Add some missing const qualifiers.

PiperOrigin-RevId: 632463634 Change-Id: Id3e3e53371f8ed53d970ad7c471bbefd2a70cf5a
google-deepmind · May 10, 2024 · 65d4f04 · 65d4f04
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commit 65d4f04
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Showing 5 changed files with 17 additions and 17 deletions.
diff --git a/doc/includes/references.h b/doc/includes/references.h
@@ -2639,9 +2639,9 @@ void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
                           mjvSceneState* scnstate);
 void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
                   const mjvPerturb* pert, int catmask, mjvScene* scn);
-void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn);
-void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn);
-void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn);
+void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
+void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn);
+void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
 void mjr_defaultContext(mjrContext* con);
 void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
 void mjr_changeFont(int fontscale, mjrContext* con);

diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
@@ -688,13 +688,13 @@ MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
                         const mjvPerturb* pert, int catmask, mjvScene* scn);
 
 // Make list of lights.
-MJAPI void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn);
+MJAPI void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
 
 // Update camera.
-MJAPI void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn);
+MJAPI void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn);
 
 // Update skins.
-MJAPI void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn);
+MJAPI void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
 
 
 //---------------------------------- OpenGL rendering ----------------------------------------------

diff --git a/introspect/functions.py b/introspect/functions.py
@@ -4478,7 +4478,7 @@
              FunctionParameterDecl(
                  name='d',
                  type=PointerType(
-                     inner_type=ValueType(name='mjData'),
+                     inner_type=ValueType(name='mjData', is_const=True),
                  ),
              ),
              FunctionParameterDecl(
@@ -4504,7 +4504,7 @@
              FunctionParameterDecl(
                  name='d',
                  type=PointerType(
-                     inner_type=ValueType(name='mjData'),
+                     inner_type=ValueType(name='mjData', is_const=True),
                  ),
              ),
              FunctionParameterDecl(
@@ -4536,7 +4536,7 @@
              FunctionParameterDecl(
                  name='d',
                  type=PointerType(
-                     inner_type=ValueType(name='mjData'),
+                     inner_type=ValueType(name='mjData', is_const=True),
                  ),
              ),
              FunctionParameterDecl(

diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
@@ -2063,7 +2063,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
 
 
 // make list of lights only
-void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn) {
+void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
   mjvLight* thislight;
 
   // clear counter
@@ -2130,7 +2130,7 @@ void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn) {
 
 
 // update camera only
-void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn) {
+void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn) {
   mjtNum ca, sa, ce, se, move[3], *mat;
   mjtNum headpos[3], forward[3], up[3], right[3], ipd;
 
@@ -2560,7 +2560,7 @@ void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvO
 
 
 // update all skins, here for backward API compatibility
-void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn) {
+void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn) {
   mjvOption opt;
   mjv_defaultOption(&opt);
   mjv_updateActiveSkin(m, d, scn, &opt);
@@ -2570,7 +2570,7 @@ void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn) {
 
 
 // update visible skins only
-void mjv_updateActiveSkin(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt) {
+void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn, const mjvOption* opt) {
   // process skins
   for (int i=0; i < m->nskin; i++) {
     // get info

diff --git a/src/engine/engine_vis_visualize.h b/src/engine/engine_vis_visualize.h
@@ -48,19 +48,19 @@ MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
                         const mjvPerturb* pert, int catmask, mjvScene* scn);
 
 // make list of lights only
-MJAPI void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn);
+MJAPI void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
 
 // update camera only
-MJAPI void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn);
+MJAPI void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn);
 
 // update visible flexes only
 MJAPI void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt);
 
 // update skins only
-MJAPI void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn);
+MJAPI void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
 
 // update visible skins only
-MJAPI void mjv_updateActiveSkin(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt);
+MJAPI void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn, const mjvOption* opt);
 
 #define mjNCATENARY 31