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Cosmetic improvements to src/user/ source files.

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PiperOrigin-RevId: 737930914
Change-Id: I1cc254d420fcdf0c42ec3d2f601e5a02d925d958
This commit is contained in:
Yuval Tassa
2025-03-18 02:58:23 -07:00
committed by Copybara-Service
parent bae5175cf2
commit 205599ac1a
10 changed files with 1580 additions and 1553 deletions
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src/user/user_composite.cc
+136 -135
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@@ -28,6 +28,7 @@
#include <mujoco/mjmacro.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include "cc/array_safety.h"
#include "engine/engine_io.h"
#include "engine/engine_util_blas.h"
@@ -82,7 +83,7 @@ mjCComposite::mjCComposite(void) {
skingroup = 0;
// clear add flags
for (int i=0; i<mjNCOMPKINDS; i++) {
for (int i=0; i < mjNCOMPKINDS; i++) {
add[i] = false;
}
@@ -94,8 +95,8 @@ mjCComposite::mjCComposite(void) {
// create the array of default joint options, append new elements only for particles type
bool mjCComposite::AddDefaultJoint(char* error, int error_sz) {
for (int i=0; i<mjNCOMPKINDS; i++) {
if (!defjoint[(mjtCompKind)i].empty() && type!=mjCOMPTYPE_PARTICLE) {
for (int i=0; i < mjNCOMPKINDS; i++) {
if (!defjoint[(mjtCompKind)i].empty() && type != mjCOMPTYPE_PARTICLE) {
comperr(error, "Only particles are allowed to have multiple joints", error_sz);
return false;
} else {
@@ -112,7 +113,7 @@ bool mjCComposite::AddDefaultJoint(char* error, int error_sz) {
// set defaults, after reading top-level info and skin
void mjCComposite::SetDefault(void) {
// set all default groups to 3
for (int i=0; i<mjNCOMPKINDS; i++) {
for (int i=0; i < mjNCOMPKINDS; i++) {
def[i].spec.geom->group = 3;
def[i].spec.site->group = 3;
def[i].spec.tendon->group = 3;
@@ -122,8 +123,8 @@ void mjCComposite::SetDefault(void) {
AddDefaultJoint();
// set default geom and tendon group to 0 if needed to be visible
if (!skin || type==mjCOMPTYPE_CABLE) {
for (int i=0; i<mjNCOMPKINDS; i++) {
if (!skin || type == mjCOMPTYPE_CABLE) {
for (int i=0; i < mjNCOMPKINDS; i++) {
def[i].spec.geom->group = 0;
def[i].spec.tendon->group = 0;
}
@@ -137,20 +138,20 @@ bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz)
mjCModel* model = (mjCModel*)spec->element;
// check counts
for (int i=0; i<3; i++) {
if (count[i]<1) {
for (int i=0; i < 3; i++) {
if (count[i] < 1) {
return comperr(error, "Positive counts expected in composite", error_sz);
}
}
// check cable sizes are nonzero if vertices are not prescribed
if (mjuu_dot3(size, size)<mjMINVAL && uservert.empty()) {
if (mjuu_dot3(size, size) < mjMINVAL && uservert.empty()) {
return comperr(error, "Positive spacing or length expected in composite", error_sz);
}
// check either uservert or count but not both
if (!uservert.empty()) {
if (count[0]>1) {
if (count[0] > 1) {
return comperr(error, "Either vertex or count can be specified, not both", error_sz);
}
count[0] = uservert.size()/3;
@@ -159,8 +160,8 @@ bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz)
// determine dimensionality, check singleton order
