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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_util_sparse.c
+68 -68
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@@ -40,7 +40,7 @@ mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2,
mjtNum res2 = 0;
mjtNum res3 = 0;
for (; i<=n_4; i+=4) {
for (; i <= n_4; i+=4) {
res0 += vec1[i+0] * vec2[ind1[i+0]];
res1 += vec1[i+1] * vec2[ind1[i+1]];
res2 += vec1[i+2] * vec2[ind1[i+2]];
@@ -49,7 +49,7 @@ mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2,
res = (res0 + res2) + (res1 + res3);
// scalar part
for (; i<nnz1; i++) {
for (; i < nnz1; i++) {
res += vec1[i] * vec2[ind1[i]];
}
@@ -73,7 +73,7 @@ void mju_dotSparseX3(mjtNum* res0, mjtNum* res1, mjtNum* res2,
mjtNum RES1 = 0;
mjtNum RES2 = 0;
for (; i<nnz1; i++) {
for (; i < nnz1; i++) {
mjtNum v2 = vec2[ind1[i]];
RES0 += vec10[i] * v2;
@@ -102,17 +102,17 @@ mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2,
return 0;
}
while (i1<nnz1 && i2<nnz2) {
while (i1 < nnz1 && i2 < nnz2) {
// get current indices
int adr1 = ind1[i1], adr2 = ind2[i2];
// match: accumulate result, advance both
if (adr1==adr2) {
if (adr1 == adr2) {
res += vec1[i1++] * vec2[i2++];
}
// otherwise advance smaller
else if (adr1<adr2) {
else if (adr1 < adr2) {
i1++;
} else {
i2++;
@@ -130,13 +130,13 @@ void mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int adr = 0;
// find non-zeros and construct sparse
for (int r=0; r<nr; r++) {
for (int r=0; r < nr; r++) {
// init row
rownnz[r] = 0;
rowadr[r] = adr;
// find non-zeros
for (int c=0; c<nc; c++) {
for (int c=0; c < nc; c++) {
if (mat[r*nc+c]) {
// record index and count
colind[adr] = c;
@@ -158,8 +158,8 @@ void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
mju_zero(res, nr*nc);
// copy non-zeros
for (int r=0; r<nr; r++) {
for (int i=0; i<rownnz[r]; i++) {
for (int r=0; r < nr; r++) {
for (int i=0; i < rownnz[r]; i++) {
res[r*nc + colind[rowadr[r]+i]] = mat[rowadr[r]+i];
}
}
@@ -175,7 +175,7 @@ void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
mju_mulMatVecSparse_avx(res, mat, vec, nr, rownnz, rowadr, colind, rowsuper);
#else
// regular sparse dot-product
for (int r=0; r<nr; r++) {
for (int r=0; r < nr; r++) {
res[r] = mju_dotSparse(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
}
#endif // mjUSEAVX
@@ -188,7 +188,7 @@ static void mju_addToSclScl(mjtNum* res, const mjtNum* vec, mjtNum scl1, mjtNum
#ifdef mjUSEAVX
mju_addToSclScl_avx(res, vec, scl1, scl2, n);
#else
for (int i=0; i<n; i++) {
for (int i=0; i < n; i++) {
res[i] = res[i]*scl1 + vec[i]*scl2;
}
#endif // mjUSEAVX
@@ -212,7 +212,7 @@ int mju_combineSparse(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind,
mjtNum* buf, int* buf_ind) {
// check for identical pattern
if (dst_nnz==src_nnz) {
if (dst_nnz == src_nnz) {
if (mju_compare(dst_ind, src_ind, dst_nnz)) {
// combine mjtNum data directly
mju_addToSclScl(dst, src, a, b, dst_nnz);
@@ -229,26 +229,26 @@ int mju_combineSparse(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
// prepare to merge buf and scr into dst
