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_primitive.h
+22 -22
View File
@@ -55,32 +55,32 @@ int mjraw_CapsuleTriangle(mjContact* con, mjtNum margin, const mjtNum* pos,
mjtNum rt);
// plane collisions
MJAPI int mjc_PlaneSphere (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_PlaneCapsule (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_PlaneCylinder (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_PlaneBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_PlaneSphere(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_PlaneCapsule(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_PlaneCylinder(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_PlaneBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin);
// sphere and capsule collisions
MJAPI int mjc_SphereSphere (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_SphereCapsule (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_SphereCylinder (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_CapsuleCapsule (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_SphereSphere(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_SphereCapsule(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_SphereCylinder(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_CapsuleCapsule(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin);
// box collisions: from engine_collision_box.c
MJAPI int mjc_CapsuleBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_SphereBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_BoxBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_CapsuleBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_SphereBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_BoxBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin);
#ifdef __cplusplus
}