From 7f7c5ec94353c9253c6f1136393cb3e144afdc3d Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Mon, 16 Sep 2024 10:33:23 -0700 Subject: [PATCH] Fix mismatch in `mju_wrap` function signature definition. PiperOrigin-RevId: 675204328 Change-Id: I820f10237b6d3bfd36067a9c3aef82cb1908ef6a --- src/engine/engine_util_misc.h | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/engine/engine_util_misc.h b/src/engine/engine_util_misc.h index 176512a9..d1da9fcd 100644 --- a/src/engine/engine_util_misc.h +++ b/src/engine/engine_util_misc.h @@ -29,9 +29,8 @@ extern "C" { //------------------------------ tendons and actuators --------------------------------------------- // wrap tendons around spheres and cylinders -mjtNum mju_wrap(mjtNum* wpnt, const mjtNum* x0, const mjtNum* x1, - const mjtNum* xpos, const mjtNum* xmat, mjtNum radius, - int type, const mjtNum* side); +mjtNum mju_wrap(mjtNum wpnt[6], const mjtNum x0[3], const mjtNum x1[3], const mjtNum xpos[3], + const mjtNum xmat[9], mjtNum radius, int type, const mjtNum side[3]); // normalized muscle length-gain curve MJAPI mjtNum mju_muscleGainLength(mjtNum length, mjtNum lmin, mjtNum lmax);