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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_primitive.c
+10 -16
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@@ -51,16 +51,14 @@ static int mjraw_PlaneSphere(mjContact* con, mjtNum margin,
// plane : sphere
int mjc_PlaneSphere(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
int mjc_PlaneSphere(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin) {
mjGETINFO
return mjraw_PlaneSphere(con, margin, pos1, mat1, size1, pos2, mat2, size2);
}
// plane : capsule
int mjc_PlaneCapsule(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
int mjc_PlaneCapsule(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin) {
mjGETINFO
// get capsule axis, segment = scaled axis
@@ -89,8 +87,7 @@ int mjc_PlaneCapsule(const mjModel* m, const mjData* d,
// plane : cylinder
int mjc_PlaneCylinder(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
int mjc_PlaneCylinder(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin) {
mjGETINFO
mjtNum normal[3] = {mat1[2], mat1[5], mat1[8]};
mjtNum axis[3] = {mat2[2], mat2[5], mat2[8]};
@@ -193,8 +190,7 @@ int mjc_PlaneCylinder(const mjModel* m, const mjData* d,
// plane : box
int mjc_PlaneBox(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
int mjc_PlaneBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin) {
mjGETINFO
// get normal, difference between centers, normal distance
@@ -277,8 +273,7 @@ static int mjraw_SphereSphere(mjContact* con, mjtNum margin,
// sphere : sphere
int mjc_SphereSphere(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
int mjc_SphereSphere(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin) {
mjGETINFO
return mjraw_SphereSphere(con, margin, pos1, mat1, size1, pos2, mat2, size2);
}
@@ -304,16 +299,15 @@ int mjraw_SphereCapsule(mjContact* con, mjtNum margin,
// sphere : capsule
int mjc_SphereCapsule(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
int mjc_SphereCapsule(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin) {
mjGETINFO
return mjraw_SphereCapsule(con, margin, pos1, mat1, size1, pos2, mat2, size2);
}
// sphere : cylinder
int mjc_SphereCylinder(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
int mjc_SphereCylinder(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin) {
mjGETINFO
// get cylinder sizes and axis
@@ -482,8 +476,8 @@ int mjraw_CapsuleCapsule(mjContact* con, mjtNum margin,
// capsule : capsule
int mjc_CapsuleCapsule(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
int mjc_CapsuleCapsule(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin) {
mjGETINFO
return mjraw_CapsuleCapsule(con, margin, pos1, mat1, size1, pos2, mat2, size2);
}