Add spaces around comparison operators in engine source files.

PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04

src/engine/engine_util_blas.c

@@ -115,7 +115,7 @@ void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtN
 mjtNum mju_normalize3(mjtNum vec[3]) {
   mjtNum norm = mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]);
 
-  if (norm<mjMINVAL) {
+  if (norm < mjMINVAL) {
     vec[0] = 1;
     vec[1] = 0;
     vec[2] = 0;
@@ -216,7 +216,7 @@ void mju_copy4(mjtNum res[4], const mjtNum data[4]) {
 mjtNum mju_normalize4(mjtNum vec[4]) {
   mjtNum norm = mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2] + vec[3]*vec[3]);
 
-  if (norm<mjMINVAL) {
+  if (norm < mjMINVAL) {
     vec[0] = 1;
     vec[1] = 0;
     vec[2] = 0;
@@ -238,7 +238,7 @@ mjtNum mju_normalize4(mjtNum vec[4]) {
 
 // res = 0
 void mju_zero(mjtNum* res, int n) {
-  if (n>0) {
+  if (n > 0) {
     memset(res, 0, n*sizeof(mjtNum));
   }
 }
@@ -247,7 +247,7 @@ void mju_zero(mjtNum* res, int n) {
 
 // res = val
 void mju_fill(mjtNum* res, mjtNum val, int n) {
-  for (int i=0; i<n; i++) {
+  for (int i=0; i < n; i++) {
     res[i] = val;
   }
 }
@@ -256,7 +256,7 @@ void mju_fill(mjtNum* res, mjtNum val, int n) {
 
 // res = vec
 void mju_copy(mjtNum* res, const mjtNum* vec, int n) {
-  if (n>0) {
+  if (n > 0) {
     memcpy(res, vec, n*sizeof(mjtNum));
   }
 }
@@ -267,7 +267,7 @@ void mju_copy(mjtNum* res, const mjtNum* vec, int n) {
 mjtNum mju_sum(const mjtNum* vec, int n) {
   mjtNum res = 0;
 
-  for (int i=0; i<n; i++) {
+  for (int i=0; i < n; i++) {
     res += vec[i];
   }
 
@@ -280,7 +280,7 @@ mjtNum mju_sum(const mjtNum* vec, int n) {
 mjtNum mju_L1(const mjtNum* vec, int n) {
   mjtNum res = 0;
 
-  for (int i=0; i<n; i++) {
+  for (int i=0; i < n; i++) {
     res += mju_abs(vec[i]);
   }
 
@@ -297,14 +297,14 @@ void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n) {
   int n_4 = n - 4;
 
   // vector part
-  if (n_4>=0) {
+  if (n_4 >= 0) {
     __m256d sclpar, val1, val1scl;
 
     // init
     sclpar = _mm256_set1_pd(scl);
 
     // parallel computation
-    while (i<=n_4) {
+    while (i <= n_4) {
       val1 = _mm256_loadu_pd(vec+i);
       val1scl = _mm256_mul_pd(val1, sclpar);
       _mm256_storeu_pd(res+i, val1scl);
@@ -314,19 +314,19 @@ void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n) {
 
   // process remaining
   int n_i = n - i;
-  if (n_i==3) {
+  if (n_i == 3) {
     res[i] = vec[i]*scl;
     res[i+1] = vec[i+1]*scl;
     res[i+2] = vec[i+2]*scl;
-  } else if (n_i==2) {
+  } else if (n_i == 2) {
     res[i] = vec[i]*scl;
     res[i+1] = vec[i+1]*scl;
-  } else if (n_i==1) {
+  } else if (n_i == 1) {
     res[i] = vec[i]*scl;
   }
 
 #else
-  for (; i<n; i++) {
+  for (; i < n; i++) {
     res[i] = vec[i]*scl;
   }
 #endif
@@ -342,11 +342,11 @@ void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n) {
   int n_4 = n - 4;
 
   // vector part
-  if (n_4>=0) {
+  if (n_4 >= 0) {
     __m256d sum, val1, val2;
 
     // parallel computation
-    while (i<=n_4) {
+    while (i <= n_4) {
       val1 = _mm256_loadu_pd(vec1+i);
       val2 = _mm256_loadu_pd(vec2+i);
       sum = _mm256_add_pd(val1, val2);
@@ -357,19 +357,19 @@ void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n) {
 
   // process remaining
   int n_i = n - i;
-  if (n_i==3) {
+  if (n_i == 3) {
     res[i] = vec1[i] + vec2[i];
     res[i+1] = vec1[i+1] + vec2[i+1];
     res[i+2] = vec1[i+2] + vec2[i+2];
-  } else if (n_i==2) {
+  } else if (n_i == 2) {
     res[i] = vec1[i] + vec2[i];
     res[i+1] = vec1[i+1] + vec2[i+1];
-  } else if (n_i==1) {
+  } else if (n_i == 1) {
     res[i] = vec1[i] + vec2[i];
   }
 
