Tighten const qualifiers in collision functions.

PiperOrigin-RevId: 543789453 Change-Id: I929c68b9100a093738c0de6c0965dab4ded1084b
2023-06-27 10:42:12 -07:00
parent b96532181c
commit bce2043762
5 changed files with 20 additions and 12 deletions
@@ -578,7 +578,7 @@ static void addVert(int* nvert, mjtPrism* prism, mjtNum x, mjtNum y, mjtNum z) {
 // entry point for heightfield collisions
 int mjc_ConvexHField(const mjModel* m, const mjData* d,
                     mjContact* con, int g1, int g2, mjtNum margin) {
-  mjGETINFO
+  mjGETINFO_HFIELD
  mjtNum mat[9], savemat2[9], savepos2[3], pos[3], vec[3], r2, dx, dy;
  mjtNum xmin, xmax, ymin, ymax, zmin, zmax;
  int hid = m->geom_dataid[g1];