chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_collision_convex.h
+7 -10
View File
@@ -79,20 +79,17 @@ void mjc_pointSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]);
void mjc_lineSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]);
// pairwise geom collision functions using ccd
int mjc_PlaneConvex(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
int mjc_ConvexHField(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_Convex(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);
int mjc_ConvexHField(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_Convex(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
// geom-elem or elem-elem or vert-elem collision function 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);
// heightfield-elem collision function using ccd
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);
// fix contact frame normal
void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2);