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Add private function mju_fillInt

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PiperOrigin-RevId: 845217293
Change-Id: I604372ab7ea7f4d47d9427d36dc8cd78e60d84ca
This commit is contained in:
Yuval Tassa
2025-12-16 05:15:57 -08:00
committed by Copybara-Service
parent 477a14dcb2
commit 2b9940bc67
9 changed files with 26 additions and 37 deletions
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src/engine/engine_util_blas.c
+3 -6
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@@ -678,16 +678,13 @@ void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl,
// normalize vector, return length before normalization
mjtNum mju_normalize(mjtNum* res, int n) {
mjtNum norm = (mjtNum)mju_sqrt(mju_dot(res, res, n));
mjtNum normInv;
mjtNum norm = mju_sqrt(mju_dot(res, res, n));
if (norm < mjMINVAL) {
res[0] = 1;
for (int i=1; i < n; i++) {
res[i] = 0;
}
mju_zero(res + 1, n - 1);
} else {
normInv = 1/norm;
mjtNum normInv = 1 / norm;
for (int i=0; i < n; i++) {
res[i] *= normInv;
}