 #else
-  for (; i<n; i++) {
+  for (; i < n; i++) {
     res[i] = vec1[i] + vec2[i];
   }
 #endif
@@ -385,11 +385,11 @@ void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n) {
   int n_4 = n - 4;
 
   // vector part
-  if (n_4>=0) {
+  if (n_4 >= 0) {
     __m256d dif, val1, val2;
 
     // parallel computation
-    while (i<=n_4) {
+    while (i <= n_4) {
       val1 = _mm256_loadu_pd(vec1+i);
       val2 = _mm256_loadu_pd(vec2+i);
       dif = _mm256_sub_pd(val1, val2);
@@ -400,19 +400,19 @@ void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n) {
 
   // process remaining
   int n_i = n - i;
-  if (n_i==3) {
+  if (n_i == 3) {
     res[i] = vec1[i] - vec2[i];
     res[i+1] = vec1[i+1] - vec2[i+1];
     res[i+2] = vec1[i+2] - vec2[i+2];
-  } else if (n_i==2) {
+  } else if (n_i == 2) {
     res[i] = vec1[i] - vec2[i];
     res[i+1] = vec1[i+1] - vec2[i+1];
-  } else if (n_i==1) {
+  } else if (n_i == 1) {
     res[i] = vec1[i] - vec2[i];
   }
 
 #else
-  for (; i<n; i++) {
+  for (; i < n; i++) {
     res[i] = vec1[i] - vec2[i];
   }
 #endif
@@ -428,11 +428,11 @@ void mju_addTo(mjtNum* res, const mjtNum* vec, int n) {
   int n_4 = n - 4;
 
   // vector part
-  if (n_4>=0) {
+  if (n_4 >= 0) {
     __m256d sum, val1, val2;
 
     // parallel computation
-    while (i<=n_4) {
+    while (i <= n_4) {
       val1 = _mm256_loadu_pd(res+i);
       val2 = _mm256_loadu_pd(vec+i);
       sum = _mm256_add_pd(val1, val2);
@@ -443,19 +443,19 @@ void mju_addTo(mjtNum* res, const mjtNum* vec, int n) {
 
   // process remaining
   int n_i = n - i;
-  if (n_i==3) {
+  if (n_i == 3) {
     res[i] += vec[i];
     res[i+1] += vec[i+1];
     res[i+2] += vec[i+2];
-  } else if (n_i==2) {
+  } else if (n_i == 2) {
     res[i] += vec[i];
     res[i+1] += vec[i+1];
-  } else if (n_i==1) {
+  } else if (n_i == 1) {
     res[i] += vec[i];
   }
 
 #else
-  for (; i<n; i++) {
+  for (; i < n; i++) {
     res[i] += vec[i];
   }
 #endif
@@ -471,11 +471,11 @@ void mju_subFrom(mjtNum* res, const mjtNum* vec, int n) {
   int n_4 = n - 4;
 
   // vector part
-  if (n_4>=0) {
+  if (n_4 >= 0) {
     __m256d dif, val1, val2;
 
     // parallel computation
-    while (i<=n_4) {
+    while (i <= n_4) {
       val1 = _mm256_loadu_pd(res+i);
       val2 = _mm256_loadu_pd(vec+i);
       dif = _mm256_sub_pd(val1, val2);
@@ -486,19 +486,19 @@ void mju_subFrom(mjtNum* res, const mjtNum* vec, int n) {
 
   // process remaining
   int n_i = n - i;
-  if (n_i==3) {
+  if (n_i == 3) {
     res[i] -= vec[i];
     res[i+1] -= vec[i+1];
     res[i+2] -= vec[i+2];
-  } else if (n_i==2) {
+  } else if (n_i == 2) {
     res[i] -= vec[i];
     res[i+1] -= vec[i+1];
-  } else if (n_i==1) {
+  } else if (n_i == 1) {
     res[i] -= vec[i];
   }
 
 #else
-  for (; i<n; i++) {
+  for (; i < n; i++) {
     res[i] -= vec[i];
   }
 #endif
@@ -514,14 +514,14 @@ void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n) {
   int n_4 = n - 4;
 
   // vector part
-  if (n_4>=0) {
+  if (n_4 >= 0) {
     __m256d sclpar, sum, val1, val2, val2scl;
 
     // init
     sclpar = _mm256_set1_pd(scl);
 