bool first = false;
for (int i=0; i<3; i++) {
if (count[i]==1) {
for (int i=0; i < 3; i++) {
if (count[i] == 1) {
first = true;
} else {
dim++;
@@ -180,8 +181,8 @@ bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz)
vertweight.clear();
// require 3x3 for subgrid
if (skin && skinsubgrid>0 && type!=mjCOMPTYPE_CABLE) {
if (count[0]<3 || count[1]<3) {
if (skin && skinsubgrid > 0 && type != mjCOMPTYPE_CABLE) {
if (count[0] < 3 || count[1] < 3) {
return comperr(error, "At least 3x3 required for skin subgrid", error_sz);
}
}
@@ -205,41 +206,41 @@ bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz)
// dispatch
switch (type) {
case mjCOMPTYPE_PARTICLE:
return comperr(error,
"The \"particle\" composite type is deprecated. Please use "
"\"replicate\" instead.",
error_sz);
case mjCOMPTYPE_PARTICLE:
return comperr(error,
"The \"particle\" composite type is deprecated. Please use "
"\"replicate\" instead.",
error_sz);
case mjCOMPTYPE_GRID:
return comperr(error,
"The \"grid\" composite type is deprecated. Please use "
"\"flex\" instead.",
error_sz);
case mjCOMPTYPE_GRID:
return comperr(error,
"The \"grid\" composite type is deprecated. Please use "
"\"flex\" instead.",
error_sz);
case mjCOMPTYPE_ROPE:
return comperr(error,
"The \"rope\" composite type is deprecated. Please use "
"\"cable\" instead.",
error_sz);
case mjCOMPTYPE_ROPE:
return comperr(error,
"The \"rope\" composite type is deprecated. Please use "
"\"cable\" instead.",
error_sz);
case mjCOMPTYPE_LOOP:
return comperr(error,
"The \"loop\" composite type is deprecated. Please use "
"\"flexcomp\" instead.",
error_sz);
case mjCOMPTYPE_LOOP:
return comperr(error,
"The \"loop\" composite type is deprecated. Please use "
"\"flexcomp\" instead.",
error_sz);
case mjCOMPTYPE_CABLE:
return MakeCable(model, body, error, error_sz);
case mjCOMPTYPE_CABLE:
return MakeCable(model, body, error, error_sz);
case mjCOMPTYPE_CLOTH:
return comperr(error,
"The \"cloth\" composite type is deprecated. Please use "
"\"shell\" instead.",
error_sz);
case mjCOMPTYPE_CLOTH:
return comperr(error,
"The \"cloth\" composite type is deprecated. Please use "
"\"shell\" instead.",
error_sz);
default:
return comperr(error, "Unknown shape in composite", error_sz);
default:
return comperr(error, "Unknown shape in composite", error_sz);
}
}
@@ -247,14 +248,14 @@ bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz)
bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz) {
// check dim
if (dim!=1) {
if (dim != 1) {
return comperr(error, "Cable must be one-dimensional", error_sz);
}
// check geom type
if (def[0].spec.geom->type!=mjGEOM_CYLINDER &&
def[0].spec.geom->type!=mjGEOM_CAPSULE &&
def[0].spec.geom->type!=mjGEOM_BOX) {
if (def[0].spec.geom->type != mjGEOM_CYLINDER &&
def[0].spec.geom->type != mjGEOM_CAPSULE &&
def[0].spec.geom->type != mjGEOM_BOX) {
return comperr(error, "Cable geom type must be sphere, capsule or box", error_sz);
}
@@ -265,25 +266,25 @@ bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int er
// populate uservert if not specified
if (uservert.empty()) {
for (int ix=0; ix<count[0]; ix++) {
for (int k=0; k<3; k++) {
for (int ix=0; ix < count[0]; ix++) {
