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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.

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PiperOrigin-RevId: 881946592
Change-Id: I524b9fa41018a581e58647d44de6ca3db4c6608b
This commit is contained in:
Kyle Bayes
2026-03-11 04:54:58 -07:00
committed by Copybara-Service
parent 64ee2d041f
commit acf7f030a6
7 changed files with 11 additions and 11 deletions
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src/engine/engine_support.c
+2 -2
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@@ -524,7 +524,7 @@ void mj_xfrcAccumulate(const mjModel* m, mjData* d, mjtNum* qfrc) {
//-------------------------- miscellaneous ---------------------------------------------------------
// returns the smallest distance between two geoms (using nativeccd)
static mjtNum mj_geomDistanceCCD(const mjModel* m, const mjData* d, int g1, int g2,
static mjtNum mj_geomDistanceCCD(const mjModel* m, mjData* d, int g1, int g2,
mjtNum distmax, mjtNum fromto[6]) {
mjCCDConfig config;
mjCCDStatus status;
@@ -553,7 +553,7 @@ static mjtNum mj_geomDistanceCCD(const mjModel* m, const mjData* d, int g1, int
// returns the smallest distance between two geoms
mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2, mjtNum distmax,
mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
mjtNum fromto[6]) {
mjContact con[mjMAXCONPAIR];
mjtNum dist = distmax;