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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_io.c
+152 -152
View File
@@ -285,7 +285,7 @@ static void bufwrite(const void* src, int num, int szbuf, void* buf, int* ptrbuf
}
// check size
if (*ptrbuf+num>szbuf) {
if (*ptrbuf+num > szbuf) {
mju_error("Attempting to write outside model buffer");
}
@@ -304,7 +304,7 @@ static void bufread(void* dest, int num, int szbuf, const void* buf, int* ptrbuf
}
// check size
if (*ptrbuf+num>szbuf) {
if (*ptrbuf+num > szbuf) {
mju_error("Attempting to read outside model buffer");
}
@@ -362,7 +362,7 @@ static int safeAddToBufferSize(intptr_t* offset, int* nbuffer, size_t type_size,
return 0;
}
#if (__has_builtin(__builtin_add_overflow) && __has_builtin(__builtin_mul_overflow)) \
|| (defined(__GNUC__) && __GNUC__ >= 5)
|| (defined(__GNUC__) && __GNUC__ >= 5)
// supported by GCC and Clang
int to_add = 0;
if (__builtin_mul_overflow(nc, nr, &to_add)) return 0;
@@ -654,8 +654,8 @@ static mjModel* _mj_loadModel(const char* filename, int vfs_provider) {
bufread(header, 4*sizeof(int), buffer_sz, buffer, &ptrbuf);
// check header
for (int i=0; i<4; i++) {
if (header[i]!=expected_header[i]) {
for (int i=0; i < 4; i++) {
if (header[i] != expected_header[i]) {
switch (i) {
case 0:
mju_warning("Model missing header ID");
@@ -692,7 +692,7 @@ static mjModel* _mj_loadModel(const char* filename, int vfs_provider) {
info[35], info[36], info[37], info[38], info[39], info[40], info[41],
info[42], info[43], info[44], info[45], info[46], info[47], info[48],
info[49], info[50], info[51], info[52]);
if (!m || m->nbuffer!=info[getnint()-1]) {
if (!m || m->nbuffer != info[getnint()-1]) {
mju_closeResource(r);
mju_warning("Corrupted model, wrong size parameters");
mj_deleteModel(m);
@@ -775,7 +775,7 @@ int mj_sizeModel(const mjModel* m) {
+ sizeof(mjVisual)
+ sizeof(mjStatistic));
MJMODEL_POINTERS_PREAMBLE(m)
MJMODEL_POINTERS_PREAMBLE(m)
#define X(type, name, nr, nc) \
size += sizeof(type)*(m->nr)*(nc);
MJMODEL_POINTERS
@@ -1367,16 +1367,16 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
// set mocap_pos/quat = body_pos/quat for mocap bodies
if (m->body_mocapid) {
for (int i=0; i<m->nbody; i++) {
for (int i=0; i < m->nbody; i++) {
int id = m->body_mocapid[i];
if (id>=0) {
if (id >= 0) {
mju_copy3(d->mocap_pos+3*id, m->body_pos+3*i);
mju_copy4(d->mocap_quat+4*id, m->body_quat+4*i);
}
}
} else {
// set the mocap_quats to {1, 0, 0, 0}
for (int i=0; i<m->nmocap; i++) {
for (int i=0; i < m->nmocap; i++) {
d->mocap_quat[4*i] = 1.0;
}
}
@@ -1426,7 +1426,7 @@ void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key) {
_resetData(m, d, 0);
// copy keyframe data if key is valid
if (key>=0 && key<m->nkey) {
if (key >= 0 && key < m->nkey) {
d->time = m->key_time[key];
mju_copy(d->qpos, m->key_qpos+key*m->nq, m->nq);
mju_copy(d->qvel, m->key_qvel+key*m->nv, m->nv);
@@ -1510,7 +1510,7 @@ static int sensorSize(mjtSensor sensor_type, int sensor_dim) {
case mjSENS_PLUGIN:
return -1;
// don't use a 'default' case, so compiler warns about missing values
// don't use a 'default' case, so compiler warns about missing values
}
return -1;
}
