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
@@ -353,12 +353,12 @@ int mjc_SphereCylinder(const mjModel* m, const mjData* d,

  // cap collision: use plane-sphere
  if (collide_cap) {
-    mjtNum flipmat[9] = {
+    const mjtNum flipmat[9] = {
      -mat2[0], mat2[1], -mat2[2],
      -mat2[3], mat2[4], -mat2[5],
      -mat2[6], mat2[7], -mat2[8]
    };
-    mjtNum* mat_cap;
+    const mjtNum* mat_cap;
    mjtNum pos_cap[3];
    if (x > 0) {  // top cap
      mju_addScl3(pos_cap, pos2, axis, height);