Cosmetic improvements to src/user/ source files.

PiperOrigin-RevId: 737930914
Change-Id: I1cc254d420fcdf0c42ec3d2f601e5a02d925d958

src/user/user_composite.cc

@@ -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"

src/user/user_flexcomp.cc

@@ -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"

src/user/user_model.cc

@@ -374,7 +374,9 @@ void mjCModel::CopyPlugin(const std::vector<mjCPlugin*>& source,
     candidate->model = this;
     candidate->NameSpace(plugin->model);
     bool referenced = instances.find(candidate->name) != instances.end();
-    auto same_name = [candidate](const mjCPlugin* dest) { return dest->name == candidate->name; };
+    auto same_name = [candidate](const mjCPlugin* dest) {
+                       return dest->name == candidate->name;
+                     };
     bool instance_exists = std::find_if(plugins_.begin(), plugins_.end(),
                                         same_name) != plugins_.end();
     if (referenced && !instance_exists) {
@@ -1433,7 +1435,9 @@ void mjCModel::Delete<mjCGeom>(std::vector<mjCGeom*>& elements,
   for (mjCBody* body : bodies_) {
     body->geoms.erase(
       std::remove_if(body->geoms.begin(), body->geoms.end(),
-                       [&discard](mjCGeom* geom) { return discard[geom->id]; }),
+                     [&discard](mjCGeom* geom) {
+      return discard[geom->id];
+    }),
       body->geoms.end());
   }
 
@@ -1632,9 +1636,13 @@ void mjCModel::IndexAssets(bool discard) {
     std::vector<bool> discard_geom(geoms_.size(), false);
 
     std::transform(meshes_.begin(), meshes_.end(), discard_mesh.begin(),
-                  [](const mjCMesh* mesh) { return mesh->IsVisual(); });
+                   [](const mjCMesh* mesh) {
+      return mesh->IsVisual();
+    });
     std::transform(geoms_.begin(), geoms_.end(), discard_geom.begin(),
-                  [](const mjCGeom* geom) { return geom->IsVisual(); });
+                   [](const mjCGeom* geom) {
+      return geom->IsVisual();
+    });
 
     Delete(meshes_, discard_mesh);
     Delete(geoms_, discard_geom);
@@ -4569,8 +4577,9 @@ bool mjCModel::CopyBack(const mjModel* m) {
       nmat != m->nmat || ntex != m->ntex || npair != m->npair || nexclude != m->nexclude ||
       neq != m->neq || ntendon != m->ntendon || nwrap != m->nwrap || nsensor != m->nsensor ||
       nnumeric != m->nnumeric || nnumericdata != m->nnumericdata || ntext != m->ntext ||
-      ntextdata!=m->ntextdata || nnames!=m->nnames || nM!=m->nM || nD!=m->nD || nC!=m->nC ||
+      ntextdata != m->ntextdata || nnames != m->nnames ||
-      nB!=m->nB || nJmom!=m->nJmom ||nemax!=m->nemax || nconmax!=m->nconmax || njmax!=m->njmax ||
+      nM != m->nM || nD != m->nD || nC != m->nC || nB != m->nB || nJmom != m->nJmom ||
+      nemax != m->nemax || nconmax != m->nconmax || njmax != m->njmax ||
       npaths != m->npaths) {
     errInfo = mjCError(0, "incompatible models in CopyBack");
     return false;

src/user/user_objects.cc

@@ -1354,22 +1354,22 @@ int mjCBody::NumObjects(mjtObj type) {
 
 
 // get poiner to specified object
-mjCBase* mjCBody::GetObject(mjtObj type, int id) {
+mjCBase* mjCBody::GetObject(mjtObj type, int i) {
-  if (id>=0 && id<NumObjects(type)) {
+  if (i >= 0 && i < NumObjects(type)) {
     switch (type) {
       case mjOBJ_BODY:
       case mjOBJ_XBODY:
-      return bodies[id];
+        return bodies[i];
       case mjOBJ_JOINT:
-      return joints[id];
+        return joints[i];
       case mjOBJ_GEOM:
-      return geoms[id];
+        return geoms[i];
       case mjOBJ_SITE:
-      return sites[id];
+        return sites[i];
       case mjOBJ_CAMERA:
-      return cameras[id];
+        return cameras[i];
       case mjOBJ_LIGHT:
-      return lights[id];
+        return lights[i];
       default:
         return 0;
     }
@@ -2103,8 +2103,12 @@ mjCJoint& mjCJoint::operator=(const mjCJoint& other) {
 
 
 
-bool mjCJoint::is_limited() const { return islimited(limited, range); }
+bool mjCJoint::is_limited() const {
-bool mjCJoint::is_actfrclimited() const { return islimited(actfrclimited, actfrcrange); }
+  return islimited(limited, range);
+}
+bool mjCJoint::is_actfrclimited() const {
+  return islimited(actfrclimited, actfrcrange);
+}
 
 
 
@@ -5291,7 +5295,9 @@ mjCTendon& mjCTendon::operator=(const mjCTendon& other) {
 
 
 
-bool mjCTendon::is_limited() const { return islimited(limited, range); }
+bool mjCTendon::is_limited() const {
+  return islimited(limited, range);
+}
 
 
 void mjCTendon::PointToLocal() {
@@ -5783,9 +5789,15 @@ void mjCActuator::ForgetKeyframes() {
 
 
 
-bool mjCActuator::is_ctrllimited() const { return islimited(ctrllimited, ctrlrange); }
+bool mjCActuator::is_ctrllimited() const {
-bool mjCActuator::is_forcelimited() const { return islimited(forcelimited, forcerange); }
+  return islimited(ctrllimited, ctrlrange);
-bool mjCActuator::is_actlimited() const { return islimited(actlimited, actrange); }
+}
+bool mjCActuator::is_forcelimited() const {
+  return islimited(forcelimited, forcerange);
+}
+bool mjCActuator::is_actlimited() const {
+  return islimited(actlimited, actrange);
+}
 
 
 
@@ -6501,7 +6513,9 @@ void mjCSensor::Compile(void) {
       // set datatype
       if (type == mjSENS_FRAMEQUAT) {
         datatype = mjDATATYPE_QUATERNION;
-    } else if (type==mjSENS_FRAMEXAXIS || type==mjSENS_FRAMEYAXIS || type==mjSENS_FRAMEZAXIS) {
+      } else if (type == mjSENS_FRAMEXAXIS ||
+                 type == mjSENS_FRAMEYAXIS ||
+                 type == mjSENS_FRAMEZAXIS) {
         datatype = mjDATATYPE_AXIS;
       } else {
         datatype = mjDATATYPE_REAL;

src/user/user_util.cc

@@ -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;
 }