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Migrate mjtByte to mjtBool for boolean-valued fields.

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PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23
This commit is contained in:
Yuval Tassa
2026-05-26 05:35:15 -07:00
committed by Copybara-Service
parent 3cabb2eb8e
commit 393c1e4217
33 changed files with 242 additions and 224 deletions
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src/engine/engine_collision_sdf.c
+9 -9
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@@ -772,7 +772,7 @@ static int selectFPS(const mjtNum* candidate, const mjtNum* dist, int ncandidate
int* selected_indices, int max_select) {
if (ncandidate <= 0) return 0;
mjtByte selected[mjMAXCONPAIR] = {0};
mjtBool selected[mjMAXCONPAIR] = {false};
mjtNum min_dist2[mjMAXCONPAIR];
for (int i = 0; i < ncandidate; i++) {
min_dist2[i] = mjMAXVAL;
@@ -791,7 +791,7 @@ static int selectFPS(const mjtNum* candidate, const mjtNum* dist, int ncandidate
// iteratively select contacts using FPS
int nselected = 0;
while (nselected < max_select && nselected < mjMAXCONPAIR && best >= 0) {
selected[best] = 1;
selected[best] = true;
selected_indices[nselected] = best;
nselected++;
@@ -882,7 +882,7 @@ typedef struct {
} MeshSDFContext;
// process a single mesh face inline during BVH traversal
static void processOneFace(int faceid, mjtByte* bvh_active, int node,
static void processOneFace(int faceid, mjtBool* bvh_active, int node,
MeshSDFContext* ctx) {
mjtNum corners[9];
const mjModel* m = ctx->m;
@@ -903,7 +903,7 @@ static void processOneFace(int faceid, mjtByte* bvh_active, int node,
processSdfCorners(corners, m, ctx->d, ctx->sdf, ctx->nstartpts,
ctx->candidate, ctx->dist, ctx->ncandidate);
if (bvh_active && *(ctx->ncandidate) > 0) bvh_active[node] = 1;
if (bvh_active && *(ctx->ncandidate) > 0) bvh_active[node] = true;
}
// Callback type for leaf node processing during BVH traversal
@@ -920,7 +920,7 @@ typedef int (*BVHLeafCallback)(int leaf_id, int node, void* ctx);
// callback: function called for each leaf node
// ctx: user context passed to callback
static void traverseBVH(const mjtNum* bvh, const int* nodeid, const int* child,
mjtByte* bvh_active, const mjtNum* offset, const mjtNum* rotation,
mjtBool* bvh_active, const mjtNum* offset, const mjtNum* rotation,
const mjModel* m, const mjData* d, const mjSDF* sdf,
BVHLeafCallback callback, void* ctx) {
int stack[64];
@@ -934,7 +934,7 @@ static void traverseBVH(const mjtNum* bvh, const int* nodeid, const int* child,
if (nodeid[node] != -1) {
if (boxIntersect(bvh + 6*node, offset, rotation, m, sdf, d)) {
int active = callback(nodeid[node], node, ctx);
if (bvh_active && active) bvh_active[node] = 1;
if (bvh_active && active) bvh_active[node] = true;
}
continue;
}
@@ -944,7 +944,7 @@ static void traverseBVH(const mjtNum* bvh, const int* nodeid, const int* child,
continue;
}
if (bvh_active) bvh_active[node] = 1;
if (bvh_active) bvh_active[node] = true;
// push children
for (int i = 0; i < 2; i++) {
@@ -1026,7 +1026,7 @@ int mjc_MeshSDF(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
const int* nodeid = m->bvh_nodeid + bvhadr;
const mjtNum* bvh = m->bvh_aabb + 6*bvhadr;
const int* child = m->bvh_child + 2*bvhadr;
mjtByte* bvh_active = m->vis.global.bvactive ? d->bvh_active + bvhadr : NULL;
mjtBool* bvh_active = m->vis.global.bvactive ? d->bvh_active + bvhadr : NULL;
traverseBVH(bvh, nodeid, child, bvh_active, ctx.offset, ctx.rotation,
m, d, ctx.sdf, meshFaceCallback, &ctx);
@@ -1354,7 +1354,7 @@ int mjc_FlexSDF(const mjModel* m, const mjData* d, mjContact* con,
const int nbvhstatic = m->nbvhstatic;
const mjtNum* bvh = d->bvh_aabb_dyn + 6*(bvhadr - nbvhstatic);
const int* child = m->bvh_child + 2*bvhadr;
mjtByte* bvh_active = m->vis.global.bvactive ? d->bvh_active + bvhadr : NULL;
mjtBool* bvh_active = m->vis.global.bvactive ? d->bvh_active + bvhadr : NULL;
// set up context for flex element processing
FlexSDFContext fctx;