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Update function signatures in engine_util_spatial.h to appease fussy GCC

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PiperOrigin-RevId: 843752024
Change-Id: I041efe6acc5a4a44488bb9ec09101681d47c37c5
This commit is contained in:
Yuval Tassa
2025-12-12 10:46:32 -08:00
committed by Copybara-Service
parent 942c2622ee
commit e3a860de69
1 changed files with 2 additions and 2 deletions
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src/engine/engine_util_spatial.h
+2 -2
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@@ -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]); void mju_crossForce(mjtNum res[6], const mjtNum vel[6], const mjtNum f[6]);
// express inertia in com-based frame // 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); const mjtNum dif[3], mjtNum mass);
// express motion axis in com-based frame // 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 // multiply 6D vector (rotation, translation) by 6D inertia matrix
MJAPI void mju_mulInertVec(mjtNum* res, const mjtNum inert[10], const mjtNum vec[6]); MJAPI void mju_mulInertVec(mjtNum* res, const mjtNum inert[10], const mjtNum vec[6]);