for (int k=0; k < 3; k++) {
switch (curve[k]) {
case mjCOMPSHAPE_LINE:
uservert.push_back(ix*size[0]/(count[0]-1));
break;
case mjCOMPSHAPE_COS:
uservert.push_back(size[1]*cos(mjPI*ix*size[2]/(count[0]-1)));
break;
case mjCOMPSHAPE_SIN:
uservert.push_back(size[1]*sin(mjPI*ix*size[2]/(count[0]-1)));
break;
case mjCOMPSHAPE_ZERO:
uservert.push_back(0);
break;
default:
// SHOULD NOT OCCUR
mju_error("Invalid composite shape: %d", curve[k]);
break;
case mjCOMPSHAPE_LINE:
uservert.push_back(ix*size[0]/(count[0]-1));
break;
case mjCOMPSHAPE_COS:
uservert.push_back(size[1]*cos(mjPI*ix*size[2]/(count[0]-1)));
break;
case mjCOMPSHAPE_SIN:
uservert.push_back(size[1]*sin(mjPI*ix*size[2]/(count[0]-1)));
break;
case mjCOMPSHAPE_ZERO:
uservert.push_back(0);
break;
default:
// SHOULD NOT OCCUR
mju_error("Invalid composite shape: %d", curve[k]);
break;
}
}
}
@@ -295,13 +296,13 @@ bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int er
mjuu_setvec(prev_quat, 1, 0, 0, 0);
// add one body after the other
for (int ix=0; ix<count[0]-1; ix++) {
for (int ix=0; ix < count[0]-1; ix++) {
body = AddCableBody(model, body, ix, normal, prev_quat);
}
// add skin
if (def[0].spec.geom->type==mjGEOM_BOX) {
if (skinsubgrid>0) {
if (def[0].spec.geom->type == mjGEOM_BOX) {
if (skinsubgrid > 0) {
count[1]+=2;
MakeSkin2Subgrid(model, 2*def[0].spec.geom->size[2]);
count[1]-=2;
@@ -324,9 +325,9 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
// set flags
int lastidx = count[0]-2;
bool first = ix==0;
bool last = ix==lastidx;
bool secondlast = ix==lastidx-1;
bool first = ix == 0;
bool last = ix == lastidx;
bool secondlast = ix == lastidx-1;
// compute edge and tangent vectors
double edge[3], tprev[3], tnext[3], length_prev = 0;
@@ -391,11 +392,11 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
mjsGeom* geom = mjs_addGeom(body, &def[0].spec);
mjs_setDefault(geom->element, mjs_getDefault(body->element));
mjs_setString(geom->name, txt_geom);
if (def[0].spec.geom->type==mjGEOM_CYLINDER ||
def[0].spec.geom->type==mjGEOM_CAPSULE) {
if (def[0].spec.geom->type == mjGEOM_CYLINDER ||
def[0].spec.geom->type == mjGEOM_CAPSULE) {
mjuu_zerovec(geom->fromto, 6);
geom->fromto[3] = length;
} else if (def[0].spec.geom->type==mjGEOM_BOX) {
} else if (def[0].spec.geom->type == mjGEOM_BOX) {
mjuu_zerovec(geom->pos, 3);
geom->pos[0] = length/2;
geom->size[0] = length/2;
@@ -417,10 +418,10 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
if (!first || strcmp(initial.c_str(), "none")) {
mjsJoint* jnt = mjs_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
jnt->type = (first && strcmp(initial.c_str(), "free")==0) ? mjJNT_FREE : mjJNT_BALL;
jnt->damping = jnt->type==mjJNT_FREE ? 0 : jnt->damping;
jnt->armature = jnt->type==mjJNT_FREE ? 0 : jnt->armature;
jnt->frictionloss = jnt->type==mjJNT_FREE ? 0 : jnt->frictionloss;
jnt->type = (first && strcmp(initial.c_str(), "free") == 0) ? mjJNT_FREE : mjJNT_BALL;
jnt->damping = jnt->type == mjJNT_FREE ? 0 : jnt->damping;
jnt->armature = jnt->type == mjJNT_FREE ? 0 : jnt->armature;
jnt->frictionloss = jnt->type == mjJNT_FREE ? 0 : jnt->frictionloss;
mjs_setString(jnt->name, this_joint);
