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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_passive.c
+27 -27
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@@ -48,7 +48,7 @@ void mj_passive(const mjModel* m, mjData* d) {
}
// joint-level springs
for (int i=0; i<m->njnt; i++) {
for (int i=0; i < m->njnt; i++) {
stiffness = m->jnt_stiffness[i];
int padr = m->jnt_qposadr[i];
@@ -85,13 +85,13 @@ void mj_passive(const mjModel* m, mjData* d) {
}
// dof-level dampers
for (int i=0; i<m->nv; i++) {
for (int i=0; i < m->nv; i++) {
damping = m->dof_damping[i];
d->qfrc_passive[i] -= damping*d->qvel[i];
}
// tendon-level spring-dampers
for (int i=0; i<m->ntendon; i++) {
for (int i=0; i < m->ntendon; i++) {
stiffness = m->tendon_stiffness[i];
damping = m->tendon_damping[i];
@@ -113,7 +113,7 @@ void mj_passive(const mjModel* m, mjData* d) {
// transform to joint torque, add to qfrc_passive: dense or sparse
if (issparse) {
int end = d->ten_J_rowadr[i] + d->ten_J_rownnz[i];
for (int j=d->ten_J_rowadr[i]; j<end; j++) {
for (int j=d->ten_J_rowadr[i]; j < end; j++) {
d->qfrc_passive[d->ten_J_colind[j]] += d->ten_J[j] * frc;
}
} else {
@@ -126,7 +126,7 @@ void mj_passive(const mjModel* m, mjData* d) {
mjtNum force[3], torque[3]={0};
// apply per-body gravity compensation
for (int i=1; i<m->nbody; i++) {
for (int i=1; i < m->nbody; i++) {
if (m->body_gravcomp[i]) {
mju_scl3(force, m->opt.gravity, -(m->body_mass[i]*m->body_gravcomp[i]));
mj_applyFT(m, d, force, torque, d->xipos+3*i, i, d->qfrc_passive);
@@ -135,15 +135,15 @@ void mj_passive(const mjModel* m, mjData* d) {
}
// body-level viscosity, lift and drag
if (m->opt.viscosity>0 || m->opt.density>0) {
for (int i=1; i<m->nbody; i++) {
if (m->body_mass[i]<mjMINVAL) {
if (m->opt.viscosity > 0 || m->opt.density > 0) {
for (int i=1; i < m->nbody; i++) {
if (m->body_mass[i] < mjMINVAL) {
continue;
}
int use_ellipsoid_model = 0;
// if any child geom uses the ellipsoid model, inertia-box model is disabled for parent body
for (int j=0; j<m->body_geomnum[i] && use_ellipsoid_model==0; j++) {
for (int j=0; j < m->body_geomnum[i] && use_ellipsoid_model == 0; j++) {
const int geomid = m->body_geomadr[i] + j;
use_ellipsoid_model += (m->geom_fluid[mjNFLUID*geomid] > 0);
}
@@ -164,7 +164,7 @@ void mj_passive(const mjModel* m, mjData* d) {
if (m->nplugin) {
const int nslot = mjp_pluginCount();
// iterate over plugins, call compute if type is mjPLUGIN_PASSIVE
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) {
@@ -209,7 +209,7 @@ void mj_inertiaBoxFluidModel(const mjModel* m, mjData* d, int i) {
mju_zero(lfrc, 6);
// set viscous force and torque
if (m->opt.viscosity>0) {
if (m->opt.viscosity > 0) {
// diameter of sphere approximation
diam = (box[0] + box[1] + box[2])/3.0;
@@ -221,7 +221,7 @@ void mj_inertiaBoxFluidModel(const mjModel* m, mjData* d, int i) {
}
// add lift and drag force and torque
if (m->opt.density>0) {
if (m->opt.density > 0) {
// force
lfrc[3] -= 0.5*m->opt.density*box[1]*box[2]*mju_abs(lvel[3])*lvel[3];
