Remove const qualifier from mjData in mj_geomDistance. The function mj_geomDistance will require data stack space as nativeccd memory is determined from opt.ccd_iterations.

PiperOrigin-RevId: 881946592 Change-Id: I524b9fa41018a581e58647d44de6ca3db4c6608b
2026-03-11 04:54:58 -07:00
parent 64ee2d041f
commit acf7f030a6
7 changed files with 11 additions and 11 deletions
@@ -609,8 +609,8 @@ MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,

 // Return smallest signed distance between two geoms and optionally segment from geom1 to geom2.
 // Nullable: fromto
-MJAPI mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2,
-                             mjtNum distmax, mjtNum fromto[6]);
+MJAPI mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
+                             mjtNum fromto[6]);

 // Extract 6D force:torque given contact id, in the contact frame.
 MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);