@@ -1520,55 +1520,55 @@ static int sensorSize(mjtSensor sensor_type, int sensor_dim) {
// -2: invalid objtype
static int numObjects(const mjModel* m, mjtObj objtype) {
switch (objtype) {
case mjOBJ_UNKNOWN:
return -1;
case mjOBJ_BODY:
case mjOBJ_XBODY:
return m->nbody;
case mjOBJ_JOINT:
return m->njnt;
case mjOBJ_DOF:
return m->nv;
case mjOBJ_GEOM:
return m->ngeom;
case mjOBJ_SITE:
return m->nsite;
case mjOBJ_CAMERA:
return m->ncam;
case mjOBJ_LIGHT:
return m->nlight;
case mjOBJ_MESH:
return m->nmesh;
case mjOBJ_SKIN:
return m->nskin;
case mjOBJ_HFIELD:
return m->nhfield;
case mjOBJ_TEXTURE:
return m->ntex;
case mjOBJ_MATERIAL:
return m->nmat;
case mjOBJ_PAIR:
return m->npair;
case mjOBJ_EXCLUDE:
return m->nexclude;
case mjOBJ_EQUALITY:
return m->neq;
case mjOBJ_TENDON:
return m->ntendon;
case mjOBJ_ACTUATOR:
return m->nu;
case mjOBJ_SENSOR:
return m->nsensor;
case mjOBJ_NUMERIC:
return m->nnumeric;
case mjOBJ_TEXT:
return m->ntext;
case mjOBJ_TUPLE:
return m->ntuple;
case mjOBJ_KEY:
return m->nkey;
case mjOBJ_PLUGIN:
return m->nplugin;
case mjOBJ_UNKNOWN:
return -1;
case mjOBJ_BODY:
case mjOBJ_XBODY:
return m->nbody;
case mjOBJ_JOINT:
return m->njnt;
case mjOBJ_DOF:
return m->nv;
case mjOBJ_GEOM:
return m->ngeom;
case mjOBJ_SITE:
return m->nsite;
case mjOBJ_CAMERA:
return m->ncam;
case mjOBJ_LIGHT:
return m->nlight;
case mjOBJ_MESH:
return m->nmesh;
case mjOBJ_SKIN:
return m->nskin;
case mjOBJ_HFIELD:
return m->nhfield;
case mjOBJ_TEXTURE:
return m->ntex;
case mjOBJ_MATERIAL:
return m->nmat;
case mjOBJ_PAIR:
return m->npair;
case mjOBJ_EXCLUDE:
return m->nexclude;
case mjOBJ_EQUALITY:
return m->neq;
case mjOBJ_TENDON:
return m->ntendon;
case mjOBJ_ACTUATOR:
return m->nu;
case mjOBJ_SENSOR:
return m->nsensor;
case mjOBJ_NUMERIC:
return m->nnumeric;
case mjOBJ_TEXT:
return m->ntext;
case mjOBJ_TUPLE:
return m->ntuple;
case mjOBJ_KEY:
return m->nkey;
case mjOBJ_PLUGIN:
return m->nplugin;
}
return -2;
}
@@ -1675,7 +1675,7 @@ const char* mj_validateReferences(const mjModel* m) {
#undef MJMODEL_REFERENCES
// special logic that doesn't fit in the macro:
for (int i=0; i<m->nbody; i++) {
for (int i=0; i < m->nbody; i++) {
if (i > 0 && m->body_parentid[i] >= i) {
return "Invalid model: bad body_parentid.";
}
@@ -1686,7 +1686,7 @@ const char* mj_validateReferences(const mjModel* m) {
return "Invalid model: bad body_weldid.";
}
}
for (int i=0; i<m->njnt; i++) {
for (int i=0; i < m->njnt; i++) {
if (m->jnt_type[i] >= 4 || m->jnt_type[i] < 0) {
return "Invalid model: jnt_type out of bounds.";
}
@@ -1699,12 +1699,12 @@ const char* mj_validateReferences(const mjModel* m) {
return "Invalid model: jnt_dofadr out of bounds.";
}
}
for (int i=0; i<m->nv; i++) {
for (int i=0; i < m->nv; i++) {
if (m->dof_parentid[i] >= i) {
return "Invalid model: bad dof_parentid.";
}
}
for (int i=0; i<m->ngeom; i++) {
for (int i=0; i < m->ngeom; i++) {
if (m->geom_condim[i] > 6 || m->geom_condim[i] < 0) {
return "Invalid model: geom_condim out of bounds.";
}
@@ -1718,19 +1718,19 @@ const char* mj_validateReferences(const mjModel* m) {
}
}
}
for (int i=0; i<m->nhfield; i++) {
for (int i=0; i < m->nhfield; i++) {
int hfield_adr = m->hfield_adr[i] + m->hfield_nrow[i]*m->hfield_ncol[i];