lfrc[4] -= 0.5*m->opt.density*box[0]*box[2]*mju_abs(lvel[4])*lvel[4];
@@ -252,16 +252,16 @@ void mj_ellipsoidFluidModel(const mjModel* m, mjData* d, int bodyid) {
mjtNum semiaxes[3], virtual_mass[3], virtual_inertia[3];
mjtNum blunt_drag_coef, slender_drag_coef, ang_drag_coef;
for (int j=0; j<m->body_geomnum[bodyid]; j++) {
for (int j=0; j < m->body_geomnum[bodyid]; j++) {
const int geomid = m->body_geomadr[bodyid] + j;
mju_geomSemiAxes(m, geomid, semiaxes);
readFluidGeomInteraction(
m->geom_fluid + mjNFLUID*geomid, &geom_interaction_coef,
&blunt_drag_coef, &slender_drag_coef, &ang_drag_coef,
&kutta_lift_coef, &magnus_lift_coef,
virtual_mass, virtual_inertia);
m->geom_fluid + mjNFLUID*geomid, &geom_interaction_coef,
&blunt_drag_coef, &slender_drag_coef, &ang_drag_coef,
&kutta_lift_coef, &magnus_lift_coef,
virtual_mass, virtual_inertia);
// scales all forces, read from MJCF as boolean (0.0 or 1.0)
if (geom_interaction_coef == 0.0) {
@@ -364,11 +364,11 @@ static inline mjtNum mji_ellipsoid_max_moment(const mjtNum size[3], const int di
// lift and drag forces due to motion in the fluid
void mj_viscousForces(
const mjtNum local_vels[6], const mjtNum fluid_density,
const mjtNum fluid_viscosity, const mjtNum size[3],
const mjtNum magnus_lift_coef, const mjtNum kutta_lift_coef,
const mjtNum blunt_drag_coef, const mjtNum slender_drag_coef,
const mjtNum ang_drag_coef, mjtNum local_force[6])
const mjtNum local_vels[6], const mjtNum fluid_density,
const mjtNum fluid_viscosity, const mjtNum size[3],
const mjtNum magnus_lift_coef, const mjtNum kutta_lift_coef,
const mjtNum blunt_drag_coef, const mjtNum slender_drag_coef,
const mjtNum ang_drag_coef, mjtNum local_force[6])
{
const mjtNum lin_vel[3] = {local_vels[3], local_vels[4], local_vels[5]};
const mjtNum ang_vel[3] = {local_vels[0], local_vels[1], local_vels[2]};
@@ -406,7 +406,7 @@ void mj_viscousForces(
// cosine between velocity and normal to the surface
// divided by proj_denom instead of sqrt(proj_denom) to account for skipped normalization in norm
const mjtNum cos_alpha = proj_num / mju_max(
mjMINVAL, mju_norm3(lin_vel) * proj_denom);
mjMINVAL, mju_norm3(lin_vel) * proj_denom);
mjtNum kutta_circ[3];
mju_cross(kutta_circ, norm, lin_vel);
kutta_circ[0] *= kutta_lift_coef * fluid_density * cos_alpha * A_proj;
@@ -434,11 +434,11 @@ void mj_viscousForces(
};
const mjtNum drag_lin_coef = // linear plus quadratic
fluid_viscosity*lin_visc_force_coef + fluid_density*mju_norm3(lin_vel)*(
A_proj*blunt_drag_coef + slender_drag_coef*(A_max - A_proj));
fluid_viscosity*lin_visc_force_coef + fluid_density*mju_norm3(lin_vel)*(
A_proj*blunt_drag_coef + slender_drag_coef*(A_max - A_proj));
const mjtNum drag_ang_coef = // linear plus quadratic
fluid_viscosity * lin_visc_torq_coef +
fluid_density * mju_norm3(mom_visc);
fluid_viscosity * lin_visc_torq_coef +
fluid_density * mju_norm3(mom_visc);
local_force[0] -= drag_ang_coef * ang_vel[0];
local_force[1] -= drag_ang_coef * ang_vel[1];