Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.

PiperOrigin-RevId: 883225786 Change-Id: I5fecaa1d575b340a6510212db7b3e7db48f361cc
2026-03-13 10:19:53 -07:00
parent 7ec4fe2c50
commit 88ba8ffdbc
8 changed files with 76 additions and 92 deletions
@@ -529,7 +529,7 @@ typedef mjtNum (*mjfTime)(void);
 typedef mjtNum (*mjfAct)(const mjModel* m, const mjData* d, int id);

 // collision detection
-typedef int (*mjfCollision)(const mjModel* m, const mjData* d,
-                            mjContact* con, int g1, int g2, mjtNum margin);
+typedef int (*mjfCollision)(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
+                            mjtNum margin);

 #endif  // MUJOCO_MJDATA_H_