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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_sdf.h
+4 -4
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@@ -36,16 +36,16 @@ MJAPI void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s, mjtNu
const mjtNum x[3]);
// collision between a height field and a signed distance field
int mjc_HFieldSDF(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
int mjc_HFieldSDF(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
// collision between a mesh and a signed distance field
int mjc_MeshSDF(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
int mjc_MeshSDF(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
// collision between two signed distance fields
int mjc_SDF(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
int mjc_SDF(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
// collision between entire flex and SDF geom (batched processing)
int mjc_FlexSDF(const mjModel* m, mjData* d, mjContact* con,
int mjc_FlexSDF(const mjModel* m, const mjData* d, mjContact* con,
int g, int f, mjtNum margin);
#ifdef __cplusplus