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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_spatial.c
+14 -15
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@@ -26,7 +26,7 @@
// rotate vector by quaternion
void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]) {
// null quat: copy vec
if (quat[0]==1 && quat[1]==0 && quat[2]==0 && quat[3]==0) {
if (quat[0] == 1 && quat[1] == 0 && quat[2] == 0 && quat[3] == 0) {
mju_copy3(res, vec);
}
@@ -75,7 +75,7 @@ void mju_mulQuat(mjtNum res[4], const mjtNum qa[4], const mjtNum qb[4]) {
// multiply quaternion and axis
void mju_mulQuatAxis(mjtNum res[4], const mjtNum quat[4], const mjtNum axis[3]) {
mjtNum tmp[4] = {
-quat[1]*axis[0] - quat[2]*axis[1] - quat[3]*axis[2],
-quat[1]*axis[0] - quat[2]*axis[1] - quat[3]*axis[2],
quat[0]*axis[0] + quat[2]*axis[2] - quat[3]*axis[1],
quat[0]*axis[1] + quat[3]*axis[0] - quat[1]*axis[2],
quat[0]*axis[2] + quat[1]*axis[1] - quat[2]*axis[0]
@@ -91,7 +91,7 @@ void mju_mulQuatAxis(mjtNum res[4], const mjtNum quat[4], const mjtNum axis[3])
// convert axisAngle to quaternion
void mju_axisAngle2Quat(mjtNum res[4], const mjtNum axis[3], mjtNum angle) {
// zero angle: null quat
if (angle==0) {
if (angle == 0) {
res[0] = 1;
res[1] = 0;
res[2] = 0;
@@ -117,7 +117,7 @@ void mju_quat2Vel(mjtNum res[3], const mjtNum quat[4], mjtNum dt) {
mjtNum speed = 2 * mju_atan2(sin_a_2, quat[0]);
// when axis-angle is larger than pi, rotation is in the opposite direction
if (speed>mjPI) {
if (speed > mjPI) {
speed -= 2*mjPI;
}
speed /= dt;
@@ -143,7 +143,7 @@ void mju_subQuat(mjtNum res[3], const mjtNum qa[4], const mjtNum qb[4]) {
// convert quaternion to 3D rotation matrix
void mju_quat2Mat(mjtNum res[9], const mjtNum quat[4]) {
// null quat: identity
if (quat[0]==1 && quat[1]==0 && quat[2]==0 && quat[3]==0) {
if (quat[0] == 1 && quat[1] == 0 && quat[2] == 0 && quat[3] == 0) {
res[0] = 1;
res[1] = 0;
res[2] = 0;
@@ -186,7 +186,7 @@ void mju_quat2Mat(mjtNum res[9], const mjtNum quat[4]) {
// convert 3D rotation matrix to quaternion
void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]) {
// q0 largest
if (mat[0]+mat[4]+mat[8]>0) {
if (mat[0]+mat[4]+mat[8] > 0) {
quat[0] = 0.5 * mju_sqrt(1 + mat[0] + mat[4] + mat[8]);
quat[1] = 0.25 * (mat[7] - mat[5]) / quat[0];
quat[2] = 0.25 * (mat[2] - mat[6]) / quat[0];
@@ -194,7 +194,7 @@ void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]) {
}
// q1 largest
else if (mat[0]>mat[4] && mat[0]>mat[8]) {
else if (mat[0] > mat[4] && mat[0] > mat[8]) {
quat[1] = 0.5 * mju_sqrt(1 + mat[0] - mat[4] - mat[8]);
quat[0] = 0.25 * (mat[7] - mat[5]) / quat[1];
quat[2] = 0.25 * (mat[1] + mat[3]) / quat[1];
@@ -202,7 +202,7 @@ void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]) {
}
// q2 largest
else if (mat[4]>mat[8]) {
else if (mat[4] > mat[8]) {
quat[2] = 0.5 * mju_sqrt(1 - mat[0] + mat[4] - mat[8]);
quat[0] = 0.25 * (mat[2] - mat[6]) / quat[2];
quat[1] = 0.25 * (mat[1] + mat[3]) / quat[2];
@@ -255,7 +255,7 @@ void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]) {
mju_zero3(quat+1);
// normalize vector; if too small, no rotation
if (mju_normalize3(vn)<mjMINVAL) {
if (mju_normalize3(vn) < mjMINVAL) {
return;
}
@@ -264,7 +264,7 @@ void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]) {
a = mju_normalize3(axis);
// almost parallel
if (fabs(a)<mjMINVAL) {
if (fabs(a) < mjMINVAL) {
// opposite: 180 deg rotation around x axis
if (mju_dot3(vn, z) < 0) {
quat[0] = 0;
@@ -368,8 +368,7 @@ void mju_inertCom(mjtNum res[10], const mjtNum inert[3], const mjtNum mat[9],
// tmp = diag(inert) * mat' (mat is local-to-global rotation)
mjtNum tmp[9] = {mat[0]*inert[0], mat[3]*inert[0], mat[6]*inert[0],
mat[1]*inert[1], mat[4]*inert[1], mat[7]*inert[1],
mat[2]*inert[2], mat[5]*inert[2], mat[8]*inert[2]
};
mat[2]*inert[2], mat[5]*inert[2], mat[8]*inert[2]};
// res_rot = mat * diag(inert) * mat'
res[0] = mat[0]*tmp[0] + mat[1]*tmp[3] + mat[2]*tmp[6];
@@ -429,9 +428,9 @@ void mju_dofCom(mjtNum res[6], const mjtNum axis[3], const mjtNum offset[3]) {
// multiply dof matrix (6-by-n, transposed) by vector (n-by-1)
void mju_mulDofVec(mjtNum* res, const mjtNum* dof, const mjtNum* vec, int n) {
if (n==1) {
if (n == 1) {
mju_scl(res, dof, vec[0], 6);
} else if (n<=0) {
} else if (n <= 0) {
mju_zero(res, 6);
} else {
mju_mulMatTVec(res, dof, vec, n, 6);
@@ -485,7 +484,7 @@ void mju_makeFrame(mjtNum frame[9]) {
if (mju_norm3(frame+3) < 0.5) {
mju_zero3(frame+3);
if (frame[1]<0.5 && frame[1]>-0.5) {
if (frame[1] < 0.5 && frame[1] > -0.5) {
frame[4] = 1;
} else {
frame[5] = 1;