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Remove MJAPI from templated function declaration.

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PiperOrigin-RevId: 928849785
Change-Id: I35ba63f599ba12a5d2bdb0d694240e39ca7d4174
This commit is contained in:
Yuval Tassa
2026-06-08 17:07:32 -07:00
committed by Copybara-Service
parent 986d73c062
commit e349ea5834
2 changed files with 2 additions and 22 deletions
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src/user/user_util.h
+2 -2
View File
@@ -115,8 +115,8 @@ void mjuu_localquat(double* local, const double* child, const double* parent);
void mjuu_crossvec(double* a, const double* b, const double* c);
// compute normal vector to given triangle
template<typename T> MJAPI double mjuu_makenormal(double* normal, const T a[3],
const T b[3], const T c[3]);
template<typename T> double mjuu_makenormal(double* normal, const T a[3],
const T b[3], const T c[3]);
// compute quaternion corresponding to minimal rotation from [0;0;1] to vec
void mjuu_z2quat(double* quat, const double* vec);
test/user/user_util_test.cc
-20
View File
@@ -182,26 +182,6 @@ TEST_F(UserUtilTest, VectorToStringEmpty) {
EXPECT_EQ(VectorToString(v), "");
}
TEST_F(UserUtilTest, MakeNormal) {
double a[3] = {0, 0, 0};
double b[3] = {1, 0, 0};
double c[3] = {0, 1, 0};
double normal[3];
double nrm = mjuu_makenormal(normal, a, b, c);
EXPECT_EQ(nrm, 1.0);
EXPECT_THAT(normal, ElementsAre(0, 0, 1));
}
TEST_F(UserUtilTest, MakeNormalDegenerate) {
double a[3] = {0, 0, 0};
double b[3] = {1, 0, 0};
double c[3] = {2, 0, 0};
double normal[3] = {0, 0, 0};
double nrm = mjuu_makenormal(normal, a, b, c);
EXPECT_EQ(nrm, 1.0);
EXPECT_THAT(normal, ElementsAre(1, 0, 0));
}
// utility: modified Gram-Schmidt to orthogonalize columns of Q (n x n)
static void gramSchmidt(double* Q, int n) {
for (int j = 0; j < n; j++) {