if (hfield_adr > m->nhfielddata || m->hfield_adr[i] < 0) {
return "Invalid model: hfield_adr out of bounds.";
}
}
for (int i=0; i<m->ntex; i++) {
for (int i=0; i < m->ntex; i++) {
int tex_adr = m->tex_adr[i] + 3*m->tex_height[i]*m->tex_width[i];
if (tex_adr > m->ntexdata || m->tex_adr[i] < 0) {
return "Invalid model: tex_adr out of bounds.";
}
}
for (int i=0; i<m->npair; i++) {
for (int i=0; i < m->npair; i++) {
int pair_body1 = (m->pair_signature[i] & 0xFFFF) - 1;
if (pair_body1 >= m->nbody || pair_body1 < 0) {
return "Invalid model: pair_body1 out of bounds.";
@@ -1740,104 +1740,104 @@ const char* mj_validateReferences(const mjModel* m) {
return "Invalid model: pair_body2 out of bounds.";
}
}
for (int i=0; i<m->neq; i++) {
for (int i=0; i < m->neq; i++) {
int obj1id = m->eq_obj1id[i];
int obj2id = m->eq_obj2id[i];
switch (m->eq_type[i]) {
case mjEQ_JOINT:
if (obj1id >= m->njnt || obj1id < 0) {
return "Invalid model: eq_obj1id out of bounds.";
}
// -1 is the value used if second object is omitted.
if (obj2id >= m->njnt || obj2id < -1) {
return "Invalid model: eq_obj2id out of bounds.";
}
break;
case mjEQ_JOINT:
if (obj1id >= m->njnt || obj1id < 0) {
return "Invalid model: eq_obj1id out of bounds.";
}
// -1 is the value used if second object is omitted.
if (obj2id >= m->njnt || obj2id < -1) {
return "Invalid model: eq_obj2id out of bounds.";
}
break;
case mjEQ_TENDON:
if (obj1id >= m->ntendon || obj1id < 0) {
return "Invalid model: eq_obj1id out of bounds.";
}
// -1 is the value used if second object is omitted.
if (obj2id >= m->ntendon || obj2id < -1) {
return "Invalid model: eq_obj2id out of bounds.";
}
break;
case mjEQ_TENDON:
if (obj1id >= m->ntendon || obj1id < 0) {
return "Invalid model: eq_obj1id out of bounds.";
}
// -1 is the value used if second object is omitted.
if (obj2id >= m->ntendon || obj2id < -1) {
return "Invalid model: eq_obj2id out of bounds.";
}
break;
case mjEQ_WELD:
case mjEQ_CONNECT:
if (obj1id >= m->nbody || obj1id < 0) {
return "Invalid model: eq_obj1id out of bounds.";
}
if (obj2id >= m->nbody || obj2id < 0) {
return "Invalid model: eq_obj2id out of bounds.";
}
break;
case mjEQ_WELD:
case mjEQ_CONNECT:
if (obj1id >= m->nbody || obj1id < 0) {
return "Invalid model: eq_obj1id out of bounds.";
}
if (obj2id >= m->nbody || obj2id < 0) {
return "Invalid model: eq_obj2id out of bounds.";
}
break;
default:
mju_error("mj_validateReferences: unknown equality constraint type.");
default:
mju_error("mj_validateReferences: unknown equality constraint type.");
}
}
for (int i=0; i<m->nwrap; i++) {
for (int i=0; i < m->nwrap; i++) {
int wrap_objid = m->wrap_objid[i];
switch (m->wrap_type[i]) {
case mjWRAP_NONE:
case mjWRAP_PULLEY:
// wrap_objid not used.
break;
case mjWRAP_JOINT:
if (wrap_objid >= m->njnt || wrap_objid < 0) {
return "Invalid model: wrap_objid out of bounds.";
}
break;
case mjWRAP_SITE:
if (wrap_objid >= m->nsite || wrap_objid < 0) {
return "Invalid model: wrap_objid out of bounds.";
}
break;
case mjWRAP_SPHERE:
case mjWRAP_CYLINDER:
if (wrap_objid >= m->ngeom || wrap_objid < 0) {
return "Invalid model: wrap_objid out of bounds.";
}
break;
case mjWRAP_NONE:
case mjWRAP_PULLEY:
// wrap_objid not used.
