From 971e73ab0437ff56dde7b278fc7621558bcb9924 Mon Sep 17 00:00:00 2001 From: Alessio Quaglino Date: Tue, 18 Nov 2025 03:27:24 -0800 Subject: [PATCH] Remove unused argument from mj_vertBodyWeight. PiperOrigin-RevId: 833744032 Change-Id: I26049003b1f45f8cac60c7ebc0b5abca5526177f --- src/engine/engine_core_constraint.c | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c index f8df1155..8cc5116f 100644 --- a/src/engine/engine_core_constraint.c +++ b/src/engine/engine_core_constraint.c @@ -184,7 +184,7 @@ static int mj_elemBodyWeight(const mjModel* m, const mjData* d, int f, int e, in // compute body weights for a given contact vertex, return #bodies static int mj_vertBodyWeight(const mjModel* m, const mjData* d, int f, int v, - const mjtNum point[3], int* body, mjtNum* weight, mjtNum bw) { + int* body, mjtNum* weight, mjtNum bw) { mjtNum* coord = m->flex_vert0 + 3*v; int nstart = m->flex_nodeadr[f]; int nend = m->flex_nodeadr[f] + m->flex_nodenum[f]; @@ -935,8 +935,7 @@ int mj_contactJacobian(const mjModel* m, mjData* d, const mjContact* con, int di bweight[nb] = bw[k]; nb++; } else { - nb += mj_vertBodyWeight(m, d, con->flex[side], vid[k], - con->pos, bid+nb, bweight+nb, bw[k]); + nb += mj_vertBodyWeight(m, d, con->flex[side], vid[k], bid+nb, bweight+nb, bw[k]); } } } @@ -1185,8 +1184,7 @@ void mj_diagApprox(const mjModel* m, mjData* d) { bweight[k] = bw[k]; nb++; } else { - nb = mj_vertBodyWeight(m, d, con->flex[side], vid[k], - con->pos, bid, bweight, bw[k]); + nb = mj_vertBodyWeight(m, d, con->flex[side], vid[k], bid, bweight, bw[k]); } } @@ -1915,8 +1913,7 @@ static int mj_nc(const mjModel* m, mjData* d, int* nnz) { bid[nb] = m->flex_vertbodyid[vid[k]]; nb++; } else { - nb += mj_vertBodyWeight(m, d, con->flex[side], vid[k], - con->pos, bid+nb, NULL, 0); + nb += mj_vertBodyWeight(m, d, con->flex[side], vid[k], bid + nb, NULL, 0); } } }