int bi = 0, si = 0, nnz = 0;
int buf_nnz = dst_nnz;
int badr = bi<buf_nnz ? buf_ind[bi] : n+1;
int sadr = si<src_nnz ? src_ind[si] : n+1;
int badr = bi < buf_nnz ? buf_ind[bi] : n+1;
int sadr = si < src_nnz ? src_ind[si] : n+1;
// merge vectors
while (bi<buf_nnz || si<src_nnz) {
while (bi < buf_nnz || si < src_nnz) {
// both
if (badr==sadr) {
if (badr == sadr) {
dst[nnz] = a*buf[bi++] + b*src[si++];
dst_ind[nnz++] = badr;
badr = bi<buf_nnz ? buf_ind[bi] : n+1;
sadr = si<src_nnz ? src_ind[si] : n+1;
badr = bi < buf_nnz ? buf_ind[bi] : n+1;
sadr = si < src_nnz ? src_ind[si] : n+1;
}
// dst only
else if (badr<sadr) {
else if (badr < sadr) {
dst[nnz] = a*buf[bi++];
dst_ind[nnz++] = badr;
badr = bi<buf_nnz ? buf_ind[bi] : n+1;
badr = bi < buf_nnz ? buf_ind[bi] : n+1;
}
// src only
@@ -256,7 +256,7 @@ int mju_combineSparse(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
dst[nnz] = b*src[si++];
dst_ind[nnz++] = sadr;
sadr = si<src_nnz ? src_ind[si] : n+1;
sadr = si < src_nnz ? src_ind[si] : n+1;
}
}
@@ -269,7 +269,7 @@ int mju_combineSparse(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
void mju_combineSparseInc(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind) {
// check for identical pattern
if (dst_nnz==src_nnz) {
if (dst_nnz == src_nnz) {
if (mju_compare(dst_ind, src_ind, dst_nnz)) {
// combine mjtNum data directly
mju_addToSclScl(dst, src, a, b, dst_nnz);
@@ -278,35 +278,35 @@ void mju_combineSparseInc(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNu
}
// scale dst by a
if (a!=1) {
if (a != 1) {
mju_scl(dst, dst, a, dst_nnz);
}
// prepare to merge
int di = 0, si = 0;
int dadr = di<dst_nnz ? dst_ind[di] : n+1;
int sadr = si<src_nnz ? src_ind[si] : n+1;
int dadr = di < dst_nnz ? dst_ind[di] : n+1;
int sadr = si < src_nnz ? src_ind[si] : n+1;
// add src*b at common indices
while (di<dst_nnz) {
while (di < dst_nnz) {
// both
if (dadr==sadr) {
if (dadr == sadr) {
dst[di++] += b*src[si++];
dadr = di<dst_nnz ? dst_ind[di] : n+1;
sadr = si<src_nnz ? src_ind[si] : n+1;
dadr = di < dst_nnz ? dst_ind[di] : n+1;
sadr = si < src_nnz ? src_ind[si] : n+1;
}
// dst only
else if (dadr<sadr) {
else if (dadr < sadr) {
di++;
dadr = di<dst_nnz ? dst_ind[di] : n+1;
dadr = di < dst_nnz ? dst_ind[di] : n+1;
}
// src only
else {
si++;
sadr = si<src_nnz ? src_ind[si] : n+1;
sadr = si < src_nnz ? src_ind[si] : n+1;
}
}
}
@@ -317,13 +317,13 @@ void mju_combineSparseInc(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNu
void mju_compressSparse(mjtNum* mat, int nr, int nc, int* rownnz, int* rowadr, int* colind) {
rowadr[0] = 0;
int adr = rownnz[0];
for (int r=1; r<nr; r++) {
for (int r=1; r < nr; r++) {
// save old rowadr, record new
int rowadr1 = rowadr[r];
rowadr[r] = adr;
// shift mat and mat_colind
for (int adr1=rowadr1; adr1<rowadr1+rownnz[r]; adr1++) {
for (int adr1=rowadr1; adr1 < rowadr1+rownnz[r]; adr1++) {
mat[adr] = mat[adr1];
colind[adr] = colind[adr1];
adr++;
@@ -344,13 +344,13 @@ void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int nnz = rowadr[nr-1] + rownnz[nr-1];
