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Don't use var[restrict n] syntax.

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PiperOrigin-RevId: 460030944
Change-Id: Ib86b76c8767d83ab49e4db9d3d0fd1437721df20
This commit is contained in:
Yuval Tassa
2022-07-10 02:30:43 -07:00
committed by Copybara-Service
parent ea956dfe34
commit 50a72d7227
1 changed files with 13 additions and 13 deletions
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src/engine/engine_derivative.c
+13 -13
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@@ -37,9 +37,9 @@
// derivatives of cross product
// derivatives of cross product, Da and Db are 3x3
static void mjd_cross(const mjtNum a[3], const mjtNum b[3],
mjtNum Da[restrict 9], mjtNum Db[restrict 9]) {
mjtNum* restrict Da, mjtNum* restrict Db) {
// derivative w.r.t a
if (Da) {
mju_zero(Da, 9);
@@ -736,7 +736,7 @@ static inline mjtNum ellipsoid_max_moment(const mjtNum size[3], const int dir) {
// add 3x3 matrix D to one of the four quadrants of the 6x6 matrix B
// row_quad and col_quad should be either 0 or 1 (not checked)
static void addToQuadrant(mjtNum B[restrict 36], const mjtNum D[9], int col_quad, int row_quad) {
static void addToQuadrant(mjtNum* restrict B, const mjtNum D[9], int col_quad, int row_quad) {
int r = 3*row_quad, c = 3*col_quad;
B[6*(c+0) + r+0] += D[0];
B[6*(c+0) + r+1] += D[1];
@@ -753,9 +753,9 @@ static void addToQuadrant(mjtNum B[restrict 36], const mjtNum D[9], int col_quad
//----------------- components of ellipsoid-based fluid force derivatives --------------------------
// forces due to fluid mass moving with the body
// forces due to fluid mass moving with the body, B is 6x6
static void mjd_addedMassForces(
mjtNum B[restrict 36], const mjtNum local_vels[6], const mjtNum fluid_density,
mjtNum* restrict B, const mjtNum local_vels[6], const mjtNum fluid_density,
const mjtNum virtual_mass[3], const mjtNum virtual_inertia[3]) {
const mjtNum lin_vel[3] = {local_vels[3], local_vels[4], local_vels[5]};
const mjtNum ang_vel[3] = {local_vels[0], local_vels[1], local_vels[2]};;
@@ -799,9 +799,9 @@ static void mjd_addedMassForces(
// torque due to motion in the fluid
// torque due to motion in the fluid, D is 3x3
static inline void mjd_viscous_torque(
mjtNum D[restrict 9], const mjtNum lvel[6], const mjtNum fluid_density,
mjtNum* restrict D, const mjtNum lvel[6], const mjtNum fluid_density,
const mjtNum fluid_viscosity, const mjtNum size[3],
const mjtNum slender_drag_coef, const mjtNum ang_drag_coef)
{
@@ -854,9 +854,9 @@ static inline void mjd_viscous_torque(
// drag due to motion in the fluid
// drag due to motion in the fluid, D is 3x3
static inline void mjd_viscous_drag(
mjtNum D[restrict 9], const mjtNum lvel[6], const mjtNum fluid_density,
mjtNum* restrict D, const mjtNum lvel[6], const mjtNum fluid_density,
const mjtNum fluid_viscosity, const mjtNum size[3],
const mjtNum blunt_drag_coef, const mjtNum slender_drag_coef) {
const mjtNum d_max = mju_max(mju_max(size[0], size[1]), size[2]);
@@ -922,9 +922,9 @@ static inline void mjd_viscous_drag(
// Kutta lift due to motion in the fluid
// Kutta lift due to motion in the fluid, D is 3x3
static inline void mjd_kutta_lift(
mjtNum D[restrict 9], const mjtNum lvel[6], const mjtNum fluid_density,
mjtNum* restrict D, const mjtNum lvel[6], const mjtNum fluid_density,
const mjtNum size[3], const mjtNum kutta_lift_coef) {
const mjtNum a = pow2(size[1] * size[2]);
const mjtNum b = pow2(size[2] * size[0]);
@@ -976,9 +976,9 @@ static inline void mjd_kutta_lift(
// Magnus force due to motion in the fluid
// Magnus force due to motion in the fluid, B is 6x6
static inline void mjd_magnus_force(
mjtNum B[restrict 36], const mjtNum lvel[6], const mjtNum fluid_density,
mjtNum* restrict B, const mjtNum lvel[6], const mjtNum fluid_density,
const mjtNum size[3], const mjtNum magnus_lift_coef) {
const mjtNum volume = 4.0/3.0 * mjPI * size[0] * size[1] * size[2];