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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_flexcomp.cc
+39 -38
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@@ -26,6 +26,7 @@
#include <mujoco/mjmacro.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjplugin.h>
#include "cc/array_safety.h"
#include "engine/engine_crossplatform.h"
@@ -133,12 +134,12 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
}
// check scale
if (scale[0]<mjMINVAL || scale[1]<mjMINVAL || scale[2]<mjMINVAL) {
if (scale[0] < mjMINVAL || scale[1] < mjMINVAL || scale[2] < mjMINVAL) {
return comperr(error, "Scale must be larger than mjMINVAL", error_sz);
}
// check mass and inertia
if (mass<mjMINVAL || inertiabox<mjMINVAL) {
if (mass < mjMINVAL || inertiabox < mjMINVAL) {
return comperr(error, "Mass and inertiabox must be larger than mjMINVAL", error_sz);
}
@@ -151,36 +152,36 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
// type-specific constructor: populate point and element, possibly set dim
bool res;
switch (type) {
case mjFCOMPTYPE_GRID:
case mjFCOMPTYPE_CIRCLE:
res = MakeGrid(error, error_sz);
break;
case mjFCOMPTYPE_GRID:
case mjFCOMPTYPE_CIRCLE:
res = MakeGrid(error, error_sz);
break;
case mjFCOMPTYPE_BOX:
case mjFCOMPTYPE_CYLINDER:
case mjFCOMPTYPE_ELLIPSOID:
res = MakeBox(error, error_sz);
break;
case mjFCOMPTYPE_BOX:
case mjFCOMPTYPE_CYLINDER:
case mjFCOMPTYPE_ELLIPSOID:
res = MakeBox(error, error_sz);
break;
case mjFCOMPTYPE_SQUARE:
case mjFCOMPTYPE_DISC:
res = MakeSquare(error, error_sz);
break;
case mjFCOMPTYPE_SQUARE:
case mjFCOMPTYPE_DISC:
res = MakeSquare(error, error_sz);
break;
case mjFCOMPTYPE_MESH:
res = MakeMesh(model, error, error_sz);
break;
case mjFCOMPTYPE_MESH:
res = MakeMesh(model, error, error_sz);
break;
case mjFCOMPTYPE_GMSH:
res = MakeGMSH(model, error, error_sz);
break;
case mjFCOMPTYPE_GMSH:
res = MakeGMSH(model, error, error_sz);
break;
case mjFCOMPTYPE_DIRECT:
res = true;
break;
case mjFCOMPTYPE_DIRECT:
res = true;
break;
default:
return comperr(error, "Unknown flexcomp type", error_sz);
default:
return comperr(error, "Unknown flexcomp type", error_sz);
}
if (!res) {
return false;
@@ -329,7 +330,7 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
}
}
}
else if (dflex->dim==3) {
else if (dflex->dim == 3) {
for (int ix=pingridrange[i]; ix <= pingridrange[i+3]; ix++) {
for (int iy=pingridrange[i+1]; iy <= pingridrange[i+4]; iy++) {
for (int iz=pingridrange[i+2]; iz <= pingridrange[i+5]; iz++) {
@@ -779,14 +780,14 @@ void mjCFlexcomp::BoxProject(double* pos, int ix, int iy, int iz) {
};
// box
if (type==mjFCOMPTYPE_BOX) {
if (type == mjFCOMPTYPE_BOX) {
pos[0] *= size[0];
pos[1] *= size[1];
pos[2] *= size[2];
}
// cylinder
else if (type==mjFCOMPTYPE_CYLINDER) {
else if (type == mjFCOMPTYPE_CYLINDER) {
double L0 = std::max(std::abs(pos[0]), std::abs(pos[1]));
mjuu_normvec(pos, 2);
pos[0] *= size[0]*L0;
@@ -795,7 +796,7 @@ void mjCFlexcomp::BoxProject(double* pos, int ix, int iy, int iz) {
}
// ellipsoid
else if (type==mjFCOMPTYPE_ELLIPSOID) {
else if (type == mjFCOMPTYPE_ELLIPSOID) {
mjuu_normvec(pos, 3);
pos[0] *= size[0];
pos[1] *= size[1];
@@ -816,7 +817,7 @@ bool mjCFlexcomp::MakeSquare(char* error, int error_sz) {
}
// do projection
if (type==mjFCOMPTYPE_DISC) {
if (type == mjFCOMPTYPE_DISC) {
double size[2] = {
0.5*spacing[0]*(count[0]-1),
0.5*spacing[1]*(count[1]-1),
@@ -892,7 +893,7 @@ bool mjCFlexcomp::MakeBox(char* error, int error_sz) {
for (int ix=0; ix < count[0]; ix++) {
for (int iz=0; iz < count[2]; iz++) {
// add point
if (iz>0 && iz < count[2]-1) {
if (iz > 0 && iz < count[2]-1) {
BoxProject(pos, ix, iy, iz);
point.push_back(pos[0]);
point.push_back(pos[1]);
@@ -1137,7 +1138,7 @@ bool mjCFlexcomp::MakeGMSH(mjCModel* model, char* error, int error_sz) {
// load GMSH format 4.1
void mjCFlexcomp::LoadGMSH41(char* buffer, int binary, int nodeend,
int nodebegin, int elemend, int elembegin){
int nodebegin, int elemend, int elembegin){
// header size
constexpr int kGmsh41HeaderSize = 52;
// base for node tags, to be subtracted from element data
@@ -1555,7 +1556,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
numNodeTags = 4;
}
if (numNodeTags < 1 || numNodeTags >4) {
if (numNodeTags < 1 || numNodeTags > 4) {
throw mjCError(NULL, "Invalid number of node tags");
}
@@ -1564,7 +1565,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
// read elements, discard all tags
element.reserve(numNodeTags*numElements);
for (size_t i=0; i<numElements; i++) {
for (size_t i=0; i < numElements; i++) {
int nodeTag = 0, physicalEntityTag = 0, elementModelEntityTag = 0;
if (i != 0) {
ss >> tag >> elementType >> numTags;
@@ -1643,7 +1644,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
numNodeTags = 4;
}
if (numNodeTags < 1 || numNodeTags >4) {
if (numNodeTags < 1 || numNodeTags > 4) {
throw mjCError(NULL, "Invalid number of node tags");
}
@@ -1680,7 +1681,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
}
// read first element
for (int k =0; k<numNodeTags; k++) {
for (int k =0; k < numNodeTags; k++) {
ReadFromBuffer(&nodeTag, elementsBuffer + componentSize*(6+k));
if (nodeTag > numNodes || nodeTag < 1) {
throw mjCError(NULL, "Invalid node tag");
@@ -1719,7 +1720,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
}
// read every other element
for (int i=0; i<numElements-1; i++) {
for (int i=0; i < numElements-1; i++) {
int offset = componentSize*(4+2) + i*elementDataSizeFtetwild;
const char* tagBuffer = elementsBuffer + componentSize*2;
ReadFromBuffer(&tag, tagBuffer + offset);