chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_objects.cc
+67 -82
View File
@@ -356,15 +356,13 @@ mjCBody::mjCBody(mjCModel* _model) {
// destructor
mjCBody::~mjCBody() {
unsigned int i;
// delete objects allocated here
for (i=0; i<bodies.size(); i++) delete bodies[i];
for (i=0; i<geoms.size(); i++) delete geoms[i];
for (i=0; i<joints.size(); i++) delete joints[i];
for (i=0; i<sites.size(); i++) delete sites[i];
for (i=0; i<cameras.size(); i++) delete cameras[i];
for (i=0; i<lights.size(); i++) delete lights[i];
for (int i=0; i<bodies.size(); i++) delete bodies[i];
for (int i=0; i<geoms.size(); i++) delete geoms[i];
for (int i=0; i<joints.size(); i++) delete joints[i];
for (int i=0; i<sites.size(); i++) delete sites[i];
for (int i=0; i<cameras.size(); i++) delete cameras[i];
for (int i=0; i<lights.size(); i++) delete lights[i];
bodies.clear();
geoms.clear();
@@ -576,14 +574,14 @@ mjCBase* mjCBody::FindObject(mjtObj type, string _name, bool recursive) {
// compute geom inertial frame: ipos, iquat, mass, inertia
void mjCBody::GeomFrame(void) {
int i, sz;
int sz;
double com[3] = {0, 0, 0};
double toti[6] = {0, 0, 0, 0, 0, 0};
vector<mjCGeom*> sel;
// select geoms based on group
sel.clear();
for (i=0; i<geoms.size(); i++) {
for (int i=0; i<geoms.size(); i++) {
if (geoms[i]->group>=model->inertiagrouprange[0] &&
geoms[i]->group<=model->inertiagrouprange[1]) {
sel.push_back(geoms[i]);
@@ -603,7 +601,7 @@ void mjCBody::GeomFrame(void) {
else if (sz>1) {
// compute total mass and center of mass
mass = 0;
for (i=0; i<sz; i++) {
for (int i=0; i<sz; i++) {
mass += sel[i]->mass;
com[0] += sel[i]->mass * sel[i]->pos[0];
com[1] += sel[i]->mass * sel[i]->pos[1];
@@ -621,7 +619,7 @@ void mjCBody::GeomFrame(void) {
ipos[2] = com[2]/mass;
// add geom inertias
for (i=0; i<sz; i++) {
for (int i=0; i<sz; i++) {
double inert0[6], inert1[6];
double dpos[3] = {
sel[i]->pos[0] - ipos[0],
@@ -820,8 +818,6 @@ int mjCBody::MakeBVH(std::vector<mjCGeom *>& elements, int lev) {
// compiler
void mjCBody::Compile(void) {
unsigned int i;
// resize userdata
if (userdata.size() > model->nuser_body) {
throw mjCError(this, "user has more values than nuser_body in body '%s' (id = %d)",
@@ -839,7 +835,7 @@ void mjCBody::Compile(void) {
mjuu_normvec(iquat, 4);
// set parentid and weldid of children
for (i=0; i<bodies.size(); i++) {
for (int i=0; i<bodies.size(); i++) {
bodies[i]->parentid = id;
bodies[i]->weldid = (!bodies[i]->joints.empty() ? bodies[i]->id : weldid);
}
@@ -857,7 +853,7 @@ void mjCBody::Compile(void) {
}
// compile all geoms, phase 1
for (i=0; i<geoms.size(); i++) {
for (int i=0; i<geoms.size(); i++) {
geoms[i]->inferinertia = id>0 &&
(!explicitinertial || model->inertiafromgeom == mjINERTIAFROMGEOM_TRUE) &&
geoms[i]->group >= model->inertiagrouprange[0] &&
@@ -924,7 +920,7 @@ void mjCBody::Compile(void) {
}
// make local frames of geoms
for (i=0; i<geoms.size(); i++) {
for (int i=0; i<geoms.size(); i++) {
MakeLocal(geoms[i]->locpos, geoms[i]->locquat, geoms[i]->pos, geoms[i]->quat);
}
@@ -935,7 +931,7 @@ void mjCBody::Compile(void) {
// compile all joints, count dofs
dofnum = 0;
for (i=0; i<joints.size(); i++) {
for (int i=0; i<joints.size(); i++) {
