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Remove unused argument from mj_vertBodyWeight.

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PiperOrigin-RevId: 833744032
Change-Id: I26049003b1f45f8cac60c7ebc0b5abca5526177f
This commit is contained in:
Alessio Quaglino
2025-11-18 03:27:24 -08:00
committed by Copybara-Service
parent 8077a6819c
commit 971e73ab04
1 changed files with 4 additions and 7 deletions
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src/engine/engine_core_constraint.c
+4 -7
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@@ -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 // compute body weights for a given contact vertex, return #bodies
static int mj_vertBodyWeight(const mjModel* m, const mjData* d, int f, int v, 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; mjtNum* coord = m->flex_vert0 + 3*v;
int nstart = m->flex_nodeadr[f]; int nstart = m->flex_nodeadr[f];
int nend = m->flex_nodeadr[f] + m->flex_nodenum[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]; bweight[nb] = bw[k];
nb++; nb++;
} else { } else {
nb += mj_vertBodyWeight(m, d, con->flex[side], vid[k], nb += mj_vertBodyWeight(m, d, con->flex[side], vid[k], bid+nb, bweight+nb, bw[k]);
con->pos, bid+nb, bweight+nb, bw[k]);
} }
} }
} }
@@ -1185,8 +1184,7 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
bweight[k] = bw[k]; bweight[k] = bw[k];
nb++; nb++;
} else { } else {
nb = mj_vertBodyWeight(m, d, con->flex[side], vid[k], nb = mj_vertBodyWeight(m, d, con->flex[side], vid[k], bid, bweight, bw[k]);
con->pos, 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]]; bid[nb] = m->flex_vertbodyid[vid[k]];
nb++; nb++;
} else { } else {
nb += mj_vertBodyWeight(m, d, con->flex[side], vid[k], nb += mj_vertBodyWeight(m, d, con->flex[side], vid[k], bid + nb, NULL, 0);
con->pos, bid+nb, NULL, 0);
} }
} }
} }