From aec1b45dcef979f89497a49e85bc200507220f8b Mon Sep 17 00:00:00 2001 From: Alessio Quaglino Date: Mon, 16 Mar 2026 13:03:00 -0700 Subject: [PATCH] Remove unnecessary const from grad parameter in strain Jacobian functions. The `grad` parameter in `volumetric_dSdx` and `invariant_dSdx` is not modified, but the `const` qualifier was inconsistent with how the array was being passed, requiring an unnecessary cast. Removing the `const` simplifies the function signatures and calls. PiperOrigin-RevId: 884598322 Change-Id: Icac8071aa8e838057dd39c979c23a4f47e1dc22d --- src/engine/engine_core_constraint.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c index 13ee8dda..179c4477 100644 --- a/src/engine/engine_core_constraint.c +++ b/src/engine/engine_core_constraint.c @@ -209,7 +209,7 @@ static void shape_gradients( // compute dStrain/dNodePosition for volumetric invariants (I1 or J-1) // dSdx: output array of size 3*nodenum -static void volumetric_dSdx(int invariant_type, int nodenum, const mjtNum grad[8][3], +static void volumetric_dSdx(int invariant_type, int nodenum, mjtNum grad[][3], const mjtNum* F, const mjtNum* Fref_inv, mjtNum* dSdx) { mju_zero(dSdx, 3*nodenum); @@ -261,7 +261,7 @@ static void volumetric_dSdx(int invariant_type, int nodenum, const mjtNum grad[8 // compute dStrain/dNodePosition for general strain invariants // dSdx: output array of size 3*nodenum -static void invariant_dSdx(int nodenum, const mjtNum grad[][3], const mjtNum* F, +static void invariant_dSdx(int nodenum, mjtNum grad[][3], const mjtNum* F, const mjtNum* Fref_inv, const mjtNum* dSdE, mjtNum* dSdx) { mju_zero(dSdx, 3*nodenum); @@ -1039,7 +1039,7 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) { } // compute dS/dx for all nodes - invariant_dSdx(nodenum, (const mjtNum(*)[3])grad, F, Fref_inv, dSdE, dSdx); + invariant_dSdx(nodenum, grad, F, Fref_inv, dSdE, dSdx); strain_jacobian(nodenum, nv, dSdx, node_jac, strain_jac); // add constraint