     // parallel computation
-    while (i<=n_4) {
+    while (i <= n_4) {
       val1 = _mm256_loadu_pd(res+i);
       val2 = _mm256_loadu_pd(vec+i);
       val2scl = _mm256_mul_pd(val2, sclpar);
@@ -533,19 +533,19 @@ void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n) {
 
   // process remaining
   int n_i = n - i;
-  if (n_i==3) {
+  if (n_i == 3) {
     res[i] += vec[i]*scl;
     res[i+1] += vec[i+1]*scl;
     res[i+2] += vec[i+2]*scl;
-  } else if (n_i==2) {
+  } else if (n_i == 2) {
     res[i] += vec[i]*scl;
     res[i+1] += vec[i+1]*scl;
-  } else if (n_i==1) {
+  } else if (n_i == 1) {
     res[i] += vec[i]*scl;
   }
 
 #else
-  for (; i<n; i++) {
+  for (; i < n; i++) {
     res[i] += vec[i]*scl;
   }
 #endif
@@ -559,14 +559,14 @@ void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl,
   int n_4 = n - 4;
 
   // vector part
-  if (n_4>=0) {
+  if (n_4 >= 0) {
     __m256d sclpar, sum, val1, val2, val2scl;
 
     // init
     sclpar = _mm256_set1_pd(scl);
 
     // parallel computation
-    while (i<=n_4) {
+    while (i <= n_4) {
       val1 = _mm256_loadu_pd(vec1+i);
       val2 = _mm256_loadu_pd(vec2+i);
       val2scl = _mm256_mul_pd(val2, sclpar);
@@ -578,19 +578,19 @@ void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl,
 
   // process remaining
   int n_i = n - i;
-  if (n_i==3) {
+  if (n_i == 3) {
     res[i] = vec1[i] + vec2[i]*scl;
     res[i+1] = vec1[i+1] + vec2[i+1]*scl;
     res[i+2] = vec1[i+2] + vec2[i+2]*scl;
-  } else if (n_i==2) {
+  } else if (n_i == 2) {
     res[i] = vec1[i] + vec2[i]*scl;
     res[i+1] = vec1[i+1] + vec2[i+1]*scl;
-  } else if (n_i==1) {
+  } else if (n_i == 1) {
     res[i] = vec1[i] + vec2[i]*scl;
   }
 
 #else
-  for (; i<n; i++) {
+  for (; i < n; i++) {
     res[i] = vec1[i] + vec2[i]*scl;
   }
 #endif
@@ -603,14 +603,14 @@ mjtNum mju_normalize(mjtNum* res, int n) {
   mjtNum norm = (mjtNum)mju_sqrt(mju_dot(res, res, n));
   mjtNum normInv;
 
-  if (norm<mjMINVAL) {
+  if (norm < mjMINVAL) {
     res[0] = 1;
-    for (int i=1; i<n; i++) {
+    for (int i=1; i < n; i++) {
       res[i] = 0;
     }
   } else {
     normInv = 1/norm;
-    for (int i=0; i<n; i++) {
+    for (int i=0; i < n; i++) {
       res[i] *= normInv;
     }
   }
@@ -635,7 +635,7 @@ mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n) {
 #ifdef mjUSEAVX
 
   // vector part
-  if (n_4>=0) {
+  if (n_4 >= 0) {
     __m256d sum, prod, val1, val2;
     __m128d vlow, vhigh, high64;
 
@@ -646,7 +646,7 @@ mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n) {
     i = 4;
 
     // parallel computation
-    while (i<=n_4) {
+    while (i <= n_4) {
       val1 = _mm256_loadu_pd(vec1+i);
       val2 = _mm256_loadu_pd(vec2+i);
       prod = _mm256_mul_pd(val1, val2);
@@ -671,7 +671,7 @@ mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n) {
   mjtNum res2 = 0;
   mjtNum res3 = 0;
 
-  for (; i<=n_4; i+=4) {
+  for (; i <= n_4; i+=4) {
     res0 += vec1[i] * vec2[i];
     res1 += vec1[i+1] * vec2[i+1];
     res2 += vec1[i+2] * vec2[i+2];
@@ -682,11 +682,11 @@ mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n) {
 
   // process remaining
   int n_i = n - i;
-  if (n_i==3) {
+  if (n_i == 3) {
     res += vec1[i]*vec2[i] + vec1[i+1]*vec2[i+1] + vec1[i+2]*vec2[i+2];
-  } else if (n_i==2) {
+  } else if (n_i == 2) {
     res += vec1[i]*vec2[i] + vec1[i+1]*vec2[i+1];
-  } else if (n_i==1) {
+  } else if (n_i == 1) {
     res += vec1[i]*vec2[i];
   }
   return res;
@@ -696,7 +696,7 @@ mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n) {
 
