From 109a223cf6ce651dc0a060cd63ce4ac322306470 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 6 Mar 2025 20:44:28 -0800
Subject: [PATCH] Narrow some includes in `src/user/`

PiperOrigin-RevId: 734389490
Change-Id: I2834aadbbb38b396536e467c0dfea11dcc21972f
---
 src/user/user_composite.cc | 3 ++-
 src/user/user_flexcomp.cc  | 2 --
 src/user/user_model.cc     | 2 +-
 src/user/user_objects.cc   | 4 ----
 src/user/user_objects.h    | 3 ---
 src/user/user_resource.cc  | 1 -
 src/user/user_util.cc      | 6 +++---
 7 files changed, 6 insertions(+), 15 deletions(-)

diff --git a/src/user/user_composite.cc b/src/user/user_composite.cc
index a0d713ca..af7bef69 100644
--- a/src/user/user_composite.cc
+++ b/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 {
diff --git a/src/user/user_flexcomp.cc b/src/user/user_flexcomp.cc
index 6cf4c13e..b17c2ca7 100644
--- a/src/user/user_flexcomp.cc
+++ b/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"
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index c0efcd9c..9236c848 100644
--- a/src/user/user_model.cc
+++ b/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
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 83565a66..102e9c4c 100644
--- a/src/user/user_objects.cc
+++ b/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>
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 7b367f7f..2f5970e8 100644
--- a/src/user/user_objects.h
+++ b/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"
diff --git a/src/user/user_resource.cc b/src/user/user_resource.cc
index b82d7c0c..d0928dae 100644
--- a/src/user/user_resource.cc
+++ b/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"
diff --git a/src/user/user_util.cc b/src/user/user_util.cc
index 0833b020..1c602ca8 100644
--- a/src/user/user_util.cc
+++ b/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