From e3a860de692aa303b2f5369048e1aa87bc84f11d Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Fri, 12 Dec 2025 10:46:32 -0800 Subject: [PATCH] Update function signatures in engine_util_spatial.h to appease fussy GCC PiperOrigin-RevId: 843752024 Change-Id: I041efe6acc5a4a44488bb9ec09101681d47c37c5 --- src/engine/engine_util_spatial.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/engine/engine_util_spatial.h b/src/engine/engine_util_spatial.h index e704facb..6a53ddfd 100644 --- a/src/engine/engine_util_spatial.h +++ b/src/engine/engine_util_spatial.h @@ -95,11 +95,11 @@ void mju_crossMotion(mjtNum res[6], const mjtNum vel[6], const mjtNum v[6]); void mju_crossForce(mjtNum res[6], const mjtNum vel[6], const mjtNum f[6]); // express inertia in com-based frame -void mju_inertCom(mjtNum res[10], const mjtNum inert[3], const mjtNum mat[9], +void mju_inertCom(mjtNum* res, const mjtNum inert[3], const mjtNum mat[9], const mjtNum dif[3], mjtNum mass); // express motion axis in com-based frame -void mju_dofCom(mjtNum res[6], const mjtNum axis[3], const mjtNum offset[3]); +void mju_dofCom(mjtNum* res, const mjtNum axis[3], const mjtNum offset[3]); // multiply 6D vector (rotation, translation) by 6D inertia matrix MJAPI void mju_mulInertVec(mjtNum* res, const mjtNum inert[10], const mjtNum vec[6]);