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

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PiperOrigin-RevId: 883225786
Change-Id: I5fecaa1d575b340a6510212db7b3e7db48f361cc
This commit is contained in:
Kyle Bayes
2026-03-13 10:19:53 -07:00
committed by Copybara-Service
parent 7ec4fe2c50
commit 88ba8ffdbc
8 changed files with 76 additions and 92 deletions
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src/engine/engine_collision_box.c
+3 -7
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@@ -94,9 +94,7 @@ int mjraw_SphereBox(mjContact* con, mjtNum margin,
// sphere : box
int mjc_SphereBox(const mjModel* m, const mjData* d, mjContact* con,
int g1, int g2, mjtNum margin)
{
int mjc_SphereBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin) {
mjGETINFO;
return mjraw_SphereBox(con, margin, pos1, mat1, size1, pos2, mat2, size2);
@@ -593,9 +591,7 @@ skip:
// capsule : box
int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
int g1, int g2, mjtNum margin)
{
int mjc_CapsuleBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin) {
mjGETINFO
return mjraw_CapsuleBox(con, margin, pos1, mat1, size1, pos2, mat2, size2);
}
@@ -1342,7 +1338,7 @@ edgeedge:
// box : box
int mjc_BoxBox(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2, mjtNum margin) {
int mjc_BoxBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin) {
int num = _boxbox(m, d, con, g1, g2, margin);
// use dim field to mark: -1: bad, 0: good