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Use early-exit to improve readability of mj_instantiateEquality.

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PiperOrigin-RevId: 772917213
Change-Id: I106402d063a8fd0e95154bd8608eb4359d4dfdab
This commit is contained in:
Yuval Tassa
2025-06-18 07:44:23 -07:00
committed by Copybara-Service
parent 92bc486558
commit 335a9ce0c2
1 changed files with 235 additions and 233 deletions
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src/engine/engine_core_constraint.c
+4 -2
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@@ -430,7 +430,10 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
// find active equality constraints // find active equality constraints
for (int i=0; i < m->neq; i++) { for (int i=0; i < m->neq; i++) {
if (d->eq_active[i]) { if (!d->eq_active[i]) {
continue;
}
// get constraint data // get constraint data
data = m->eq_data + mjNEQDATA*i; data = m->eq_data + mjNEQDATA*i;
id[0] = m->eq_obj1id[i]; id[0] = m->eq_obj1id[i];
@@ -669,7 +672,6 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
issparse ? chain : NULL); issparse ? chain : NULL);
} }
} }
}
mj_freeStack(d); mj_freeStack(d);
} }