Add spaces around comparison operators in engine source files.

PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04

src/engine/engine_collision_driver.c

@@ -663,7 +663,8 @@ int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
     }
 
     // world with geoms, or welded body with plane or hfield
-    if ((b1==0 && m->body_geomnum[b1]>0) || (m->body_weldid[b1]==0 && has_plane_or_hfield(m, b1))) {
+    if ((b1 == 0 && m->body_geomnum[b1] > 0) ||
+        (m->body_weldid[b1] == 0 && has_plane_or_hfield(m, b1))) {
       int weld1 = 0;
       int parent_weld1 = 0;
       for (b2=0; b2 < nbody; b2++) {

src/engine/engine_derivative.c

@@ -1149,9 +1149,11 @@ static inline void mjd_magnus_force(
 
   // premultiply by magnus_coef
   const mjtNum lin_vel[3] = {
-    magnus_coef * lvel[3], magnus_coef * lvel[4], magnus_coef * lvel[5]};
+    magnus_coef * lvel[3], magnus_coef * lvel[4], magnus_coef * lvel[5]
+  };
   const mjtNum ang_vel[3] = {
-    magnus_coef * lvel[0], magnus_coef * lvel[1], magnus_coef * lvel[2]};
+    magnus_coef * lvel[0], magnus_coef * lvel[1], magnus_coef * lvel[2]
+  };
 
   // force[3:] += magnus_coef * cross(ang_vel, lin_vel)
   mjd_cross(ang_vel, lin_vel, D_ang, D_lin);

src/engine/engine_solver.c

@@ -1065,7 +1065,9 @@ static int updateBracket(const mjModel* m, mjData* d, mjCGContext* ctx,
     }
 
     // positive deriv
-    else if (p->deriv[0]>0 && candidates[i].deriv[0]>0 && p->deriv[0]>candidates[i].deriv[0]) {
+    else if (p->deriv[0] > 0 &&
+             candidates[i].deriv[0] > 0 &&
+             p->deriv[0] > candidates[i].deriv[0]) {
       *p = candidates[i];
       flag = 2;
     }

src/engine/engine_util_spatial.c

@@ -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];

src/engine/engine_vis_visualize.c

@@ -687,7 +687,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         }
 
         // vopt->label
-        if (vopt->label==mjLABEL_BODY || (vopt->label==mjLABEL_SELECTION && pert->select==i)) {
+        if (vopt->label == mjLABEL_BODY ||
+            (vopt->label == mjLABEL_SELECTION && pert->select == i)) {
           makeLabel(m, mjOBJ_BODY, i, thisgeom->label);
         }