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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_vis_interact.c
+32 -32
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@@ -37,7 +37,7 @@ void mjv_room2model(mjtNum* modelpos, mjtNum* modelquat, const mjtNum* roompos,
mjtNum translate[3], rotate[4], invpos[3], invquat[4];
// check scale
if (scn->scale<mjMINVAL) {
if (scn->scale < mjMINVAL) {
mju_error("mjvScene scale too small in mjv_room2model");
}
@@ -72,7 +72,7 @@ void mjv_model2room(mjtNum* roompos, mjtNum* roomquat, const mjtNum* modelpos,
mjtNum translate[3], rotate[4];
// check scale
if (scn->scale<mjMINVAL) {
if (scn->scale < mjMINVAL) {
mju_error("mjvScene scale too small in mjv_model2room");
}
@@ -104,7 +104,7 @@ void mjv_cameraInModel(mjtNum* headpos, mjtNum* forward, mjtNum* up, const mjvSc
mjtNum modelpos[3], modelquat[4], modelmat[9];
// check znear
if (scn->camera[0].frustum_near<mjMINVAL || scn->camera[1].frustum_near<mjMINVAL) {
if (scn->camera[0].frustum_near < mjMINVAL || scn->camera[1].frustum_near < mjMINVAL) {
mju_error("mjvScene frustum_near too small in mjv_cameraInModel");
}
@@ -120,7 +120,7 @@ void mjv_cameraInModel(mjtNum* headpos, mjtNum* forward, mjtNum* up, const mjvSc
}
// average over cameras
for (int n=0; n<2; n++) {
for (int n=0; n < 2; n++) {
// convert pos, fwd, u
mju_f2n(pos, scn->camera[n].pos, 3);
mju_f2n(fwd, scn->camera[n].forward, 3);
@@ -177,7 +177,7 @@ void mjv_cameraInRoom(mjtNum* headpos, mjtNum* forward, mjtNum* up, const mjvSce
mjtNum pos[3], fwd[3], u[3];
// check znear
if (scn->camera[0].frustum_near<mjMINVAL || scn->camera[1].frustum_near<mjMINVAL) {
if (scn->camera[0].frustum_near < mjMINVAL || scn->camera[1].frustum_near < mjMINVAL) {
mju_error("mjvScene frustum_near too small in mjv_cameraInRoom");
}
@@ -193,7 +193,7 @@ void mjv_cameraInRoom(mjtNum* headpos, mjtNum* forward, mjtNum* up, const mjvSce
}
// average over cameras
for (int n=0; n<2; n++) {
for (int n=0; n < 2; n++) {
// convert pos, fwd, u
mju_f2n(pos, scn->camera[n].pos, 3);
mju_f2n(fwd, scn->camera[n].forward, 3);
@@ -227,7 +227,7 @@ mjtNum mjv_frustumHeight(const mjvScene* scn) {
mjtNum height;
// check znear
if (scn->camera[0].frustum_near<mjMINVAL || scn->camera[1].frustum_near<mjMINVAL) {
if (scn->camera[0].frustum_near < mjMINVAL || scn->camera[1].frustum_near < mjMINVAL) {
mju_error("mjvScene frustum_near too small in mjv_frustumHeight");
}
@@ -311,7 +311,7 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
mjtNum vec[3], dif[3], scl;
// fixed camera: nothing to do
if (cam->type==mjCAMERA_FIXED) {
if (cam->type == mjCAMERA_FIXED) {
return;
}
@@ -326,7 +326,7 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
case mjMOUSE_MOVE_V:
case mjMOUSE_MOVE_H:
// do not move lookat point of tracking camera
if (cam->type==mjCAMERA_TRACKING) {
if (cam->type == mjCAMERA_TRACKING) {
return;
}
@@ -405,7 +405,7 @@ void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx
mju_mulQuat(xiquat, d->xquat+4*sel, m->body_iquat+4*sel);
// limit rotation relative to selected body
if (sel>0 && sel<m->nbody) {
if (sel > 0 && sel < m->nbody) {
// q2 = neg(selbody) * refquat
mjtNum q2[4];
mju_negQuat(q1, xiquat);
@@ -417,7 +417,7 @@ void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx
scl = mju_normalize3(dif);
// check limit: +/- 90 deg allowed
if (scl<-mjPI*0.5 || scl>mjPI*0.5) {
if (scl < -mjPI*0.5 || scl > mjPI*0.5) {
// clamp angle
scl = mju_max(-mjPI*0.5, mju_min(mjPI*0.5, scl));
@@ -467,8 +467,8 @@ void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
case mjMOUSE_ROTATE_V:
case mjMOUSE_ROTATE_H:
// construct rotation vector
for (int i=0; i<3; i++) {
if (action==mjMOUSE_ROTATE_V) {
for (int i=0; i < 3; i++) {
if (action == mjMOUSE_ROTATE_V) {
vec[i] = roomup[i]*reldx + roomright[i]*reldy;
} else {
vec[i] = roomforward[i]*reldx + roomright[i]*reldy;
@@ -489,22 +489,22 @@ void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
break;
case mjMOUSE_MOVE_V:
for (int i=0; i<3; i++) {
for (int i=0; i < 3; i++) {
scn->translate[i] += (float)(roomright[i]*reldx - roomup[i]*reldy) * m->stat.extent;