}
@@ -453,10 +454,10 @@ void mjCComposite::CopyIntoSkin(mjsSkin* skin) {
mjs_setFloat(skin->bindquat, bindquat.data(), bindquat.size());
mjs_setFloat(skin->texcoord, texcoord.data(), texcoord.size());
for (int i=0; i<vertid.size(); i++) {
for (int i=0; i < vertid.size(); i++) {
mjs_appendIntVec(skin->vertid, vertid[i].data(), vertid[i].size());
}
for (int i=0; i< vertweight.size(); i++) {
for (int i=0; i < vertweight.size(); i++) {
mjs_appendFloatVec(skin->vertweight, vertweight[i].data(), vertweight[i].size());
}
@@ -486,9 +487,9 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
skin->group = skingroup;
// populate mesh: two sides
for (int i=0; i<2; i++) {
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
for (int i=0; i < 2; i++) {
for (int ix=0; ix < count[0]; ix++) {
for (int iy=0; iy < count[1]; iy++) {
// vertex
vert.push_back(0);
vert.push_back(0);
@@ -501,21 +502,21 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
}
// face
if (ix<count[0]-1 && iy<count[1]-1) {
if (ix < count[0]-1 && iy < count[1]-1) {
face.push_back(i*N + ix*count[1]+iy);
face.push_back(i*N + (ix+1)*count[1]+iy+(i==1));
face.push_back(i*N + (ix+1)*count[1]+iy+(i==0));
face.push_back(i*N + (ix+1)*count[1]+iy+(i == 1));
face.push_back(i*N + (ix+1)*count[1]+iy+(i == 0));
face.push_back(i*N + ix*count[1]+iy);
face.push_back(i*N + (ix+(i==0))*count[1]+iy+1);
face.push_back(i*N + (ix+(i==1))*count[1]+iy+1);
face.push_back(i*N + (ix+(i == 0))*count[1]+iy+1);
face.push_back(i*N + (ix+(i == 1))*count[1]+iy+1);
}
}
}
}
// add thin triangles: X direction, iy = 0
for (int ix=0; ix<count[0]-1; ix++) {
for (int ix=0; ix < count[0]-1; ix++) {
face.push_back(ix*count[1]);
face.push_back(N + (ix+1)*count[1]);
face.push_back((ix+1)*count[1]);
@@ -526,7 +527,7 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
}
// add thin triangles: X direction, iy = count[1]-1
for (int ix=0; ix<count[0]-1; ix++) {
for (int ix=0; ix < count[0]-1; ix++) {
face.push_back(ix*count[1] + count[1]-1);
face.push_back((ix+1)*count[1] + count[1]-1);
face.push_back(N + (ix+1)*count[1] + count[1]-1);
@@ -537,7 +538,7 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
}
// add thin triangles: Y direction, ix = 0
for (int iy=0; iy<count[1]-1; iy++) {
for (int iy=0; iy < count[1]-1; iy++) {
face.push_back(iy);
face.push_back(iy+1);
face.push_back(N + iy+1);
@@ -548,7 +549,7 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
}
// add thin triangles: Y direction, ix = count[0]-1
for (int iy=0; iy<count[1]-1; iy++) {
for (int iy=0; iy < count[1]-1; iy++) {
face.push_back(iy + (count[0]-1)*count[1]);
face.push_back(N + iy+1 + (count[0]-1)*count[1]);
face.push_back(iy+1 + (count[0]-1)*count[1]);
@@ -573,28 +574,28 @@ void mjCComposite::MakeCableBones(mjCModel* model, mjsSkin* skin) {
int N = count[0]*count[1];
// populate bones
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
for (int ix=0; ix < count[0]; ix++) {
for (int iy=0; iy < count[1]; iy++) {
// body name
if (ix==0) {
if (ix == 0) {
mju::sprintf_arr(this_body, "%sB_first", prefix.c_str());
} else if (ix>=count[0]-2) {
} else if (ix >= count[0]-2) {
