Fix formatting in documentation code samples.

PiperOrigin-RevId: 652237833
Change-Id: Ia90fadccba39881748a7ead15db3285e00feb08f

doc/overview.rst

@@ -207,28 +207,26 @@ rendering, is given below.
    mjModel* m;
    mjData* d;
 
-   int main(void)
+   int main(void) {
-   {
+     // load model from file and check for errors
-      // load model from file and check for errors
+     m = mj_loadXML("hello.xml", NULL, error, 1000);
-      m = mj_loadXML("hello.xml", NULL, error, 1000);
+     if (!m) {
-      if( !m )
+       printf("%s\n", error);
-      {
+       return 1;
-         printf("%s\n", error);
+     }
-         return 1;
-      }
 
-      // make data corresponding to model
+     // make data corresponding to model
-      d = mj_makeData(m);
+     d = mj_makeData(m);
 
-      // run simulation for 10 seconds
+     // run simulation for 10 seconds
-      while( d->time<10 )
+     while (d->time < 10)
-         mj_step(m, d);
+       mj_step(m, d);
 
-      // free model and data
+     // free model and data
-      mj_deleteData(d);
+     mj_deleteData(d);
-      mj_deleteModel(m);
+     mj_deleteModel(m);
 
-      return 0;
+     return 0;
    }
 
 This is technically a C file, but it is also a legitimate C++ file. Indeed the MuJoCo API is compatible with both C and
@@ -823,9 +821,10 @@ convention. Suppose we already have ``mjModel* m``. To print the range of a join
 .. code:: C
 
    int jntid = mj_name2id(m, mjOBJ_JOINT, "elbow");
-   if( jntid>=0 )
+   if (jntid >= 0)
       printf("(%f, %f)\n", m->jnt_range[2*jntid], m->jnt_range[2*jntid+1]);
 
+
 If the name is not found the function returns -1, which is why one should always check for id>=0.
 
 .. _BodyGeomSite:
@@ -943,7 +942,7 @@ can be obtained as:
    int qposadr = -1, qveladr = -1;
 
    // make sure we have a floating body: it has a single free joint
-   if( bodyid>=0 && m->body_jntnum[bodyid]==1 && m->jnt_type[m->body_jntadr[bodyid]]==mjJNT_FREE ) {
+   if (bodyid >= 0 && m->body_jntnum[bodyid] == 1 && m->jnt_type[m->body_jntadr[bodyid]] == mjJNT_FREE) {
      // extract the addresses from the joint specification
      qposadr = m->jnt_qposadr[m->body_jntadr[bodyid]];
      qveladr = m->jnt_dofadr[m->body_jntadr[bodyid]];

doc/programming/simulation.rst

@@ -98,7 +98,7 @@ function :ref:`mj_step` in a loop such as
 .. code-block:: C
 
    // simulate until t = 10 seconds
-   while( d->time<10 )
+   while (d->time < 10)
      mj_step(m, d);
 
 This by itself will simulate the passive dynamics, because we have not provided any control signals or applied forces.
@@ -107,9 +107,8 @@ The default (and recommended) way to control the system is to implement a contro
 .. code-block:: C
 
    // simple controller applying damping to each dof
-   void mycontroller(const mjModel* m, mjData* d)
+   void mycontroller(const mjModel* m, mjData* d) {
-   {
+     if (m->nu == m->nv)
-     if( m->nu==m->nv )
        mju_scl(d->ctrl, d->qvel, -0.1, m->nv);
    }
 
@@ -138,7 +137,7 @@ control callback) would become
 
 .. code-block:: C
 
-   while( d->time<10 ) {
+   while (d->time < 10) {
      // set d->ctrl or d->qfrc_applied or d->xfrc_applied
      mj_step(m, d);
    }
@@ -161,7 +160,7 @@ before the control is needed, and after the control is needed. The simulation lo
 
 .. code-block:: C
 
-   while( d->time<10 ) {
+   while (d->time < 10) {
      mj_step1(m, d);
      // set d->ctrl or d->qfrc_applied or d->xfrc_applied
      mj_step2(m, d);
@@ -186,11 +185,11 @@ omitting some code that computes timing diagnostics. The main simulation functio
      mj_checkAcc(m, d);
 
      // compare forward and inverse solutions if enabled
-     if( mjENABLED(mjENBL_FWDINV) )
+     if (mjENABLED(mjENBL_FWDINV))
        mj_compareFwdInv(m, d);
 
      // use selected integrator
-     if( m->opt.integrator==mjINT_RK4 )
+     if (m->opt.integrator == mjINT_RK4)
        mj_RungeKutta(m, d, 4);
      else
        mj_Euler(m, d);
@@ -206,8 +205,7 @@ mj_step2 regardless of the setting of ``mjModel.opt.integrator``.
 
