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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.h
+2 -2
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@@ -86,8 +86,8 @@ void mj_xfrcAccumulate(const mjModel* m, mjData* d, mjtNum* qfrc);
//-------------------------- miscellaneous ---------------------------------------------------------
// returns the smallest distance between two geoms
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]);
// compute velocity by finite-differencing two positions
MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,