// count the number of non-zeros for each row of the transposed matrix
for (int i = 0; i<nnz; i++) {
for (int i = 0; i < nnz; i++) {
res_rownnz[colind[i]]++;
}
// compute the row addresses for the transposed matrix
res_rowadr[0] = 0;
for (int i = 1; i<nc; i++) {
for (int i = 1; i < nc; i++) {
res_rowadr[i] = res_rowadr[i-1] + res_rownnz[i-1];
}
@@ -358,7 +358,7 @@ void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int r = 0;
// iterate through each non-zero entry of mat
for (int i = 0; i<nnz; i++) {
for (int i = 0; i < nnz; i++) {
// iterate to get to the current row (skipping rows with all zeros)
while ((i-rowadr[r]) >= rownnz[r]) r++;
@@ -369,7 +369,7 @@ void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
}
// shift back row addresses
for (int i = nc-1; i>0; i--) {
for (int i = nc-1; i > 0; i--) {
res_rowadr[i] = res_rowadr[i-1];
}
@@ -387,9 +387,9 @@ void mju_superSparse(int nr, int* rowsuper,
}
// find match to child
for (int r=0; r<nr-1; r++) {
for (int r=0; r < nr-1; r++) {
// different number of nonzeros: cannot be a match
if (rownnz[r]!=rownnz[r+1]) {
if (rownnz[r] != rownnz[r+1]) {
rowsuper[r] = 0;
}
@@ -403,7 +403,7 @@ void mju_superSparse(int nr, int* rowsuper,
rowsuper[nr-1] = 0;
// accumulate in reverse
for (int r=nr-2; r>=0; r--) {
for (int r=nr-2; r >= 0; r--) {
if (rowsuper[r]) {
rowsuper[r] += rowsuper[r+1];
}
@@ -424,14 +424,14 @@ void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
int nchain = 0;
int* res_colind = NULL;
for (int r=0; r<nc; r++) {
for (int r=0; r < nc; r++) {
// supernode; copy everything to next row
if (rowsuperT && r>0 && rowsuperT[r-1]>0) {
if (rowsuperT && r > 0 && rowsuperT[r-1] > 0) {
res_rownnz[r] = res_rownnz[r - 1];
// fill in upper triangle
for (int j=0; j <nchain; j++) {
for (int j=0; j < nchain; j++) {
res_rownnz[res_colind[j]]++;
}
@@ -444,7 +444,7 @@ void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
int inew = 0, iold = nc;
nchain = 0;
for (int i=0; i<rownnzT[r]; i++) {
for (int i=0; i < rownnzT[r]; i++) {
int c = colindT[rowadrT[r] + i];
int adr = inew;
@@ -454,15 +454,15 @@ void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
int nnewchain = 0;
adr = 0;
int end = rowadr[c] + rownnz[c];
for (int adr1=rowadr[c]; adr1<end; adr1++) {
for (int adr1=rowadr[c]; adr1 < end; adr1++) {
int col_mat = colind[adr1];
while (adr<nchain && chain[iold + adr] < col_mat &&
chain[iold + adr]<=r) {
while (adr < nchain && chain[iold + adr] < col_mat &&
chain[iold + adr] <= r) {
chain[inew + nnewchain++] = chain[iold + adr++];
}
// skip upper triangle
if (col_mat>r) {
if (col_mat > r) {
break;
}
@@ -472,7 +472,7 @@ void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
chain[inew + nnewchain++] = col_mat;
}
while (adr<nchain && chain[iold + adr]<=r) {
while (adr < nchain && chain[iold + adr] <= r) {
chain[inew + nnewchain++] = chain[iold + adr++];
}
nchain = nnewchain;
@@ -486,11 +486,11 @@ void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
int nchain_end = nchain;
// avoid double counting.
