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Remove unnecessary const from grad parameter in strain Jacobian functions.

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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
This commit is contained in:
Alessio Quaglino
2026-03-16 13:03:00 -07:00
committed by Copybara-Service
parent ac2730ab80
commit aec1b45dce
1 changed files with 3 additions and 3 deletions
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src/engine/engine_core_constraint.c
+3 -3
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@@ -209,7 +209,7 @@ static void shape_gradients(
// compute dStrain/dNodePosition for volumetric invariants (I1 or J-1) // compute dStrain/dNodePosition for volumetric invariants (I1 or J-1)
// dSdx: output array of size 3*nodenum // 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) { const mjtNum* F, const mjtNum* Fref_inv, mjtNum* dSdx) {
mju_zero(dSdx, 3*nodenum); 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 // compute dStrain/dNodePosition for general strain invariants
// dSdx: output array of size 3*nodenum // 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) { const mjtNum* Fref_inv, const mjtNum* dSdE, mjtNum* dSdx) {
mju_zero(dSdx, 3*nodenum); mju_zero(dSdx, 3*nodenum);
@@ -1039,7 +1039,7 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
} }
// compute dS/dx for all nodes // 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); strain_jacobian(nodenum, nv, dSdx, node_jac, strain_jac);
// add constraint // add constraint