dofnum += joints[i]->Compile();
}
@@ -946,7 +942,7 @@ void mjCBody::Compile(void) {
// check for rotation dof after ball joint
bool hasball = false;
for (i=0; i<joints.size(); i++) {
for (int i=0; i<joints.size(); i++) {
if ((joints[i]->type==mjJNT_BALL || joints[i]->type==mjJNT_HINGE) && hasball) {
throw mjCError(this, "ball followed by rotation in body '%s'", name.c_str());
}
@@ -962,13 +958,13 @@ void mjCBody::Compile(void) {
}
// compile all sites
for (i=0; i<sites.size(); i++) sites[i]->Compile();
for (int i=0; i<sites.size(); i++) sites[i]->Compile();
// compile all cameras
for (i=0; i<cameras.size(); i++) cameras[i]->Compile();
for (int i=0; i<cameras.size(); i++) cameras[i]->Compile();
// compile all lights
for (i=0; i<lights.size(); i++) lights[i]->Compile();
for (int i=0; i<lights.size(); i++) lights[i]->Compile();
// plugin
if (is_plugin) {
@@ -2217,11 +2213,10 @@ mjCTexture::~mjCTexture() {
// insert random dots
static void randomdot(unsigned char* rgb, const double* markrgb,
int width, int height, double probability) {
int r, c, j;
for (r=0; r<height; r++) {
for (c=0; c<width; c++) {
for (int r=0; r<height; r++) {
for (int c=0; c<width; c++) {
if (rand()<probability*RAND_MAX) {
for (j=0; j<3; j++) {
for (int j=0; j<3; j++) {
rgb[3*(r*width+c)+j] = (mjtByte)(255*markrgb[j]);
}
}
@@ -2251,25 +2246,23 @@ static void interp(unsigned char* rgb, const double* rgb1, const double* rgb2, d
// make checker pattern for one side
static void checker(unsigned char* rgb, const unsigned char* RGB1, const unsigned char* RGB2,
int width, int height) {
int r, c;
for (r=0; r<height/2; r++) {
for (c=0; c<width/2; c++) {
for (int r=0; r<height/2; r++) {
for (int c=0; c<width/2; c++) {
memcpy(rgb+3*(r*width+c), RGB1, 3);
}
}
for (r=height/2; r<height; r++) {
for (c=width/2; c<width; c++) {
for (int r=height/2; r<height; r++) {
for (int c=width/2; c<width; c++) {
memcpy(rgb+3*(r*width+c), RGB1, 3);
}
}
for (r=0; r<height/2; r++) {
for (c=width/2; c<width; c++) {
for (int r=0; r<height/2; r++) {
for (int c=width/2; c<width; c++) {
memcpy(rgb+3*(r*width+c), RGB2, 3);
}
}
for (r=height/2; r<height; r++) {
for (c=0; c<width/2; c++) {
for (int r=height/2; r<height; r++) {
for (int c=0; c<width/2; c++) {
memcpy(rgb+3*(r*width+c), RGB2, 3);
}
}
@@ -2280,10 +2273,8 @@ static void checker(unsigned char* rgb, const unsigned char* RGB1, const unsigne
// make builtin: 2D
void mjCTexture::Builtin2D(void) {
unsigned char RGB1[3], RGB2[3], RGBm[3];
int r, c, j;
// convert fixed colors
for (j=0; j<3; j++) {
for (int j=0; j<3; j++) {
RGB1[j] = (mjtByte)(255*rgb1[j]);
RGB2[j] = (mjtByte)(255*rgb2[j]);
RGBm[j] = (mjtByte)(255*markrgb[j]);
@@ -2293,8 +2284,8 @@ void mjCTexture::Builtin2D(void) {
// gradient
if (builtin==mjBUILTIN_GRADIENT) {
for (r=0; r<height; r++) {
for (c=0; c<width; c++) {
for (int r=0; r<height; r++) {
for (int c=0; c<width; c++) {
// compute normalized coordinates and radius
double x = 2*c/((double)(width-1)) - 1;
double y = 1 - 2*r/((double)(height-1));
@@ -2313,8 +2304,8 @@ void mjCTexture::Builtin2D(void) {
// flat
else if (builtin==mjBUILTIN_FLAT) {
for (r=0; r<height; r++) {
for (c=0; c<width; c++) {
for (int r=0; r<height; r++) {
for (int c=0; c<width; c++) {