}
break;
case mjMOUSE_MOVE_H:
for (int i=0; i<3; i++) {
for (int i=0; i < 3; i++) {
scn->translate[i] += (float)(roomright[i]*reldx - roomforward[i]*reldy) * m->stat.extent;
}
break;
case mjMOUSE_ZOOM:
scn->scale += (float)(mju_log(1 + scn->scale/3) * reldy * 3);
if (scn->scale<0.01f) {
if (scn->scale < 0.01f) {
scn->scale = 0.01f;
} else if (scn->scale>100.0f) {
} else if (scn->scale > 100.0f) {
scn->scale = 100.0f;
}
break;
@@ -528,7 +528,7 @@ void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPertur
mjtNum* jacM2 = mj_stackAlloc(d, 3*nv);
// invalid selected body: return
if (sel<=0 || sel>=m->nbody) {
if (sel <= 0 || sel >= m->nbody) {
return;
}
@@ -570,7 +570,7 @@ void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert, i
mjtNum *Rpos, *Rquat, *Cpos, *Cquat;
// exit if nothing to do
if (sel<=0 || sel>=m->nbody || !(pert->active | pert->active2)) {
if (sel <= 0 || sel >= m->nbody || !(pert->active | pert->active2)) {
return;
}
@@ -582,23 +582,23 @@ void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert, i
mju_mulPose(refpos, refquat, pert->refpos, pert->refquat, pos1, quat1);
// mocap body
if (m->body_mocapid[sel]>=0) {
if (m->body_mocapid[sel] >= 0) {
// copy ref pose into mocap pose
mju_copy3(d->mocap_pos + 3*m->body_mocapid[sel], refpos);
mju_copy4(d->mocap_quat + 4*m->body_mocapid[sel], refquat);
}
// floating body, paused
else if (flg_paused && m->body_jntnum[sel]==1 &&
m->jnt_type[m->body_jntadr[sel]]==mjJNT_FREE) {
else if (flg_paused && m->body_jntnum[sel] == 1 &&
m->jnt_type[m->body_jntadr[sel]] == mjJNT_FREE) {
// copy ref pose into qpos
mju_copy3(d->qpos + m->jnt_qposadr[m->body_jntadr[sel]], refpos);
mju_copy4(d->qpos + m->jnt_qposadr[m->body_jntadr[sel]] + 3, refquat);
}
// child of floating body, paused
else if (flg_paused && m->body_jntnum[rootid]==1 &&
m->jnt_type[m->body_jntadr[rootid]]==mjJNT_FREE) {
else if (flg_paused && m->body_jntnum[rootid] == 1 &&
m->jnt_type[m->body_jntadr[rootid]] == mjJNT_FREE) {
// get pointers to root
Rpos = d->qpos + m->jnt_qposadr[m->body_jntadr[rootid]];
Rquat = Rpos + 3;
@@ -621,7 +621,7 @@ void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert)
int sel = pert->select;
// exit if nothing to do
if (sel<0 || sel>=m->nbody || !(pert->active | pert->active2)) {
if (sel < 0 || sel >= m->nbody || !(pert->active | pert->active2)) {
return;
}
@@ -763,7 +763,7 @@ int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
mjtNum skindist = -1;
*skinid = -1;
if (vopt->flags[mjVIS_SKIN]) {
for (int i=0; i<m->nskin; i++) {
for (int i=0; i < m->nskin; i++) {
// process one skin
int vertid;
mjtNum newdist = mju_raySkin(m->skin_facenum[i], m->skin_vertnum[i],
@@ -772,24 +772,24 @@ int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
pos, ray, &vertid);
// update if closer intersection found
if (newdist>=0 && (newdist<skindist || skindist<0)) {
if (newdist >= 0 && (newdist < skindist || skindist < 0)) {
// assign result
skindist = newdist;
// find body with largest weight for this vertex
float bestweight = -1;
for (int j=m->skin_boneadr[i];
j<m->skin_boneadr[i]+m->skin_bonenum[i];
j < m->skin_boneadr[i]+m->skin_bonenum[i];
j++) {
for (int k=m->skin_bonevertadr[j];
k<m->skin_bonevertadr[j]+m->skin_bonevertnum[j];
k < m->skin_bonevertadr[j]+m->skin_bonevertnum[j];
k++) {
// get vertex id and weight
int vid = m->skin_bonevertid[k];
float vweight = m->skin_bonevertweight[k];
// update if matching id and bigger weight
if (vid==vertid && vweight>bestweight) {
if (vid == vertid && vweight > bestweight) {
bestweight = vweight;
bodyid = m->skin_bonebodyid[j];
*skinid = i;
@@ -801,12 +801,12 @@ int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
}
// no intersection
if (geomdist<0 && skindist<0) {
if (geomdist < 0 && skindist < 0) {
return -1;
}
// geom only, or geom closer than skin
else if (geomdist>=0 && (skindist<0 || skindist>geomdist)) {
else if (geomdist >= 0 && (skindist < 0 || skindist > geomdist)) {
mju_addScl3(selpnt, pos, ray, geomdist);
*skinid = -1;
return m->geom_bodyid[*geomid];