mju::sprintf_arr(this_body, "%sB_last", prefix.c_str());
} else {
mju::sprintf_arr(this_body, "%sB_%d", prefix.c_str(), ix);
}
// bind pose
if (iy==0) {
if (iy == 0) {
mjs_appendString(skin->bodyname, this_body);
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back((ix == count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back(-def[0].spec.geom->size[1]);
bindpos.push_back(0);
bindquat.push_back(1); bindquat.push_back(0);
bindquat.push_back(0); bindquat.push_back(0);
} else {
mjs_appendString(skin->bodyname, this_body);
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back((ix == count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back(def[0].spec.geom->size[1]);
bindpos.push_back(0);
bindquat.push_back(1); bindquat.push_back(0);
@@ -612,30 +613,30 @@ void mjCComposite::MakeCableBones(mjCModel* model, mjsSkin* skin) {
void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin) {
// populate bones
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
for (int ix=0; ix < count[0]; ix++) {
for (int iy=0; iy < count[1]; iy++) {
char txt[100];
// body name
if (ix==0) {
if (ix == 0) {
mju::sprintf_arr(txt, "%sB_first", prefix.c_str());
} else if (ix>=count[0]-2) {
} else if (ix >= count[0]-2) {
mju::sprintf_arr(txt, "%sB_last", prefix.c_str());
} else {
mju::sprintf_arr(txt, "%sB_%d", prefix.c_str(), ix);
}
// bind pose
if (iy==0) {
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
if (iy == 0) {
bindpos.push_back((ix == count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back(-def[0].Geom().spec.size[1]);
bindpos.push_back(0);
} else if (iy==2) {
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
} else if (iy == 2) {
bindpos.push_back((ix == count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back(def[0].Geom().spec.size[1]);
bindpos.push_back(0);
} else {
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back((ix == count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back(0);
bindpos.push_back(0);
}
@@ -903,8 +904,8 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
// XY matrix
const mjtNum step = 1.0/(1+skinsubgrid);
int rxy = 0;
for (int sx=0; sx<=1+skinsubgrid; sx++) {
for (int sy=0; sy<=1+skinsubgrid; sy++) {
for (int sx=0; sx <= 1+skinsubgrid; sx++) {
for (int sy=0; sy <= 1+skinsubgrid; sy++) {
// compute x, y
mjtNum x = sx*step;
mjtNum y = sy*step;
@@ -939,15 +940,15 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
mju_mulMatMat(XY_W, XY, subW, N, 16, 16);
// Weight matrices
for (int dx=0; dx<3; dx++) {
for (int dy=0; dy<3; dy++) {
for (int dx=0; dx < 3; dx++) {
for (int dy=0; dy < 3; dy++) {
// make dense D
mju_zero(D, 16*16);
int cnt = 0;
int r = 0, c;
while (r<16) {
while (r < 16) {
// scan row
while ((c = mju_round(Dp[dx][dy][cnt]))!=-1) {
while ((c = mju_round(Dp[dx][dy][cnt])) != -1) {
D[r*16+c] = Dp[dx][dy][cnt+1];
cnt +=2;
}
@@ -977,9 +978,9 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
int C0 = count[0] + (count[0]-1)*skinsubgrid;
int C1 = count[1] + (count[1]-1)*skinsubgrid;
int NN = C0*C1;
for (int i=0; i<2; i++) {
for (int ix=0; ix<C0; ix++) {
for (int iy=0; iy<C1; iy++) {
for (int i=0; i < 2; i++) {
