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Add const to mjsDefault when used as function argument.

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Fixes #2197.

PiperOrigin-RevId: 692346264
Change-Id: Iddb9be1377a7d59c86911802d8c5563f6bf6b043
This commit is contained in:
Alessio Quaglino
2024-11-01 18:17:42 -07:00
committed by Copybara-Service
parent 47ebb0614e
commit ebe60b9ad5
8 changed files with 102 additions and 111 deletions
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include/mujoco/mujoco.h
+14 -14
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@@ -1421,25 +1421,25 @@ MJAPI int mjs_detachBody(mjSpec* s, mjsBody* b);
//---------------------------------- Tree elements -------------------------------------------------
// Add child body to body, return child.
MJAPI mjsBody* mjs_addBody(mjsBody* body, mjsDefault* def);
MJAPI mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);
// Add site to body, return site spec.
MJAPI mjsSite* mjs_addSite(mjsBody* body, mjsDefault* def);
MJAPI mjsSite* mjs_addSite(mjsBody* body, const mjsDefault* def);
// Add joint to body.
MJAPI mjsJoint* mjs_addJoint(mjsBody* body, mjsDefault* def);
MJAPI mjsJoint* mjs_addJoint(mjsBody* body, const mjsDefault* def);
// Add freejoint to body.
MJAPI mjsJoint* mjs_addFreeJoint(mjsBody* body);
// Add geom to body.
MJAPI mjsGeom* mjs_addGeom(mjsBody* body, mjsDefault* def);
MJAPI mjsGeom* mjs_addGeom(mjsBody* body, const mjsDefault* def);
// Add camera to body.
MJAPI mjsCamera* mjs_addCamera(mjsBody* body, mjsDefault* def);
MJAPI mjsCamera* mjs_addCamera(mjsBody* body, const mjsDefault* def);
// Add light to body.
MJAPI mjsLight* mjs_addLight(mjsBody* body, mjsDefault* def);
MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
// Add frame to body.
MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
@@ -1451,7 +1451,7 @@ MJAPI void mjs_delete(mjsElement* element);
//---------------------------------- Non-tree elements ---------------------------------------------
// Add actuator.
MJAPI mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* def);
MJAPI mjsActuator* mjs_addActuator(mjSpec* s, const mjsDefault* def);
// Add sensor.
MJAPI mjsSensor* mjs_addSensor(mjSpec* s);
@@ -1460,16 +1460,16 @@ MJAPI mjsSensor* mjs_addSensor(mjSpec* s);
MJAPI mjsFlex* mjs_addFlex(mjSpec* s);
// Add contact pair.
MJAPI mjsPair* mjs_addPair(mjSpec* s, mjsDefault* def);
MJAPI mjsPair* mjs_addPair(mjSpec* s, const mjsDefault* def);
// Add excluded body pair.
MJAPI mjsExclude* mjs_addExclude(mjSpec* s);
// Add equality.
MJAPI mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* def);
MJAPI mjsEquality* mjs_addEquality(mjSpec* s, const mjsDefault* def);
// Add tendon.
MJAPI mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* def);
MJAPI mjsTendon* mjs_addTendon(mjSpec* s, const mjsDefault* def);
// Wrap site using tendon.
MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendon, const char* name);
@@ -1505,7 +1505,7 @@ MJAPI mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefa
//---------------------------------- Assets --------------------------------------------------------
// Add mesh.
MJAPI mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* def);
MJAPI mjsMesh* mjs_addMesh(mjSpec* s, const mjsDefault* def);
// Add height field.
MJAPI mjsHField* mjs_addHField(mjSpec* s);
@@ -1517,7 +1517,7 @@ MJAPI mjsSkin* mjs_addSkin(mjSpec* s);
MJAPI mjsTexture* mjs_addTexture(mjSpec* s);
// Add material.
MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* def);
MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* def);
//---------------------------------- Find and get utilities ----------------------------------------
@@ -1544,7 +1544,7 @@ MJAPI mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
MJAPI mjsDefault* mjs_getDefault(mjsElement* element);
// Find default in model by class name.
MJAPI mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
MJAPI const mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
// Get global default from model.
MJAPI mjsDefault* mjs_getSpecDefault(mjSpec* s);
@@ -1614,7 +1614,7 @@ MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
//---------------------------------- Spec utilities ------------------------------------------------
// Set element's default.
MJAPI void mjs_setDefault(mjsElement* element, mjsDefault* def);
MJAPI void mjs_setDefault(mjsElement* element, const mjsDefault* def);
// Set element's enclosing frame.
MJAPI void mjs_setFrame(mjsElement* dest, mjsFrame* frame);