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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_util_misc.c
+3 -3
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@@ -33,21 +33,21 @@
//------------------------------ tendon wrapping ---------------------------------------------------
// check for intersection of two 2D line segments
static mjtByte is_intersect(const mjtNum* p1, const mjtNum* p2,
static mjtBool is_intersect(const mjtNum* p1, const mjtNum* p2,
const mjtNum* p3, const mjtNum* p4) {
mjtNum a, b;
// compute determinant, check
mjtNum det = (p4[1]-p3[1])*(p2[0]-p1[0]) - (p4[0]-p3[0])*(p2[1]-p1[1]);
if (mju_abs(det) < mjMINVAL) {
return 0;
return false;
}
// compute intersection point on each line
a = ((p4[0]-p3[0])*(p1[1]-p3[1]) - (p4[1]-p3[1])*(p1[0]-p3[0])) / det;
b = ((p2[0]-p1[0])*(p1[1]-p3[1]) - (p2[1]-p1[1])*(p1[0]-p3[0])) / det;
return ((a >= 0 && a <= 1 && b >= 0 && b <= 1) ? 1 : 0);
return ((a >= 0 && a <= 1 && b >= 0 && b <= 1) ? true : false);
}