsTimescale(mjtNum dctrl, mjtNum tau_act, mjtNum ta
MJAPI mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[3]); MJAPI mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[3]);
// all 3 semi-axes of a geom // all 3 semi-axes of a geom
MJAPI void mju_geomSemiAxes(const mjModel* m, int geom_id, mjtNum semiaxes[3]); MJAPI void mju_geomSemiAxes(mjtNum semiaxes[3], const mjtNum size[3], mjtGeom type);
// ----------------------------- Flex interpolation ------------------------------------------------ // ----------------------------- Flex interpolation ------------------------------------------------