Narrow some includes in src/user/

PiperOrigin-RevId: 734389490
Change-Id: I2834aadbbb38b396536e467c0dfea11dcc21972f

src/user/user_composite.cc

@@ -28,13 +28,14 @@
 
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
 #include "cc/array_safety.h"
 #include "engine/engine_io.h"
+#include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
 #include "engine/engine_util_misc.h"
 #include "user/user_model.h"
 #include "user/user_objects.h"
+#include "user/user_api.h"
 #include "user/user_util.h"
 
 namespace {

src/user/user_flexcomp.cc

@@ -26,9 +26,7 @@
 
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
-#include <mujoco/mjtnum.h>
 #include <mujoco/mjplugin.h>
-#include <mujoco/mujoco.h>
 #include "cc/array_safety.h"
 #include "engine/engine_crossplatform.h"
 #include "engine/engine_util_errmem.h"

src/user/user_model.cc

@@ -3809,7 +3809,7 @@ void mjCModel::FuseStatic(void) {
     for (const auto& geom : par->geoms) {
       par->contype |= geom->contype;
       par->conaffinity |= geom->conaffinity;
-      par->margin = mju_max(par->margin, geom->margin);
+      par->margin = std::max(par->margin, geom->margin);
     }
 
     // recompute BVH

src/user/user_objects.cc

@@ -35,10 +35,6 @@
 #include <vector>
 
 #include "lodepng.h"
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjtnum.h>
-#include <mujoco/mujoco.h>
 #include "cc/array_safety.h"
 #include "engine/engine_passive.h"
 #include <mujoco/mjspec.h>

src/user/user_objects.h

@@ -25,9 +25,6 @@
 #include <utility>
 #include <vector>
 
-#include <mujoco/mjtnum.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
 #include <mujoco/mjspec.h>
 #include "user/user_cache.h"
 #include "user/user_util.h"

src/user/user_resource.cc

@@ -35,7 +35,6 @@
 #endif
 
 #include <mujoco/mjplugin.h>
-#include <mujoco/mujoco.h>
 #include "engine/engine_plugin.h"
 #include "engine/engine_util_misc.h"
 #include "user/user_util.h"

src/user/user_util.cc

@@ -530,9 +530,9 @@ void mjuu_offcenter(double* res, const double mass, const double* vec) {
 void mjuu_visccoef(double* visccoef, double mass, const double* inertia, double scl) {
   // compute equivalent box
   double ebox[3];
-  ebox[0] = sqrt(mjMAX(mjEPS, (inertia[1] + inertia[2] - inertia[0])) / mass * 6.0);
-  ebox[1] = sqrt(mjMAX(mjEPS, (inertia[0] + inertia[2] - inertia[1])) / mass * 6.0);
-  ebox[2] = sqrt(mjMAX(mjEPS, (inertia[0] + inertia[1] - inertia[2])) / mass * 6.0);
+  ebox[0] = sqrt(std::max(mjEPS, (inertia[1] + inertia[2] - inertia[0])) / mass * 6.0);
+  ebox[1] = sqrt(std::max(mjEPS, (inertia[0] + inertia[2] - inertia[1])) / mass * 6.0);
+  ebox[2] = sqrt(std::max(mjEPS, (inertia[0] + inertia[1] - inertia[2])) / mass * 6.0);
 
   // apply formula for box (or rather cross) viscosity