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Add spaces around comparison operators in engine source files.

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PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
This commit is contained in:
Yuval Tassa
2023-05-28 05:01:55 -07:00
committed by Copybara-Service
parent d40c395917
commit 455b1cd2e2
29 changed files with 2224 additions and 2219 deletions
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src/engine/engine_forward.c
+42 -42
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@@ -46,7 +46,7 @@
// check positions, reset if bad
void mj_checkPos(const mjModel* m, mjData* d) {
for (int i=0; i<m->nq; i++) {
for (int i=0; i < m->nq; i++) {
if (mju_isBad(d->qpos[i])) {
mj_warning(d, mjWARN_BADQPOS, i);
mj_resetData(m, d);
@@ -61,7 +61,7 @@ void mj_checkPos(const mjModel* m, mjData* d) {
// check velocities, reset if bad
void mj_checkVel(const mjModel* m, mjData* d) {
for (int i=0; i<m->nv; i++) {
for (int i=0; i < m->nv; i++) {
if (mju_isBad(d->qvel[i])) {
mj_warning(d, mjWARN_BADQVEL, i);
mj_resetData(m, d);
@@ -76,7 +76,7 @@ void mj_checkVel(const mjModel* m, mjData* d) {
// check accelerations, reset if bad
void mj_checkAcc(const mjModel* m, mjData* d) {
for (int i=0; i<m->nv; i++) {
for (int i=0; i < m->nv; i++) {
if (mju_isBad(d->qacc[i])) {
mj_warning(d, mjWARN_BADQACC, i);
mj_resetData(m, d);
@@ -166,7 +166,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
mju_zero(d->actuator_force, nu);
// disabled or no actuation: return
if (nu==0 || mjDISABLED(mjDSBL_ACTUATION)) {
if (nu == 0 || mjDISABLED(mjDSBL_ACTUATION)) {
return;
}
@@ -176,7 +176,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
if (mjDISABLED(mjDSBL_CLAMPCTRL)) {
mju_copy(ctrl, d->ctrl, nu);
} else {
for (int i=0; i<nu; i++) {
for (int i=0; i < nu; i++) {
// clamp ctrl
if (m->actuator_ctrllimited[i]) {
mjtNum *ctrlrange = m->actuator_ctrlrange + 2*i;
@@ -188,7 +188,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
}
// check controls, set all to 0 if any are bad
for (int i=0; i<nu; i++) {
for (int i=0; i < nu; i++) {
if (mju_isBad(ctrl[i])) {
mj_warning(d, mjWARN_BADCTRL, i);
mju_zero(ctrl, nu);
@@ -197,7 +197,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
}
// force = gain .* [ctrl/act] + bias
for (int i=0; i<nu; i++) {
for (int i=0; i < nu; i++) {
// skip actuator plugins -- these are handled after builtin actuator types
if (m->actuator_plugin[i] >= 0) {
continue;
@@ -275,7 +275,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
// handle actuator plugins
if (m->nplugin) {
const int nslot = mjp_pluginCount();
for (int i=0; i<m->nplugin; i++) {
for (int i=0; i < m->nplugin; i++) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
@@ -291,7 +291,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
}
// clamp actuator_force
for (int i=0; i<nu; i++) {
for (int i=0; i < nu; i++) {
if (m->actuator_forcelimited[i]) {
mjtNum *forcerange = m->actuator_forcerange + 2*i;
force[i] = mju_clip(force[i], forcerange[0], forcerange[1]);
@@ -302,7 +302,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
mju_mulMatTVec(d->qfrc_actuator, moment, force, nu, nv);
// act_dot for stateful actuators
for (int i=0; i<nu; i++) {
for (int i=0; i < nu; i++) {
if (m->actuator_plugin[i] >= 0) {
continue;
}
@@ -392,7 +392,7 @@ static void warmstart(const mjModel* m, mjData* d) {
mj_constraintUpdate(m, d, jar, &cost_warmstart, 0);
// PGS
if (m->opt.solver==mjSOL_PGS) {
if (m->opt.solver == mjSOL_PGS) {
// cost(force_warmstart)
mjtNum PGS_warmstart = mju_dot(d->efc_force, d->efc_b, nefc);
mjtNum* ARf = mj_stackAlloc(d, nefc);
@@ -406,7 +406,7 @@ static void warmstart(const mjModel* m, mjData* d) {
PGS_warmstart += 0.5*mju_dot(d->efc_force, ARf, nefc);
// use zero if better
if (PGS_warmstart>0) {
if (PGS_warmstart > 0) {
mju_zero(d->efc_force, nefc);
mju_zero(d->qfrc_constraint, nv);
}
@@ -417,7 +417,7 @@ static void warmstart(const mjModel* m, mjData* d) {
// add Gauss to cost(qacc_warmstart)
mjtNum* Ma = mj_stackAlloc(d, nv);
mj_mulM(m, d, Ma, d->qacc_warmstart);
for (int i=0; i<nv; i++) {
for (int i=0; i < nv; i++) {
