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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_convex.c
+7 -10
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@@ -868,8 +868,7 @@ static int maxContacts(const mjCCDObj* obj1, const mjCCDObj* obj2) {
// multi-point convex-convex collision, using libccd
int mjc_Convex(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
int mjc_Convex(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin) {
// init ccd objects
mjCCDObj obj1, obj2;
mjc_initCCDObj(&obj1, m, d, g1, margin);
@@ -998,8 +997,7 @@ static int addplanemesh(mjContact* con, const float vertex[3],
// plane-convex collision, using libccd
int mjc_PlaneConvex(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
int mjc_PlaneConvex(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin) {
mjGETINFO
mjtNum dist, dif[3], normal[3] = {mat1[2], mat1[5], mat1[8]};
ccd_vec3_t dir, vec;
@@ -1136,8 +1134,7 @@ static inline void addPrismVert(mjCCDObj* obj, int r, int c, int i, mjtNum dx, m
// entry point for heightfield collisions
int mjc_ConvexHField(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
int mjc_ConvexHField(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin) {
// hfield frame
const mjtNum* pos1 = d->geom_xpos + 3*g1;
const mjtNum* mat1 = d->geom_xmat + 9*g1;
@@ -1565,8 +1562,8 @@ void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, in
//---------------------------- flex collisions ---------------------------------------------
// geom-elem or elem-elem or vert-elem convex collision using ccd
int mjc_ConvexElem(const mjModel* m, const mjData* d, mjContact* con,
int g1, int f1, int e1, int v1, int f2, int e2, mjtNum margin) {
int mjc_ConvexElem(const mjModel* m, mjData* d, mjContact* con, int g1, int f1, int e1, int v1,
int f2, int e2, mjtNum margin) {
mjCCDObj obj1, obj2;
mjc_initCCDObj(&obj1, m, d, g1, margin);
mjc_initCCDObj(&obj2, m, d, -1, margin);
@@ -1595,8 +1592,8 @@ int mjc_ConvexElem(const mjModel* m, const mjData* d, mjContact* con,
// test a height field and a flex element for collision
int mjc_HFieldElem(const mjModel* m, const mjData* d, mjContact* con,
int g, int f, int e, mjtNum margin) {
int mjc_HFieldElem(const mjModel* m, mjData* d, mjContact* con, int g, int f, int e,
mjtNum margin) {
mjtNum vec[3], dx, dy;
mjtNum xmin, xmax, ymin, ymax, zmin, zmax;
int dr[2], cnt, rmin, rmax, cmin, cmax;