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Declare loop variables inside for loop declaration where possible.

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PiperOrigin-RevId: 518846098
Change-Id: Icdb2e5894bd80110552e29270472eeb242e6cf2c
This commit is contained in:
Nimrod Gileadi
2023-03-23 06:48:32 -07:00
committed by Copybara-Service
parent ce6c9053e2
commit 145fe7f354
9 changed files with 111 additions and 107 deletions
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src/engine/engine_collision_convex.c
+5 -5
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@@ -517,7 +517,7 @@ typedef struct _mjtPrism mjtPrism;
// ccd prism support function
static void prism_support(const void *obj, const ccd_vec3_t *dir, ccd_vec3_t *vec) {
int i, istart, ibest;
int istart, ibest;
mjtNum best, tmp;
const mjtPrism* p = (const mjtPrism*)obj;
@@ -525,7 +525,7 @@ static void prism_support(const void *obj, const ccd_vec3_t *dir, ccd_vec3_t *ve
istart = dir->v[2]<0 ? 0 : 3;
ibest = istart;
best = mju_dot3(p->v[istart], dir->v);
for (i=istart+1; i<istart+3; i++) {
for (int i=istart+1; i<istart+3; i++) {
if ((tmp = mju_dot3(p->v[i], dir->v)) > best) {
ibest = i;
best = tmp;
@@ -584,7 +584,7 @@ int mjc_ConvexHField(const mjModel* m, const mjData* d,
int hid = m->geom_dataid[g1];
int nrow = m->hfield_nrow[hid];
int ncol = m->hfield_ncol[hid];
int r, c, dr[2], cnt, rmin, rmax, cmin, cmax, nvert;
int dr[2], cnt, rmin, rmax, cmin, cmax, nvert;
const float* data = m->hfield_data + m->hfield_adr[hid];
mjtPrism prism;
@@ -710,9 +710,9 @@ int mjc_ConvexHField(const mjModel* m, const mjData* d,
// process all prisms in sub-grid
cnt = 0;
for (r=rmin; r<rmax; r++) {
for (int r=rmin; r<rmax; r++) {
nvert = 0;
for (c=cmin; c<=cmax; c++) {
for (int c=cmin; c<=cmax; c++) {
for (int i=0; i<2; i++) {
// send vertex to prism constructor
addVert(&nvert, &prism, dx*c-size1[0], dy*(r+dr[i])-size1[1],