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Declare loop variables inside for loop in C++ files.

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PiperOrigin-RevId: 518852339
Change-Id: I0174d873d89e48f11b816d337728f213c2798248
This commit is contained in:
Nimrod Gileadi
2023-03-23 07:21:46 -07:00
committed by Copybara-Service
parent 145fe7f354
commit 0e7e299bf6
11 changed files with 375 additions and 447 deletions
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src/user/user_composite.cc
+12 -18
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@@ -122,11 +122,9 @@ bool mjCComposite::AddDefaultJoint(char* error, int error_sz) {
// set defaults, after reading top-level info and skin
void mjCComposite::SetDefault(void) {
int i;
// determine dimensionality
int tmpdim = 0;
for (i=0; i<3; i++) {
for (int i=0; i<3; i++) {
if (count[i]>1) {
tmpdim++;
}
@@ -149,7 +147,7 @@ void mjCComposite::SetDefault(void) {
type==mjCOMPTYPE_LOOP ||
type==mjCOMPTYPE_CABLE ||
(type==mjCOMPTYPE_GRID && tmpdim==1)) {
for (i=0; i<mjNCOMPKINDS; i++) {
for (int i=0; i<mjNCOMPKINDS; i++) {
def[i].geom.group = 0;
def[i].tendon.group = 0;
}
@@ -196,7 +194,7 @@ void mjCComposite::SetDefault(void) {
AdjustSoft(solrefsmooth, solimpsmooth, 1);
// soft fix everywhere
for (i=0; i<mjNCOMPKINDS; i++) {
for (int i=0; i<mjNCOMPKINDS; i++) {
AdjustSoft(def[i].equality.solref, def[i].equality.solimp, 1);
}
@@ -1173,7 +1171,6 @@ void mjCComposite::BoxProject(double* pos) {
// make 3d box, ellipsoid or cylinder
bool mjCComposite::MakeBox(mjCModel* model, mjCBody* body, char* error, int error_sz) {
int ix, iy, iz;
char txt[100];
// check dim
@@ -1199,9 +1196,9 @@ bool mjCComposite::MakeBox(mjCModel* model, mjCBody* body, char* error, int erro
ten->name = txt;
// create bodies, geoms and joints: outside shell only
for (ix=0; ix<count[0]; ix++) {
for (iy=0; iy<count[1]; iy++) {
for (iz=0; iz<count[2]; iz++) {
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
for (int iz=0; iz<count[2]; iz++) {
if (ix==0 || ix==count[0]-1 ||
iy==0 || iy==count[1]-1 ||
iz==0 || iz==count[2]-1) {
@@ -1297,11 +1294,10 @@ bool mjCComposite::MakeBox(mjCModel* model, mjCBody* body, char* error, int erro
// add shear tendons to 2D
void mjCComposite::MakeShear(mjCModel* model) {
int ix, iy;
char txt[100], txt1[100], txt2[100];
for (ix=0; ix<count[0]-1; ix++) {
for (iy=0; iy<count[1]-1; iy++) {
for (int ix=0; ix<count[0]-1; ix++) {
for (int iy=0; iy<count[1]-1; iy++) {
// recover site names
mju::sprintf_arr(txt1, "%sS%d_%d", prefix.c_str(), ix, iy);
mju::sprintf_arr(txt2, "%sS%d_%d", prefix.c_str(), ix+1, iy+1);
@@ -2188,12 +2184,11 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
// make one face of 3D skin, box
void mjCComposite::MakeSkin3Box(mjCSkin* skin, int c0, int c1, int side,
int& vcnt, const char* format) {
int i0, i1;
char txt[100];
// loop over bodies/vertices of specified face
for (i0=0; i0<c0; i0++) {
for (i1=0; i1<c1; i1++) {
for (int i0=0; i0<c0; i0++) {
for (int i1=0; i1<c1; i1++) {
// vertex
skin->vert.push_back(0);
skin->vert.push_back(0);
@@ -2248,12 +2243,11 @@ void mjCComposite::MakeSkin3Box(mjCSkin* skin, int c0, int c1, int side,
// make one face of 3D skin, smooth
void mjCComposite::MakeSkin3Smooth(mjCSkin* skin, int c0, int c1, int side,
const std::map<string, int>& vmap, const char* format) {
int i0, i1;
char txt00[100], txt01[100], txt10[100], txt11[100];
// loop over bodies/vertices of specified face
for (i0=0; i0<c0; i0++) {
for (i1=0; i1<c1; i1++) {
for (int i0=0; i0<c0; i0++) {
for (int i1=0; i1<c1; i1++) {
// body names
mju::sprintf_arr(txt00, format, prefix.c_str(), i0, i1);
mju::sprintf_arr(txt01, format, prefix.c_str(), i0, i1+1);