From 52da7586dc481bdf7bec9c392d215b5ba7e0fe1c Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Tue, 16 Sep 2025 09:35:41 -0700 Subject: [PATCH] Clean up includes in `src/engine` PiperOrigin-RevId: 807726978 Change-Id: I02800deb79bfb3c328d941861ded9d817e8f6e32 --- src/engine/engine_collision_box.c | 3 +-- src/engine/engine_collision_driver.c | 1 - src/engine/engine_collision_primitive.c | 1 - src/engine/engine_collision_sdf.c | 1 - src/engine/engine_core_constraint.h | 1 - src/engine/engine_core_smooth.c | 1 - src/engine/engine_core_util.c | 1 - src/engine/engine_core_util.h | 1 - src/engine/engine_derivative.c | 1 - src/engine/engine_derivative_fd.c | 2 -- src/engine/engine_inverse.c | 1 - src/engine/engine_io.c | 4 +--- src/engine/engine_io.h | 1 - src/engine/engine_island.c | 3 --- src/engine/engine_macro.h | 1 - src/engine/engine_memory.c | 9 +-------- src/engine/engine_memory.h | 1 - src/engine/engine_passive.c | 2 -- src/engine/engine_print.c | 1 - src/engine/engine_ray.c | 3 +-- src/engine/engine_setconst.c | 1 - src/engine/engine_solver.c | 2 -- src/engine/engine_util_misc.c | 1 + src/engine/engine_util_solve.h | 1 - src/engine/engine_util_sparse.c | 1 - src/engine/engine_util_sparse_avx.h | 1 - src/engine/engine_util_spatial.c | 2 ++ src/engine/engine_util_spatial.h | 2 +- src/engine/engine_vis_init.h | 1 - src/engine/engine_vis_interact.c | 3 --- src/engine/engine_vis_visualize.c | 1 + 31 files changed, 9 insertions(+), 46 deletions(-) diff --git a/src/engine/engine_collision_box.c b/src/engine/engine_collision_box.c index d4e78f00..b6d954fc 100644 --- a/src/engine/engine_collision_box.c +++ b/src/engine/engine_collision_box.c @@ -12,9 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include -#include #include "engine/engine_collision_primitive.h" #include "engine/engine_util_blas.h" diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c index 02d2cec4..0a1f9920 100644 --- a/src/engine/engine_collision_driver.c +++ b/src/engine/engine_collision_driver.c @@ -27,7 +27,6 @@ #include "engine/engine_collision_sdf.h" #include "engine/engine_core_constraint.h" #include "engine/engine_core_util.h" -#include "engine/engine_io.h" #include "engine/engine_macro.h" #include "engine/engine_memory.h" #include "engine/engine_sort.h" diff --git a/src/engine/engine_collision_primitive.c b/src/engine/engine_collision_primitive.c index db6a6c14..99c6567e 100644 --- a/src/engine/engine_collision_primitive.c +++ b/src/engine/engine_collision_primitive.c @@ -15,7 +15,6 @@ #include "engine/engine_collision_primitive.h" #include -#include #include #include "engine/engine_util_blas.h" #include "engine/engine_util_misc.h" diff --git a/src/engine/engine_collision_sdf.c b/src/engine/engine_collision_sdf.c index 9cc1a8f2..830d407c 100644 --- a/src/engine/engine_collision_sdf.c +++ b/src/engine/engine_collision_sdf.c @@ -22,7 +22,6 @@ #include // IWYU pragma: keep #include #include "engine/engine_collision_primitive.h" -#include "engine/engine_io.h" #include "engine/engine_plugin.h" #include "engine/engine_ray.h" #include "engine/engine_util_blas.h" diff --git a/src/engine/engine_core_constraint.h b/src/engine/engine_core_constraint.h index 514abc3d..d361d86c 100644 --- a/src/engine/engine_core_constraint.h +++ b/src/engine/engine_core_constraint.h @@ -18,7 +18,6 @@ #include #include #include -#include #ifdef __cplusplus extern "C" { diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c index cdbb765f..e7b239e2 100644 --- a/src/engine/engine_core_smooth.c +++ b/src/engine/engine_core_smooth.c @@ -15,7 +15,6 @@ #include "engine/engine_core_smooth.h" #include -#include #include #include diff --git a/src/engine/engine_core_util.c b/src/engine/engine_core_util.c index de3d0c28..d48b7b1e 100644 --- a/src/engine/engine_core_util.c +++ b/src/engine/engine_core_util.c @@ -18,7 +18,6 @@ #include #include -#include "engine/engine_crossplatform.h" #include "engine/engine_memory.h" #include "engine/engine_util_blas.h" #include "engine/engine_util_errmem.h" diff --git a/src/engine/engine_core_util.h b/src/engine/engine_core_util.h index 9f582fdd..b39a67a3 100644 --- a/src/engine/engine_core_util.h +++ b/src/engine/engine_core_util.h @@ -18,7 +18,6 @@ #include #include #include -#include "engine/engine_memory.h" #ifdef __cplusplus extern "C" { diff --git a/src/engine/engine_derivative.c b/src/engine/engine_derivative.c index 7f14ea75..cb4175dc 100644 --- a/src/engine/engine_derivative.c +++ b/src/engine/engine_derivative.c @@ -17,7 +17,6 @@ #include #include #include // IWYU pragma: keep -#include "engine/engine_core_constraint.h" #include "engine/engine_core_util.h" #include "engine/engine_crossplatform.h" #include "engine/engine_memory.h" diff --git a/src/engine/engine_derivative_fd.c b/src/engine/engine_derivative_fd.c index 7c16f6dc..5287af46 100644 --- a/src/engine/engine_derivative_fd.c +++ b/src/engine/engine_derivative_fd.c @@ -15,14 +15,12 @@ #include "engine/engine_derivative_fd.h" #include -#include #include #include #include #include // IWYU pragma: keep #include "engine/engine_forward.h" -#include "engine/engine_io.h" #include "engine/engine_inverse.h" #include "engine/engine_memory.h" #include "engine/engine_macro.h" diff --git a/src/engine/engine_inverse.c b/src/engine/engine_inverse.c index b7f2492d..e7e7353a 100644 --- a/src/engine/engine_inverse.c +++ b/src/engine/engine_inverse.c @@ -24,7 +24,6 @@ #include "engine/engine_core_constraint.h" #include "engine/engine_core_smooth.h" #include "engine/engine_derivative.h" -#include "engine/engine_io.h" #include "engine/engine_memory.h" #include "engine/engine_macro.h" #include "engine/engine_forward.h" diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c index 1625438a..d6c7890e 100644 --- a/src/engine/engine_io.c +++ b/src/engine/engine_io.c @@ -14,7 +14,7 @@ #include "engine/engine_io.h" -#include // NOLINT required for PRIu64, PRIuPTR +#include // IWYU pragma: keep #include #include #include @@ -22,13 +22,11 @@ #include #include -#include #include #include #include // IWYU pragma: keep #include #include "engine/engine_core_util.h" -#include "engine/engine_crossplatform.h" #include "engine/engine_macro.h" #include "engine/engine_memory.h" #include "engine/engine_plugin.h" diff --git a/src/engine/engine_io.h b/src/engine/engine_io.h index 8472410f..7a3df5ac 100644 --- a/src/engine/engine_io.h +++ b/src/engine/engine_io.h @@ -18,7 +18,6 @@ #include #include #include -#include #ifdef __cplusplus #include diff --git a/src/engine/engine_island.c b/src/engine/engine_island.c index 0574fd84..775544f8 100644 --- a/src/engine/engine_island.c +++ b/src/engine/engine_island.c @@ -22,11 +22,8 @@ #include #include // IWYU pragma: keep #include -#include "engine/engine_core_constraint.h" #include "engine/engine_core_util.h" -#include "engine/engine_io.h" #include "engine/engine_memory.h" -#include "engine/engine_support.h" #include "engine/engine_util_errmem.h" #include "engine/engine_util_misc.h" #include "engine/engine_util_sparse.h" diff --git a/src/engine/engine_macro.h b/src/engine/engine_macro.h index 31b7a4b2..ed19d769 100644 --- a/src/engine/engine_macro.h +++ b/src/engine/engine_macro.h @@ -17,7 +17,6 @@ #include -#include #include "engine/engine_callback.h" // IWYU pragma: export //-------------------------------- utility macros -------------------------------------------------- diff --git a/src/engine/engine_memory.c b/src/engine/engine_memory.c index 083fdbce..8b017850 100644 --- a/src/engine/engine_memory.c +++ b/src/engine/engine_memory.c @@ -14,7 +14,7 @@ #include "engine/engine_memory.h" -#include // NOLINT required for PRIu64, PRIuPTR +#include // IWYU pragma: keep #include #include #include @@ -23,16 +23,9 @@ #include #include -#include -#include #include // IWYU pragma: keep -#include #include "engine/engine_crossplatform.h" -#include "engine/engine_macro.h" -#include "engine/engine_plugin.h" -#include "engine/engine_util_blas.h" #include "engine/engine_util_errmem.h" -#include "engine/engine_util_misc.h" #include "thread/thread_pool.h" #ifdef ADDRESS_SANITIZER diff --git a/src/engine/engine_memory.h b/src/engine/engine_memory.h index e3c360b4..c232b20f 100644 --- a/src/engine/engine_memory.h +++ b/src/engine/engine_memory.h @@ -17,7 +17,6 @@ #include #include -#include #include #ifdef __cplusplus diff --git a/src/engine/engine_passive.c b/src/engine/engine_passive.c