cost_warmstart += 0.5*(Ma[i]-d->qfrc_smooth[i])*(d->qacc_warmstart[i]-d->qacc_smooth[i]);
}
@@ -426,7 +426,7 @@ static void warmstart(const mjModel* m, mjData* d) {
mj_constraintUpdate(m, d, d->efc_b, &cost_smooth, 0);
// use qacc_smooth if better
if (cost_warmstart>cost_smooth) {
if (cost_warmstart > cost_smooth) {
mju_copy(d->qacc, d->qacc_smooth, nv);
}
}
@@ -488,7 +488,7 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
mju_copy(d->qacc_warmstart, d->qacc, nv);
// run noslip solver if enabled
if (m->opt.noslip_iterations>0) {
if (m->opt.noslip_iterations > 0) {
mj_solNoSlip(m, d, m->opt.noslip_iterations);
}
@@ -507,11 +507,11 @@ static void mj_advance(const mjModel* m, mjData* d,
mju_addToScl(d->act, act_dot, m->opt.timestep, m->na);
// clamp activations
for (int i=0; i<m->nu; i++) {
for (int i=0; i < m->nu; i++) {
int j = m->actuator_actadr[i];
if (j > -1 && m->actuator_actlimited[i]) {
mjtNum* actrange = m->actuator_actrange + 2*i;
for (int k=0; k<m->actuator_actnum[i]; k++) {
for (int k=0; k < m->actuator_actnum[i]; k++) {
d->act[j+k] = mju_clip(d->act[j+k], actrange[0], actrange[1]);
}
}
@@ -552,8 +552,8 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
// check for dof damping
int dof_damping = 0;
for (int i=0; i<nv; i++) {
if (m->dof_damping[i]>0) {
for (int i=0; i < nv; i++) {
if (m->dof_damping[i] > 0) {
dof_damping = 1;
break;
}
@@ -571,7 +571,7 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
// MhB = M + h*diag(B)
mju_copy(MhB, d->qM, m->nM);
for (int i=0; i<nv; i++) {
for (int i=0; i < nv; i++) {
MhB[m->dof_Madr[i]] += m->opt.timestep * m->dof_damping[i];
}
@@ -618,8 +618,8 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
int nv = m->nv, nq = m->nq, na = m->na;
mjtNum h = m->opt.timestep, time = d->time;
mjtNum C[9], T[9], *X[10], *F[10], *dX;
const mjtNum* A = (N==4 ? RK4_A : 0);
const mjtNum* B = (N==4 ? RK4_B : 0);
const mjtNum* A = (N == 4 ? RK4_A : 0);
const mjtNum* B = (N == 4 ? RK4_B : 0);
mjMARKSTACK;
// check order
@@ -629,16 +629,16 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
// allocate space for intermediate solutions
dX = mj_stackAlloc(d, 2*nv+na);
for (int i=0; i<N; i++) {
for (int i=0; i < N; i++) {
X[i] = mj_stackAlloc(d, nq+nv+na);
F[i] = mj_stackAlloc(d, nv+na);
}
// precompute C and T; C,T,A have size (N-1)
for (int i=1; i<N; i++) {
for (int i=1; i < N; i++) {
// C(i) = sum_j A(i,j)
C[i-1] = 0;
for (int j=0; j<i; j++) {
for (int j=0; j < i; j++) {
C[i-1] += A[(i-1)*(N-1)+j];
}
@@ -656,10 +656,10 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
}
// compute the remaining X[i], F[i]
for (int i=1; i<N; i++) {
for (int i=1; i < N; i++) {
// compute dX
mju_zero(dX, 2*nv+na);
for (int j=0; j<i; j++) {
for (int j=0; j < i; j++) {
mju_addToScl(dX, X[j]+nq, A[(i-1)*(N-1)+j], nv);
mju_addToScl(dX+nv, F[j], A[(i-1)*(N-1)+j], nv+na);
}
@@ -687,7 +687,7 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
// compute dX for final update (using B instead of A)
mju_zero(dX, 2*nv+na);
for (int j=0; j<N; j++) {
for (int j=0; j < N; j++) {
mju_addToScl(dX, X[j]+nq, B[j], nv);
mju_addToScl(dX+nv, F[j], B[j], nv+na);
}
@@ -783,7 +783,7 @@ void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor)
TM_START;
// position-dependent
if (skipstage<mjSTAGE_POS) {
if (skipstage < mjSTAGE_POS) {
mj_fwdPosition(m, d);
if (!skipsensor) {
mj_sensorPos(m, d);
@@ -794,7 +794,7 @@ void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor)
}
// velocity-dependent
if (skipstage<mjSTAGE_VEL) {
if (skipstage < mjSTAGE_VEL) {
mj_fwdVelocity(m, d);
if (!skipsensor) {
mj_sensorVel(m, d);
@@ -845,21 +845,21 @@ void mj_step(const mjModel* m, mjData* d) {
// use selected integrator
switch (m->opt.integrator) {
case mjINT_EULER:
mj_Euler(m, d);
break;
case mjINT_EULER:
mj_Euler(m, d);
break;
case mjINT_RK4:
mj_RungeKutta(m, d, 4);
break;
case mjINT_RK4:
mj_RungeKutta(m, d, 4);
break;
case mjINT_IMPLICIT:
case mjINT_IMPLICITFAST:
mj_implicit(m, d);
break;
case mjINT_IMPLICIT:
case mjINT_IMPLICITFAST:
mj_implicit(m, d);
break;
default:
mju_error("Invalid integrator");
default:
mju_error("Invalid integrator");
}
TM_END(mjTIMER_STEP);