Use early-exit to improve readability of mj_instantiateEquality.

PiperOrigin-RevId: 772917213
Change-Id: I106402d063a8fd0e95154bd8608eb4359d4dfdab

src/engine/engine_core_constraint.c

@@ -430,7 +430,10 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
 
   // find active equality constraints
   for (int i=0; i < m->neq; i++) {
-    if (d->eq_active[i]) {
+    if (!d->eq_active[i]) {
+      continue;
+    }
+
     // get constraint data
     data = m->eq_data + mjNEQDATA*i;
     id[0] = m->eq_obj1id[i];
@@ -669,7 +672,6 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
                        issparse ? chain : NULL);
     }
   }
-  }
 
   mj_freeStack(d);
 }