Refactor hfield-convex collision code. This should be a no-op.

PiperOrigin-RevId: 837045492 Change-Id: I82851615c7f69774da83cab361316e5a6e9982c6
2025-11-26 03:25:12 -08:00
parent fcad41a5b1
commit ae24034f24
9 changed files with 162 additions and 138 deletions
@@ -71,7 +71,10 @@ MJAPI void mju_zero3(mjtNum res[3]);
 MJAPI int mju_equal3(const mjtNum vec1[3], const mjtNum vec2[3]);

 // res = vec
-MJAPI void mju_copy3(mjtNum res[3], const mjtNum data[3]);
+MJAPI void mju_copy3(mjtNum res[3], const mjtNum vec[3]);
+
+// res = mat
+void mju_copy9(mjtNum res[9], const mjtNum mat[9]);

 // res = vec*scl
 MJAPI void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);