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Fix function definition formatting.

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PiperOrigin-RevId: 691782530
Change-Id: Ib1611285e77e274b17074d5f09ede00cdc0c6f0f
This commit is contained in:
Kyle Bayes
2024-10-31 06:44:35 -07:00
committed by Copybara-Service
parent 94bbf297fc
commit 18682aac6a
5 changed files with 19 additions and 28 deletions
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src/engine/engine_derivative.c
+8 -16
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@@ -63,8 +63,7 @@ static void mjd_cross(const mjtNum a[3], const mjtNum b[3],
// derivative of mju_crossMotion w.r.t velocity
static void mjd_crossMotion_vel(mjtNum D[36], const mjtNum v[6])
{
static void mjd_crossMotion_vel(mjtNum D[36], const mjtNum v[6]) {
mju_zero(D, 36);
// res[0] = -vel[2]*v[1] + vel[1]*v[2]
@@ -101,8 +100,7 @@ static void mjd_crossMotion_vel(mjtNum D[36], const mjtNum v[6])
// derivative of mju_crossForce w.r.t. velocity
static void mjd_crossForce_vel(mjtNum D[36], const mjtNum f[6])
{
static void mjd_crossForce_vel(mjtNum D[36], const mjtNum f[6]) {
mju_zero(D, 36);
// res[0] = -vel[2]*f[1] + vel[1]*f[2] - vel[5]*f[4] + vel[4]*f[5]
@@ -139,8 +137,7 @@ static void mjd_crossForce_vel(mjtNum D[36], const mjtNum f[6])
// derivative of mju_crossForce w.r.t. force
static void mjd_crossForce_frc(mjtNum D[36], const mjtNum vel[6])
{
static void mjd_crossForce_frc(mjtNum D[36], const mjtNum vel[6]) {
mju_zero(D, 36);
// res[0] = -vel[2]*f[1] + vel[1]*f[2] - vel[5]*f[4] + vel[4]*f[5]
@@ -177,8 +174,7 @@ static void mjd_crossForce_frc(mjtNum D[36], const mjtNum vel[6])
// derivative of mju_mulInertVec w.r.t vel
static void mjd_mulInertVec_vel(mjtNum D[36], const mjtNum i[10])
{
static void mjd_mulInertVec_vel(mjtNum D[36], const mjtNum i[10]) {
mju_zero(D, 36);
// res[0] = i[0]*v[0] + i[3]*v[1] + i[4]*v[2] - i[8]*v[4] + i[7]*v[5]
@@ -221,8 +217,7 @@ static void mjd_mulInertVec_vel(mjtNum D[36], const mjtNum i[10])
// derivative of mju_subQuat w.r.t inputs
void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9])
{
void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9]) {
// no outputs, quick return
if (!Da && !Db) {
return;
@@ -330,8 +325,7 @@ void mjd_quatIntegrate(const mjtNum vel[3], mjtNum scale,
// no longer used, except in tests
// derivative of cvel, cdof_dot w.r.t qvel (dense version)
static void mjd_comVel_vel_dense(const mjModel* m, mjData* d, mjtNum* Dcvel, mjtNum* Dcdofdot)
{
static void mjd_comVel_vel_dense(const mjModel* m, mjData* d, mjtNum* Dcvel, mjtNum* Dcdofdot) {
int nv = m->nv, nbody = m->nbody;
mjtNum mat[36];
@@ -969,8 +963,7 @@ static void mjd_addedMassForces(
static inline void mjd_viscous_torque(
mjtNum* restrict D, const mjtNum lvel[6], const mjtNum fluid_density,
const mjtNum fluid_viscosity, const mjtNum size[3],
const mjtNum slender_drag_coef, const mjtNum ang_drag_coef)
{
const mjtNum slender_drag_coef, const mjtNum ang_drag_coef) {
const mjtNum d_max = mju_max(mju_max(size[0], size[1]), size[2]);
const mjtNum d_min = mju_min(mju_min(size[0], size[1]), size[2]);
const mjtNum d_mid = size[0] + size[1] + size[2] - d_max - d_min;
@@ -1280,8 +1273,7 @@ void mjd_ellipsoidFluid(const mjModel* m, mjData* d, int bodyid) {
// fluid forces based on inertia-box approximation
void mjd_inertiaBoxFluid(const mjModel* m, mjData* d, int i)
{
void mjd_inertiaBoxFluid(const mjModel* m, mjData* d, int i) {
mj_markStack(d);
int nv = m->nv;