 // multiply matrix and vector
 void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc) {
-  for (int r=0; r<nr; r++) {
+  for (int r=0; r < nr; r++) {
     res[r] = mju_dot(mat + r*nc, vec, nc);
   }
 }
@@ -708,7 +708,7 @@ void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, i
   mjtNum tmp;
   mju_zero(res, nc);
 
-  for (int r=0; r<nr; r++) {
+  for (int r=0; r < nr; r++) {
     if ((tmp = vec[r])) {
       mju_addToScl(res, mat+r*nc, tmp, nc);
     }
@@ -720,7 +720,7 @@ void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, i
 // multiply square matrix with vectors on both sides: return vec1'*mat*vec2
 mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n) {
   mjtNum res = 0;
-  for (int i=0; i<n; i++) {
+  for (int i=0; i < n; i++) {
     res += vec1[i] * mju_dot(mat + i*n, vec2, n);
   }
   return res;
@@ -732,8 +732,8 @@ mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec
 
 // transpose matrix
 void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc) {
-  for (int i=0; i<nr; i++) {
-    for (int j=0; j<nc; j++) {
+  for (int i=0; i < nr; i++) {
+    for (int j=0; j < nc; j++) {
       res[j*nr+i] = mat[i*nc+j];
     }
   }
@@ -743,9 +743,9 @@ void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc) {
 
 // symmetrize square matrix res = (mat + mat')/2
 void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n) {
-  for (int i=0; i<n; i++) {
+  for (int i=0; i < n; i++) {
     res[i*(n+1)] = mat[i*(n+1)];
-    for (int j=0; j<i; j++) {
+    for (int j=0; j < i; j++) {
       res[i*n+j] = res[j*n+i] = 0.5 * (mat[i*n+j] + mat[j*n+i]);
     }
   }
@@ -756,7 +756,7 @@ void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n) {
 // identity matrix
 void mju_eye(mjtNum* mat, int n) {
   mju_zero(mat, n*n);
-  for (int i=0; i<n; i++) {
+  for (int i=0; i < n; i++) {
     mat[i*(n + 1)] = 1;
   }
 }
@@ -772,8 +772,8 @@ void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
 
   mju_zero(res, r1*c2);
 
-  for (int i=0; i<r1; i++) {
-    for (int k=0; k<c1; k++) {
+  for (int i=0; i < r1; i++) {
+    for (int k=0; k < c1; k++) {
       if ((tmp = mat1[i*c1+k])) {
         mju_addToScl(res+i*c2, mat2+k*c2, tmp, c2);
       }
@@ -786,8 +786,8 @@ void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
 // multiply matrices, second argument transposed
 void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
                     int r1, int c1, int r2) {
-  for (int i=0; i<r1; i++) {
-    for (int j=0; j<r2; j++) {
+  for (int i=0; i < r1; i++) {
+    for (int j=0; j < r2; j++) {
       res[i*r2+j] = mju_dot(mat1+i*c1, mat2+j*c1, c1);
     }
   }
@@ -802,9 +802,9 @@ void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, in
   // half of MatMat routine: only lower triangle
   mju_zero(res, nc*nc);
   if (diag) {
-    for (int j=0; j<nr; j++) {
+    for (int j=0; j < nr; j++) {
       if (diag[j]) {
-        for (int i=0; i<nc; i++) {
+        for (int i=0; i < nc; i++) {
           if ((tmp = mat[j*nc+i])) {
             mju_addToScl(res+i*nc, mat+j*nc, tmp*diag[j], i+1);
           }
@@ -812,8 +812,8 @@ void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, in
       }
     }
   } else {
-    for (int i=0; i<nc; i++) {
-      for (int j=0; j<nr; j++) {
+    for (int i=0; i < nc; i++) {
+      for (int j=0; j < nr; j++) {
         if ((tmp = mat[j*nc+i])) {
           mju_addToScl(res+i*nc, mat+j*nc, tmp, i+1);
         }
@@ -822,8 +822,8 @@ void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, in
   }
 
   // make symmetric
-  for (int i=0; i<nc; i++) {
-    for (int j=i+1; j<nc; j++) {
+  for (int i=0; i < nc; i++) {
+    for (int j=i+1; j < nc; j++) {
       res[i*nc+j] = res[j*nc+i];
     }
   }
@@ -838,8 +838,8 @@ void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
 
   mju_zero(res, c1*c2);
 
-  for (int i=0; i<r1; i++) {
-    for (int j=0; j<c1; j++) {
+  for (int i=0; i < r1; i++) {
+    for (int j=0; j < c1; j++) {
       if ((tmp = mat1[i*c1+j])) {
         mju_addToScl(res+j*c2, mat2+i*c2, tmp, c2);
       }