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

Declare loop variables inside for loop declaration where possible.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_forward.c
+6 -4
View File
@@ -544,20 +544,22 @@ static void mj_advance(const mjModel* m, mjData* d,
// Euler integrator, semi-implicit in velocity, possibly skipping factorisation
void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
int i, nv = m->nv, nM = m->nM;
int nv = m->nv, nM = m->nM;
mjMARKSTACK;
mjtNum* qfrc = mj_stackAlloc(d, nv);
mjtNum* qacc = mj_stackAlloc(d, nv);
// check for dof damping
for (i=0; i<nv; i++) {
int dof_damping = 0;
for (int i=0; i<nv; i++) {
if (m->dof_damping[i]>0) {
dof_damping = 1;
break;
}
}
// no damping: explicit velocity integration
if (i>=nv) {
if (!dof_damping) {
mju_copy(qacc, d->qacc, nv);
}
@@ -568,7 +570,7 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
// MhB = M + h*diag(B)
mju_copy(MhB, d->qM, m->nM);
for (i=0; i<nv; i++) {
for (int i=0; i<nv; i++) {
MhB[m->dof_Madr[i]] += m->opt.timestep * m->dof_damping[i];
}