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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_util.cc
+21 -19
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@@ -52,11 +52,11 @@ bool mjuu_defined(double num) {
// compute address of M[g1][g2] where M is triangular n-by-n
int mjuu_matadr(int g1, int g2, int n) {
if (g1<0 || g2<0 || g1>=n || g2>=n) {
if (g1 < 0 || g2 < 0 || g1 >= n || g2 >= n) {
return -1;
}
if (g1>g2) {
if (g1 > g2) {
int tmp = g1;
g1 = g2;
g2 = tmp;
@@ -103,21 +103,21 @@ void mjuu_setvec(double* dest, double x, double y) {
// add to double array
void mjuu_addtovec(double* dest, const double* src, int n) {
for (int i=0; i<n; i++) {
for (int i=0; i < n; i++) {
dest[i] += src[i];
}
}
// zero double array
void mjuu_zerovec(double* dest, int n) {
for (int i=0; i<n; i++) {
for (int i=0; i < n; i++) {
dest[i] = 0;
}
}
// zero float array
void mjuu_zerovec(float* dest, int n) {
for (int i=0; i<n; i++) {
for (int i=0; i < n; i++) {
dest[i] = 0;
}
}
@@ -137,7 +137,7 @@ double mjuu_dist3(const double* a, const double* b) {
// L1 norm between vectors
double mjuu_L1(const double* a, const double* b, int n) {
double res = 0;
for (int i=0; i<n; i++) {
for (int i=0; i < n; i++) {
res += std::abs(a[i]-b[i]);
}
@@ -149,7 +149,7 @@ double mjuu_L1(const double* a, const double* b, int n) {
double mjuu_normvec(double* vec, const int n) {
double nrm = 0;
for (int i=0; i<n; i++) {
for (int i=0; i < n; i++) {
nrm += vec[i]*vec[i];
}
if (nrm < mjEPS) {
@@ -160,7 +160,7 @@ double mjuu_normvec(double* vec, const int n) {
// don't normalize if nrm is within mjEPS of 1
if (std::abs(nrm - 1) > mjEPS) {
for (int i=0; i<n; i++) {
for (int i=0; i < n; i++) {
vec[i] /= nrm;
}
}
@@ -173,7 +173,7 @@ double mjuu_normvec(double* vec, const int n) {
float mjuu_normvec(float* vec, const int n) {
float nrm = 0;
for (int i=0; i<n; i++) {
for (int i=0; i < n; i++) {
nrm += vec[i]*vec[i];
}
if (nrm < mjEPS) {
@@ -184,7 +184,7 @@ float mjuu_normvec(float* vec, const int n) {
// don't normalize if nrm is within mjEPS of 1
if (std::abs(nrm - 1) > mjEPS) {
for (int i=0; i<n; i++) {
for (int i=0; i < n; i++) {
vec[i] /= nrm;
}
}
@@ -390,7 +390,7 @@ void mjuu_z2quat(double* quat, const double* vec) {
double z[3] = {0, 0, 1};
mjuu_crossvec(quat+1, z, vec);
double s = mjuu_normvec(quat+1, 3);
if (s<1E-10) {
if (s < 1E-10) {
quat[1] = 1;
quat[2] = quat[3] = 0;
}
@@ -407,7 +407,7 @@ void mjuu_frame2quat(double* quat, const double* x, const double* y, const doubl
const double* mat[3] = {x, y, z}; // mat[c][r] indexing
// q0 largest
if (mat[0][0]+mat[1][1]+mat[2][2]>0) {
if (mat[0][0]+mat[1][1]+mat[2][2] > 0) {
quat[0] = 0.5 * sqrt(1 + mat[0][0] + mat[1][1] + mat[2][2]);
quat[1] = 0.25 * (mat[1][2] - mat[2][1]) / quat[0];
quat[2] = 0.25 * (mat[2][0] - mat[0][2]) / quat[0];
@@ -415,7 +415,7 @@ void mjuu_frame2quat(double* quat, const double* x, const double* y, const doubl
}
// q1 largest
else if (mat[0][0]>mat[1][1] && mat[0][0]>mat[2][2]) {
else if (mat[0][0] > mat[1][1] && mat[0][0] > mat[2][2]) {
quat[1] = 0.5 * sqrt(1 + mat[0][0] - mat[1][1] - mat[2][2]);
quat[0] = 0.25 * (mat[1][2] - mat[2][1]) / quat[1];
quat[2] = 0.25 * (mat[1][0] + mat[0][1]) / quat[1];
@@ -423,7 +423,7 @@ void mjuu_frame2quat(double* quat, const double* x, const double* y, const doubl
}
// q2 largest
else if (mat[1][1]>mat[2][2]) {
else if (mat[1][1] > mat[2][2]) {
quat[2] = 0.5 * sqrt(1 - mat[0][0] + mat[1][1] - mat[2][2]);
quat[0] = 0.25 * (mat[2][0] - mat[0][2]) / quat[2];
quat[1] = 0.25 * (mat[1][0] + mat[0][1]) / quat[2];
@@ -612,7 +612,7 @@ void mjuu_rotVecQuat(double res[3], const double vec[3], const double quat[4]) {
// quat - frame orientation
// normal - unit normal vector
double mjuu_updateFrame(double quat[4], double normal[3], const double edge[3],
const double tprv[3], const double tnxt[3], int first) {
const double tprv[3], const double tnxt[3], int first) {
double tangent[3], binormal[3];
// normalize tangent
@@ -764,7 +764,7 @@ std::string mjuu_strippath(std::string filename) {
size_t start = filename.find_last_of("/\\");
// no path found: return original
if (start==std::string::npos) {
if (start == std::string::npos) {
return filename;
}
@@ -791,7 +791,7 @@ const char* mjuu_fullInertia(double quat[4], double inertia[3], const double ful
mjuu_eig3(eigval, eigvec, quattmp, full);
// check mimimal eigenvalue
if (eigval[2]<mjEPS) {
if (eigval[2] < mjEPS) {
return "inertia must have positive eigenvalues";
}
@@ -847,7 +847,7 @@ bool mjuu_isabspath(std::string path) {
// check first char
const char* str = path.c_str();
if (str[0]=='\\' || str[0]=='/') {
if (str[0] == '\\' || str[0] == '/') {
return true;
}
@@ -1102,7 +1102,9 @@ FilePath FilePath::StripPath() const {
std::string FilePath::StrLower() const {
std::string str = path_;
std::transform(str.begin(), str.end(), str.begin(),
[](unsigned char c) { return std::tolower(c); });
[](unsigned char c) {
return std::tolower(c);
});
return str;
}