break;
case mjWRAP_JOINT:
if (wrap_objid >= m->njnt || wrap_objid < 0) {
return "Invalid model: wrap_objid out of bounds.";
}
break;
case mjWRAP_SITE:
if (wrap_objid >= m->nsite || wrap_objid < 0) {
return "Invalid model: wrap_objid out of bounds.";
}
break;
case mjWRAP_SPHERE:
case mjWRAP_CYLINDER:
if (wrap_objid >= m->ngeom || wrap_objid < 0) {
return "Invalid model: wrap_objid out of bounds.";
}
break;
}
}
for (int i=0; i<m->nu; i++) {
for (int i=0; i < m->nu; i++) {
int actuator_trntype = m->actuator_trntype[i];
int id = m->actuator_trnid[2*i];
int idslider = m->actuator_trnid[2*i+1];
switch (actuator_trntype) {
case mjTRN_JOINT:
case mjTRN_JOINTINPARENT:
if (id < 0 || id >= m->njnt) {
return "Invalid model: actuator_trnid out of bounds.";
}
break;
case mjTRN_TENDON:
if (id < 0 || id >= m->ntendon) {
return "Invalid model: actuator_trnid out of bounds.";
}
break;
case mjTRN_SITE:
if (id < 0 || id >= m->nsite) {
return "Invalid model: actuator_trnid out of bounds.";
}
break;
case mjTRN_SLIDERCRANK:
if (id < 0 || id >= m->nsite) {
return "Invalid model: actuator_trnid out of bounds.";
}
if (idslider < 0 || idslider >= m->nsite) {
return "Invalid model: actuator_trnid out of bounds.";
}
break;
case mjTRN_UNDEFINED:
// actuator_trnid not used.
break;
case mjTRN_JOINT:
case mjTRN_JOINTINPARENT:
if (id < 0 || id >= m->njnt) {
return "Invalid model: actuator_trnid out of bounds.";
}
break;
case mjTRN_TENDON:
if (id < 0 || id >= m->ntendon) {
return "Invalid model: actuator_trnid out of bounds.";
}
break;
case mjTRN_SITE:
if (id < 0 || id >= m->nsite) {
return "Invalid model: actuator_trnid out of bounds.";
}
break;
case mjTRN_SLIDERCRANK:
if (id < 0 || id >= m->nsite) {
return "Invalid model: actuator_trnid out of bounds.";
}
if (idslider < 0 || idslider >= m->nsite) {
return "Invalid model: actuator_trnid out of bounds.";
}
break;
case mjTRN_UNDEFINED:
// actuator_trnid not used.
break;
}
}
for (int i=0; i<m->nsensor; i++) {
for (int i=0; i < m->nsensor; i++) {
mjtSensor sensor_type = m->sensor_type[i];
int sensor_size;
if (sensor_type == mjSENS_PLUGIN) {
@@ -1851,7 +1851,7 @@ const char* mj_validateReferences(const mjModel* m) {
sensor_size = sensorSize(sensor_type, m->sensor_dim[i]);
}
if (sensor_size < 0) {
return "Invalid model: Bad sensor_type.";
return "Invalid model: Bad sensor_type.";
}
int sensor_adr = m->sensor_adr[i];
if (sensor_adr < 0 || sensor_adr + sensor_size > m->nsensordata) {
@@ -1872,7 +1872,7 @@ const char* mj_validateReferences(const mjModel* m) {
return "Invalid model: invalid sensor_refid";
}
}
for (int i=0; i<m->nexclude; i++) {
for (int i=0; i < m->nexclude; i++) {
int exclude_body1 = (m->exclude_signature[i] & 0xFFFF) - 1;
if (exclude_body1 >= m->nbody || exclude_body1 < 0) {
return "Invalid model: exclude_body1 out of bounds.";
@@ -1882,8 +1882,8 @@ const char* mj_validateReferences(const mjModel* m) {
return "Invalid model: exclude_body2 out of bounds.";
}
}
for (int i=0; i<m->ntuple; i++) {
for (int j=0; j<m->tuple_size[i]; j++) {
for (int i=0; i < m->ntuple; i++) {
for (int j=0; j < m->tuple_size[i]; j++) {
int adr = m->tuple_adr[i] + j;
int nobj = numObjects(m, m->tuple_objtype[adr]);
if (nobj == -2) {