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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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doc/includes/references.h
+2 -2
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@@ -3293,8 +3293,8 @@ void mj_objectVelocity(const mjModel* m, const mjData* d,
int objtype, int objid, mjtNum res[6], int flg_local); int objtype, int objid, mjtNum res[6], int flg_local);
void mj_objectAcceleration(const mjModel* m, const mjData* d, void mj_objectAcceleration(const mjModel* m, const mjData* d,
int objtype, int objid, mjtNum res[6], int flg_local); int objtype, int objid, mjtNum res[6], int flg_local);
mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2, mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
mjtNum distmax, mjtNum fromto[6]); mjtNum fromto[6]);
void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]); void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt, void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
const mjtNum* qpos1, const mjtNum* qpos2); const mjtNum* qpos1, const mjtNum* qpos2);
include/mujoco/mujoco.h
+2 -2
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@@ -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. // Return smallest signed distance between two geoms and optionally segment from geom1 to geom2.
// Nullable: fromto // Nullable: fromto
MJAPI mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2, MJAPI mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
mjtNum distmax, mjtNum fromto[6]); mjtNum fromto[6]);
// Extract 6D force:torque given contact id, in the contact frame. // 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]); MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
python/mujoco/functions.cc
+1 -1
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@@ -663,7 +663,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mj_contactForce>(pymodule); Def<traits::mj_contactForce>(pymodule);
Def<traits::mj_geomDistance>( Def<traits::mj_geomDistance>(
pymodule, pymodule,
[](const raw::MjModel* m, const raw::MjData* d, [](const raw::MjModel* m, raw::MjData* d,
int geom1, int geom2, mjtNum distmax, int geom1, int geom2, mjtNum distmax,
std::optional<Eigen::Ref<EigenArrayXX>> fromto) { std::optional<Eigen::Ref<EigenArrayXX>> fromto) {
if (fromto.has_value() && fromto->size() != 6) { if (fromto.has_value() && fromto->size() != 6) {
python/mujoco/introspect/functions.py
+1 -1
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@@ -3626,7 +3626,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
FunctionParameterDecl( FunctionParameterDecl(
name='d', name='d',
type=PointerType( type=PointerType(
inner_type=ValueType(name='mjData', is_const=True), inner_type=ValueType(name='mjData'),
), ),
), ),
FunctionParameterDecl( FunctionParameterDecl(
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 --------------------------------------------------------- //-------------------------- miscellaneous ---------------------------------------------------------
// returns the smallest distance between two geoms (using nativeccd) // 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]) { mjtNum distmax, mjtNum fromto[6]) {
mjCCDConfig config; mjCCDConfig config;
mjCCDStatus status; 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 // 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]) { mjtNum fromto[6]) {
mjContact con[mjMAXCONPAIR]; mjContact con[mjMAXCONPAIR];
mjtNum dist = distmax; mjtNum dist = distmax;
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 --------------------------------------------------------- //-------------------------- miscellaneous ---------------------------------------------------------
// returns the smallest distance between two geoms // returns the smallest distance between two geoms
MJAPI mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2, MJAPI mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
mjtNum distmax, mjtNum fromto[6]); mjtNum fromto[6]);
// compute velocity by finite-differencing two positions // compute velocity by finite-differencing two positions
MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt, MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
wasm/codegen/generated/bindings.cc
+1 -1
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@@ -8599,7 +8599,7 @@ void mj_fwdVelocity_wrapper(const MjModel& m, MjData& d) {
mj_fwdVelocity(m.get(), d.get()); mj_fwdVelocity(m.get(), d.get());
} }
mjtNum mj_geomDistance_wrapper(const MjModel& m, const MjData& d, int geom1, int geom2, mjtNum distmax, const val& fromto) { mjtNum mj_geomDistance_wrapper(const MjModel& m, MjData& d, int geom1, int geom2, mjtNum distmax, const val& fromto) {
UNPACK_NULLABLE_VALUE(mjtNum, fromto); UNPACK_NULLABLE_VALUE(mjtNum, fromto);
CHECK_SIZE(fromto, 6); CHECK_SIZE(fromto, 6);
return mj_geomDistance(m.get(), d.get(), geom1, geom2, distmax, fromto_.data()); return mj_geomDistance(m.get(), d.get(), geom1, geom2, distmax, fromto_.data());