memcpy(rgb+3*(r*width+c), RGB1, 3);
}
}
@@ -2324,11 +2315,11 @@ void mjCTexture::Builtin2D(void) {
// edge
if (mark==mjMARK_EDGE) {
for (r=0; r<height; r++) {
for (int r=0; r<height; r++) {
memcpy(rgb+3*(r*width+0), RGBm, 3);
memcpy(rgb+3*(r*width+width-1), RGBm, 3);
}
for (c=0; c<width; c++) {
for (int c=0; c<width; c++) {
memcpy(rgb+3*(0*width+c), RGBm, 3);
memcpy(rgb+3*((height-1)*width+c), RGBm, 3);
}
@@ -2336,10 +2327,10 @@ void mjCTexture::Builtin2D(void) {
// cross
else if (mark==mjMARK_CROSS) {
for (r=0; r<height; r++) {
for (int r=0; r<height; r++) {
memcpy(rgb+3*(r*width+width/2), RGBm, 3);
}
for (c=0; c<width; c++) {
for (int c=0; c<width; c++) {
memcpy(rgb+3*(height/2*width+c), RGBm, 3);
}
}
@@ -2355,10 +2346,9 @@ void mjCTexture::Builtin2D(void) {
// make builtin: Cube
void mjCTexture::BuiltinCube(void) {
unsigned char RGB1[3], RGB2[3], RGBm[3], RGBi[3];
int r, c, j;
// convert fixed colors
for (j=0; j<3; j++) {
for (int j=0; j<3; j++) {
RGB1[j] = (mjtByte)(255*rgb1[j]);
RGB2[j] = (mjtByte)(255*rgb2[j]);
RGBm[j] = (mjtByte)(255*markrgb[j]);
@@ -2368,8 +2358,8 @@ void mjCTexture::BuiltinCube(void) {
// gradient
if (builtin==mjBUILTIN_GRADIENT) {
for (r=0; r<width; r++) {
for (c=0; c<width; c++) {
for (int r=0; r<width; r++) {
for (int c=0; c<width; c++) {
// compute normalized pixel coordinates
double x = 2*c/((double)(width-1)) - 1;
double y = 1 - 2*r/((double)(width-1));
@@ -2404,8 +2394,8 @@ void mjCTexture::BuiltinCube(void) {
// flat
else if (builtin==mjBUILTIN_FLAT) {
for (r=0; r<width; r++) {
for (c=0; c<width; c++) {
for (int r=0; r<width; r++) {
for (int c=0; c<width; c++) {
// set sides and up
memcpy(rgb+0*3*width*width+3*(r*width+c), RGB1, 3);
memcpy(rgb+1*3*width*width+3*(r*width+c), RGB1, 3);
@@ -2423,12 +2413,12 @@ void mjCTexture::BuiltinCube(void) {
// edge
if (mark==mjMARK_EDGE) {
for (j=0; j<6; j++) {
for (r=0; r<width; r++) {
for (int j=0; j<6; j++) {
for (int r=0; r<width; r++) {
memcpy(rgb+j*3*width*width+3*(r*width+0), RGBm, 3);
memcpy(rgb+j*3*width*width+3*(r*width+width-1), RGBm, 3);
}
for (c=0; c<width; c++) {
for (int c=0; c<width; c++) {
memcpy(rgb+j*3*width*width+3*(0*width+c), RGBm, 3);
memcpy(rgb+j*3*width*width+3*((width-1)*width+c), RGBm, 3);
}
@@ -2437,11 +2427,11 @@ void mjCTexture::BuiltinCube(void) {
// cross
else if (mark==mjMARK_CROSS) {
for (j=0; j<6; j++) {
for (r=0; r<width; r++) {
for (int j=0; j<6; j++) {
for (int r=0; r<width; r++) {
memcpy(rgb+j*3*width*width+3*(r*width+width/2), RGBm, 3);
}
for (c=0; c<width; c++) {
for (int c=0; c<width; c++) {
memcpy(rgb+j*3*width*width+3*(width/2*width+c), RGBm, 3);
}
}
@@ -2637,8 +2627,6 @@ void mjCTexture::Load2D(string filename, const mjVFS* vfs) {
// load cube or skybox from single file (repeated or grid)
void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
int i, j, k, s;
// check gridsize
if (gridsize[0]<1 || gridsize[1]<1 || gridsize[0]*gridsize[1]>12) {
throw mjCError(this,
@@ -2685,9 +2673,9 @@ void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
int loaded[6] = {0, 0, 0, 0, 0, 0};
// process grid
for (k=0; k<gridsize[0]*gridsize[1]; k++) {
for (int k=0; k<gridsize[0]*gridsize[1]; k++) {
// decode face symbol
i = -1;
int i = -1;
if (gridlayout[k]=='R') {