for (int ix=0; ix < C0; ix++) {
for (int iy=0; iy < C1; iy++) {
// vertex
vert.push_back(ix*S);
vert.push_back(iy*S);
@@ -992,21 +993,21 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
}
// face
if (ix<C0-1 && iy<C1-1) {
if (ix < C0-1 && iy < C1-1) {
face.push_back(i*NN + ix*C1+iy);
face.push_back(i*NN + (ix+1)*C1+iy+(i==1));
face.push_back(i*NN + (ix+1)*C1+iy+(i==0));
face.push_back(i*NN + (ix+1)*C1+iy+(i == 1));
face.push_back(i*NN + (ix+1)*C1+iy+(i == 0));
face.push_back(i*NN + ix*C1+iy);
face.push_back(i*NN + (ix+(i==0))*C1+iy+1);
face.push_back(i*NN + (ix+(i==1))*C1+iy+1);
face.push_back(i*NN + (ix+(i == 0))*C1+iy+1);
face.push_back(i*NN + (ix+(i == 1))*C1+iy+1);
}
}
}
}
// add thin triangles: X direction, iy = 0
for (int ix=0; ix<C0-1; ix++) {
for (int ix=0; ix < C0-1; ix++) {
face.push_back(ix*C1);
face.push_back(NN + (ix+1)*C1);
face.push_back((ix+1)*C1);
@@ -1017,7 +1018,7 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
}
// add thin triangles: X direction, iy = C1-1
for (int ix=0; ix<C0-1; ix++) {
for (int ix=0; ix < C0-1; ix++) {
face.push_back(ix*C1 + C1-1);
face.push_back((ix+1)*C1 + C1-1);
face.push_back(NN + (ix+1)*C1 + C1-1);
@@ -1028,7 +1029,7 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
}
// add thin triangles: Y direction, ix = 0
for (int iy=0; iy<C1-1; iy++) {
for (int iy=0; iy < C1-1; iy++) {
face.push_back(iy);
face.push_back(iy+1);
face.push_back(NN + iy+1);
@@ -1039,7 +1040,7 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
}
// add thin triangles: Y direction, ix = C0-1
for (int iy=0; iy<C1-1; iy++) {
for (int iy=0; iy < C1-1; iy++) {
face.push_back(iy + (C0-1)*C1);
face.push_back(NN + iy+1 + (C0-1)*C1);
face.push_back(iy+1 + (C0-1)*C1);
@@ -1052,24 +1053,24 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
MakeCableBonesSubgrid(model, skin);
// bind vertices to bones: one big square at a time
for (int ix=0; ix<count[0]-1; ix++) {
for (int iy=0; iy<count[1]-1; iy++) {
for (int ix=0; ix < count[0]-1; ix++) {
for (int iy=0; iy < count[1]-1; iy++) {
// determine d for Weight indexing
int d = 3 * (ix==0 ? 0 : (ix==count[0]-2 ? 2 : 1)) +
(iy==0 ? 0 : (iy==count[1]-2 ? 2 : 1));
int d = 3 * (ix == 0 ? 0 : (ix == count[0]-2 ? 2 : 1)) +
(iy == 0 ? 0 : (iy == count[1]-2 ? 2 : 1));
// precompute 16 bone indices for big square
int boneid[16];
int cnt = 0;
for (int dx=-1; dx<3; dx++) {
for (int dy=-1; dy<3; dy++) {
for (int dx=-1; dx < 3; dx++) {
for (int dy=-1; dy < 3; dy++) {
boneid[cnt++] = (ix+dx)*count[1] + (iy+dy);
}
}
// process subgrid, top-rigth owns last index
for (int dx=0; dx<1+skinsubgrid+(ix==count[0]-2); dx++) {
for (int dy=0; dy<1+skinsubgrid+(iy==count[1]-2); dy++) {
for (int dx=0; dx < 1+skinsubgrid+(ix == count[0]-2); dx++) {
for (int dy=0; dy < 1+skinsubgrid+(iy == count[1]-2); dy++) {
// recover vertex id
int vid = (ix*(1+skinsubgrid)+dx)*C1 + iy*(1+skinsubgrid)+dy;
@@ -1077,7 +1078,7 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
int n = dx*(2+skinsubgrid) + dy;
// add vertex to 16 bones
for (int bi=0; bi<16; bi++) {
for (int bi=0; bi < 16; bi++) {
mjtNum w = Weight[d*N*16 + n*16 + bi];
if (w) {
vertid[boneid[bi]].push_back(vid);