 .. code-block:: C
 
-   void mj_step1(const mjModel* m, mjData* d)
+   void mj_step1(const mjModel* m, mjData* d) {
-   {
      mj_checkPos(m, d);
      mj_checkVel(m, d);
      mj_fwdPosition(m, d);
@@ -218,12 +216,11 @@ mj_step2 regardless of the setting of ``mjModel.opt.integrator``.
      mj_energyVel(m, d);
 
      // if we had a callback we would be using mj_step, but call it anyway
-     if( mjcb_control )
+     if (mjcb_control)
        mjcb_control(m, d);
    }
 
-   void mj_step2(const mjModel* m, mjData* d)
+   void mj_step2(const mjModel* m, mjData* d) {
-   {
      mj_fwdActuation(m, d);
      mj_fwdAcceleration(m, d);
      mj_fwdConstraint(m, d);
@@ -231,7 +228,7 @@ mj_step2 regardless of the setting of ``mjModel.opt.integrator``.
      mj_checkAcc(m, d);
 
      // compare forward and inverse solutions if enabled
-     if( mjENABLED(mjENBL_FWDINV) )
+     if (mjENABLED(mjENBL_FWDINV))
        mj_compareFwdInv(m, d);
 
      // integrate with Euler; ignore integrator option
@@ -248,7 +245,7 @@ notion of state of a dynamical system. Dynamical systems are usually described i
 
 .. code-block:: Text
 
-     dx/dt = f(t,x,u)
+     dx/dt = f(t, x, u)
 
 where ``t`` is the time, ``x`` is the state vector, ``u`` is the control vector, and ``f`` is the function that
 computes the time-derivative of the state. This is a continuous-time formulation, and indeed the physics model
@@ -317,7 +314,7 @@ internal diagnostics which do not affect the simulation). This can be done as
    // copy mocap body pose and userdata
    mju_copy(dst->mocap_pos,  src->mocap_pos,  3*m->nmocap);
    mju_copy(dst->mocap_quat, src->mocap_quat, 4*m->nmocap);
-   mju_copy(dst->userdata, src->userdata, m->nuserdata);
+   mju_copy(dst->userdata,   src->userdata,   m->nuserdata);
 
    // copy warm-start acceleration
    mju_copy(dst->qacc_warmstart, src->qacc_warmstart, m->nv);
@@ -372,32 +369,30 @@ skip arguments (mjSTAGE_NONE, 0), where the latter function is implemented as
 
    void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
      // position-dependent
-     if( skipstage<mjSTAGE_POS )
+     if (skipstage < mjSTAGE_POS) {
-     {
        mj_fwdPosition(m, d);
-       if( !skipsensor )
+       if (!skipsensor)
          mj_sensorPos(m, d);
-       if( mjENABLED(mjENBL_ENERGY) )
+       if (mjENABLED(mjENBL_ENERGY))
          mj_energyPos(m, d);
      }
 
      // velocity-dependent
-     if( skipstage<mjSTAGE_VEL )
+     if (skipstage < mjSTAGE_VEL) {
-     {
        mj_fwdVelocity(m, d);
-       if( !skipsensor )
+       if (!skipsensor)
          mj_sensorVel(m, d);
-       if( mjENABLED(mjENBL_ENERGY) )
+       if (mjENABLED(mjENBL_ENERGY))
          mj_energyVel(m, d);
      }
 
      // acceleration-dependent
-     if( mjcb_control )
+     if (mjcb_control)
        mjcb_control(m, d);
      mj_fwdActuation(m, d);
      mj_fwdAcceleration(m, d);
      mj_fwdConstraint(m, d);
-     if( !skipsensor )
+     if (!skipsensor)
        mj_sensorAcc(m, d);
    }
 
@@ -510,8 +505,8 @@ management.
 
    // allocate per-thread mjData
    mjData* d[64];
-   for( int n=0; n < nthread; n++ )
+   for (int n=0; n < nthread; n++)
-       d[n] = mj_makeData(m);
+     d[n] = mj_makeData(m);
 
    // ... serial code, perhaps using its own mjData* dmain
 
@@ -527,7 +522,7 @@ management.
    }
 
    // delete per-thread mjData
-   for( int n=0; n<nthread; n++ )
+   for (int n=0; n < nthread; n++)
      mj_deleteData(d[n]);
 
 Since all top-level API functions treat mjModel as ``const``, this multi-threading scheme is safe. Each thread only