i = 0;
} else if (gridlayout[k]=='L') {
@@ -2709,7 +2697,7 @@ void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
// extract sub-image
int rstart = width*(k/gridsize[1]);
int cstart = width*(k%gridsize[1]);
for (j=0; j<width; j++) {
for (int j=0; j<width; j++) {
memcpy(rgb+i*3*width*width+j*3*width, image.data()+(j+rstart)*3*w+3*cstart, 3*width);
}
@@ -2719,11 +2707,11 @@ void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
}
// set undefined faces to rgb1
for (i=0; i<6; i++) {
for (int i=0; i<6; i++) {
if (!loaded[i]) {
for (k=0; k<width; k++) {
for (s=0; s<width; s++) {
for (j=0; j<3; j++) {
for (int k=0; k<width; k++) {
for (int s=0; s<width; s++) {
for (int j=0; j<3; j++) {
rgb[i*3*width*width + 3*(k*width+s) + j] = (mjtByte)(255*rgb1[j]);
}
}
@@ -2739,13 +2727,11 @@ void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
// load cube or skybox from separate file
void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
int i, j, k, s;
// keep track of which faces were defined
int loaded[6] = {0, 0, 0, 0, 0, 0};
// process nonempty files
for (i=0; i<6; i++) {
for (int i=0; i<6; i++) {
if (!cubefiles[i].empty()) {
// remove path from file if necessary
if (model->strippath) {
@@ -2796,11 +2782,11 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
}
// set undefined faces to rgb1
for (i=0; i<6; i++) {
for (int i=0; i<6; i++) {
if (!loaded[i]) {
for (k=0; k<width; k++) {
for (s=0; s<width; s++) {
for (j=0; j<3; j++) {
for (int k=0; k<width; k++) {
for (int s=0; s<width; s++) {
for (int j=0; j<3; j++) {
rgb[i*3*width*width + 3*(k*width+s) + j] = (mjtByte)(255*rgb1[j]);
}
}
@@ -4419,12 +4405,11 @@ mjCKey::~mjCKey() {
// compiler
void mjCKey::Compile(const mjModel* m) {
int i;
// qpos: allocate or check size
if (qpos.empty()) {
qpos.resize(m->nq);
for (i=0; i<m->nq; i++) {
for (int i=0; i<m->nq; i++) {
qpos[i] = (double)m->qpos0[i];
}
} else if (qpos.size()!=m->nq) {
@@ -4434,7 +4419,7 @@ void mjCKey::Compile(const mjModel* m) {
// qvel: allocate or check size
if (qvel.empty()) {
qvel.resize(m->nv);
for (i=0; i<m->nv; i++) {
for (int i=0; i<m->nv; i++) {
qvel[i] = 0;
}
} else if (qvel.size()!=m->nv) {
@@ -4444,7 +4429,7 @@ void mjCKey::Compile(const mjModel* m) {
// act: allocate or check size
if (act.empty()) {
act.resize(m->na);
for (i=0; i<m->na; i++) {
for (int i=0; i<m->na; i++) {
act[i] = 0;
}
} else if (act.size()!=m->na) {
@@ -4455,7 +4440,7 @@ void mjCKey::Compile(const mjModel* m) {
if (mpos.empty()) {
mpos.resize(3*m->nmocap);
if (m->nmocap) {
for (i=0; i<m->nbody; i++) {
for (int i=0; i<m->nbody; i++) {
if (m->body_mocapid[i]>=0) {
int mocapid = m->body_mocapid[i];
mpos[3*mocapid] = m->body_pos[3*i];
@@ -4472,7 +4457,7 @@ void mjCKey::Compile(const mjModel* m) {
if (mquat.empty()) {
mquat.resize(4*m->nmocap);
if (m->nmocap) {
for (i=0; i<m->nbody; i++) {
for (int i=0; i<m->nbody; i++) {
if (m->body_mocapid[i]>=0) {
int mocapid = m->body_mocapid[i];
mquat[4*mocapid] = m->body_quat[4*i];
@@ -4489,7 +4474,7 @@ void mjCKey::Compile(const mjModel* m) {
// ctrl: allocate or check size
if (ctrl.empty()) {
ctrl.resize(m->nu);
for (i=0; i<m->nu; i++) {
for (int i=0; i<m->nu; i++) {
ctrl[i] = 0;
}
} else if (ctrl.size()!=m->nu) {