if (nchain>0 && res_colind[nchain-1]==r) {
if (nchain > 0 && res_colind[nchain-1] == r) {
nchain_end = nchain - 1;
}
for (int j=0; j<nchain_end; j++) {
for (int j=0; j < nchain_end; j++) {
res_rownnz[res_colind[j]]++;
}
}
@@ -507,7 +507,7 @@ void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
// precompute res_rowadr for mju_sqrMatTDSparse using uncompressed memory
void mju_sqrMatTDUncompressedInit(int* res_rowadr, int nc) {
for (int r=0; r<nc; r++) {
for (int r=0; r < nc; r++) {
res_rowadr[r] = r*nc;
}
}
@@ -534,7 +534,7 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
// used for when creating the resulting sparse row
int* markers = mj_stackAllocInt(d, nc);
for (int i=0; i<nc; i++) {
for (int i=0; i < nc; i++) {
int* cols = res_colind+res_rowadr[i];
res_rownnz[i] = 0;
@@ -542,20 +542,20 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
markers[i] = 0;
// if rowsuper, use the previous row sparsity structure
if (rowsuperT && i>0 && rowsuperT[i-1]) {
if (rowsuperT && i > 0 && rowsuperT[i-1]) {
res_rownnz[i] = res_rownnz[i-1];
memcpy(cols, res_colind+res_rowadr[i-1], res_rownnz[i]*sizeof(int));
}
// iterate through each row of M'
int end = rowadrT[i] + rownnzT[i];
for (int r = rowadrT[i]; r<end; r++) {
for (int r = rowadrT[i]; r < end; r++) {
int t = colindT[r];
mjtNum v = diag ? matT[r] * diag[t] : matT[r];
for (int c=rowadr[t]; c<rowadr[t]+rownnz[t]; c++) {
for (int c=rowadr[t]; c < rowadr[t]+rownnz[t]; c++) {
int cc = colind[c];
// ignore upper triangle
if (cc>i) {
if (cc > i) {
break;
}
@@ -566,16 +566,16 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
markers[cc] = 1;
// since i is the rightmost column, it can be inserted at the end
if (cc==i) {
if (cc == i) {
cols[res_rownnz[i]++] = cc;
continue;
}
// insert col in order via binary search
int l = 0, h = res_rownnz[i];
while (l<h) {
while (l < h) {
int m = (l + h) >> 1;
if (cols[m]<cc) {
if (cols[m] < cc) {
l = m + 1;
} else {
h = m;
@@ -583,7 +583,7 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
}
// cc is the rightmost column so far, it can be inserted at the end
if (l==res_rownnz[i]) {
if (l == res_rownnz[i]) {
cols[l] = cc;
res_rownnz[i]++;
continue;
@@ -591,7 +591,7 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
// move the cols to the right
h = res_rownnz[i];
while (l<h) {
while (l < h) {
cols[h] = cols[h-1];
h--;
}
@@ -607,13 +607,13 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
// rowsuperT: reuse sparsity, copy into res
if (rowsuperT && rowsuperT[i]) {
for (int r=0; r<end; r++) {
for (int r=0; r < end; r++) {
res[res_rowadr[i] + r] = buffer[cols[r]];
buffer[cols[r]] = 0;
}
} else {
// clear out buffers since sparsity cannot be reused
for (int r=0; r<end; r++) {
for (int r=0; r < end; r++) {
int cc = cols[r];
res[res_rowadr[i] + r] = buffer[cc];
res_colind[res_rowadr[i] + r] = cc;
@@ -625,9 +625,9 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
// fill upper triangle
for (int i=0; i<nc; i++) {
for (int i=0; i < nc; i++) {
int end = res_rowadr[i] + res_rownnz[i] - 1;
for (int j=res_rowadr[i]; j<end; j++) {
for (int j=res_rowadr[i]; j < end; j++) {
int adr = res_rowadr[res_colind[j]] + res_rownnz[res_colind[j]]++;
res[adr] = res[j];
res_colind[adr] = i;