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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_driver.c
+20 -21
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@@ -664,7 +664,7 @@ int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
// find center of non-world geoms; return if none
cnt = 0;
mju_zero3(cen);
for (i=0; i<ngeom; i++) {
for (int i=0; i<ngeom; i++) {
if (m->geom_bodyid[i]) {
mju_addTo3(cen, d->geom_xpos+3*i);
cnt++;
@@ -673,14 +673,14 @@ int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
if (cnt==0) {
return npair;
} else {
for (i=0; i<3; i++) {
for (int i=0; i<3; i++) {
cen[i] /= cnt;
}
}
// compute covariance
mju_zero(cov, 9);
for (i=0; i<ngeom; i++) {
for (int i=0; i<ngeom; i++) {
if (m->geom_bodyid[i]) {
mju_sub3(dif, d->geom_xpos+3*i, cen);
mjtNum D00 = dif[0]*dif[0];
@@ -700,7 +700,7 @@ int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
cov[8] += D22;
}
}
for (i=0; i<9; i++) {
for (int i=0; i<9; i++) {
cov[i] /= cnt;
}
@@ -713,7 +713,7 @@ int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
// construct body AABB for the aligned frame, count collidable
int bufcnt = 0;
for (i=1; i<nbody; i++) {
for (int i=1; i<nbody; i++) {
makeAABB(m, d, aabb+6*i, i, frame);
if (can_collide(m, i)) {
@@ -734,7 +734,7 @@ int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
// init sortbuf with axis0
j = 0;
for (i=1; i<nbody; i++) {
for (int i=1; i<nbody; i++) {
// cannot colide
if (!can_collide(m, i)) {
continue;
@@ -758,10 +758,10 @@ int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
// sweep and prune
cnt = 0; // size of active list
for (i=0; i<2*bufcnt; i++) {
for (int i=0; i<2*bufcnt; i++) {
// min value: collide with all in list, add
if (!(sortbuf[i].body_ismax & 0x10000)) {
for (j=0; j<cnt; j++) {
for (int j=0; j<cnt; j++) {
// get body ids: no need to mask ismax because activebuf entries never have the ismax bit,
// and sortbuf[i].body_ismax is tested above
b1 = activebuf[j].body_ismax;
@@ -797,7 +797,7 @@ int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
// max value: remove corresponding min value from list
else {
toremove = sortbuf[i].body_ismax & 0xFFFF;
for (j=0; j<cnt; j++) {
for (int j=0; j<cnt; j++) {
if (activebuf[j].body_ismax==toremove) {
if (j<cnt-1) {
memmove(activebuf+j, activebuf+j+1, sizeof(mjtBroadphase)*(cnt-1-j));
@@ -921,14 +921,13 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
// remove repeated contacts in box-box
if (type1==mjGEOM_BOX && type2==mjGEOM_BOX) {
// use dim field to mark: -1: bad, 0: good
for (i=0; i<num; i++) {
for (int i=0; i<num; i++) {
con[i].dim = 0;
}
// find bad
int j;
for (i=0; i<num-1; i++) {
for (j=i+1; j<num; j++) {
for (int i=0; i<num-1; i++) {
for (int j=i+1; j<num; j++) {
if (con[i].pos[0]==con[j].pos[0] &&
con[i].pos[1]==con[j].pos[1] &&
con[i].pos[2]==con[j].pos[2]) {
@@ -940,7 +939,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
// consolidate good
i = 0;
for (j=0; j<num; j++) {
for (int j=0; j<num; j++) {
if (con[j].dim==0) {
// different: copy
if (i<j) {
@@ -963,7 +962,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
int gp = (m->geom_priority[g1]>m->geom_priority[g2] ? g1 : g2);
// friction
for (i=0; i<3; i++) {
for (int i=0; i<3; i++) {
friction[2*i] = m->geom_friction[3*gp+i];
}
@@ -977,7 +976,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
// same priority
else {
// friction: max
for (i=0; i<3; i++) {
for (int i=0; i<3; i++) {
friction[2*i] = mju_max(m->geom_friction[3*g1+i], m->geom_friction[3*g2+i]);
}
@@ -994,14 +993,14 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
// reference standard: mix
if (m->geom_solref[mjNREF*g1]>0 && m->geom_solref[mjNREF*g2]>0) {
for (i=0; i<mjNREF; i++) {
for (int i=0; i<mjNREF; i++) {
solref[i] = mix*m->geom_solref[mjNREF*g1+i] + (1-mix)*m->geom_solref[mjNREF*g2+i];
}
}
// reference direct: min
else {
for (i=0; i<mjNREF; i++) {
for (int i=0; i<mjNREF; i++) {
solref[i] = mju_min(m->geom_solref[mjNREF*g1+i], m->geom_solref[mjNREF*g2+i]);
}
}
@@ -1019,7 +1018,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
// set friction, solref, solimp: pair
else {
// friction
for (i=0; i<5; i++) {
for (int i=0; i<5; i++) {
friction[i] = m->pair_friction[5*ipair+i];
}
@@ -1031,12 +1030,12 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
}
// clamp friction to mjMINMU
for (i=0; i<5; i++) {
for (int i=0; i<5; i++) {
friction[i] = mju_max(mjMINMU, friction[i]);
}
// add contact returned by collision detector
for (i=0; i<num; i++) {
for (int i=0; i<num; i++) {
// set contact data
if (condim > 6 || condim < 1) { // SHOULD NOT OCCUR
mju_error("Invalid condim value: %d", i);