index 45b58cdb..e0cfd447 100644 --- a/src/engine/engine_passive.c +++ b/src/engine/engine_passive.c @@ -15,7 +15,6 @@ #include "engine/engine_passive.h" #include -#include #include #include @@ -24,7 +23,6 @@ #include "engine/engine_core_constraint.h" #include "engine/engine_core_util.h" #include "engine/engine_crossplatform.h" -#include "engine/engine_io.h" #include "engine/engine_memory.h" #include "engine/engine_plugin.h" #include "engine/engine_support.h" diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c index 46480908..046d554f 100644 --- a/src/engine/engine_print.c +++ b/src/engine/engine_print.c @@ -32,7 +32,6 @@ #include "engine/engine_support.h" #include "engine/engine_util_errmem.h" #include "engine/engine_util_misc.h" -#include "engine/engine_util_sparse.h" #ifdef MEMORY_SANITIZER #include diff --git a/src/engine/engine_ray.c b/src/engine/engine_ray.c index 65b2b0dc..dc274fca 100644 --- a/src/engine/engine_ray.c +++ b/src/engine/engine_ray.c @@ -15,6 +15,7 @@ #include "engine/engine_ray.h" +#include #include #include @@ -23,9 +24,7 @@ #include // IWYU pragma: keep #include #include "engine/engine_collision_sdf.h" -#include "engine/engine_io.h" #include "engine/engine_memory.h" -#include "engine/engine_plugin.h" #include "engine/engine_util_blas.h" #include "engine/engine_util_errmem.h" #include "engine/engine_util_misc.h" diff --git a/src/engine/engine_setconst.c b/src/engine/engine_setconst.c index 51c6dcf7..545ef6f1 100644 --- a/src/engine/engine_setconst.c +++ b/src/engine/engine_setconst.c @@ -21,7 +21,6 @@ #include #include #include // IWYU pragma: keep -#include "engine/engine_core_constraint.h" #include "engine/engine_core_smooth.h" #include "engine/engine_core_util.h" #include "engine/engine_forward.h" diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c index 2ba1232c..2a596bd3 100644 --- a/src/engine/engine_solver.c +++ b/src/engine/engine_solver.c @@ -24,9 +24,7 @@ #include "engine/engine_core_constraint.h" #include "engine/engine_core_smooth.h" #include "engine/engine_core_util.h" -#include "engine/engine_io.h" #include "engine/engine_memory.h" -#include "engine/engine_support.h" #include "engine/engine_util_blas.h" #include "engine/engine_util_errmem.h" #include "engine/engine_util_misc.h" diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c index 2e99cb64..673ad0aa 100644 --- a/src/engine/engine_util_misc.c +++ b/src/engine/engine_util_misc.c @@ -15,6 +15,7 @@ #include "engine/engine_util_misc.h" #include +#include #include #include #include diff --git a/src/engine/engine_util_solve.h b/src/engine/engine_util_solve.h index 6a772e2c..d18408c2 100644 --- a/src/engine/engine_util_solve.h +++ b/src/engine/engine_util_solve.h @@ -17,7 +17,6 @@ #include #include -#include #ifdef __cplusplus extern "C" { diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c index 82f92b78..f4f73c7a 100644 --- a/src/engine/engine_util_sparse.c +++ b/src/engine/engine_util_sparse.c @@ -15,7 +15,6 @@ #include "engine/engine_util_sparse.h" #include "engine/engine_util_sparse_avx.h" // IWYU pragma: keep -#include #include #include diff --git a/src/engine/engine_util_sparse_avx.h b/src/engine/engine_util_sparse_avx.h index bdc9e931..32be6020 100644 --- a/src/engine/engine_util_sparse_avx.h +++ b/src/engine/engine_util_sparse_avx.h @@ -24,7 +24,6 @@ #include #include -#include "engine/engine_macro.h" //------------------------------ sparse operations using avx --------------------------------------- diff --git a/src/engine/engine_util_spatial.c b/src/engine/engine_util_spatial.c index 7bef17e3..6c0dceb6 100644 --- a/src/engine/engine_util_spatial.c +++ b/src/engine/engine_util_spatial.c @@ -14,6 +14,8 @@ #include "engine/engine_util_spatial.h" +#include + #include #include "engine/engine_util_blas.h" #include "engine/engine_util_errmem.h" diff --git a/src/engine/engine_util_spatial.h b/src/engine/engine_util_spatial.h index c46c9c03..e27dfa57 100644 --- a/src/engine/engine_util_spatial.h +++ b/src/engine/engine_util_spatial.h @@ -16,7 +16,7 @@ #define MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPATIAL_H_ #include -#include +#include #ifdef __cplusplus extern "C" { diff --git a/src/engine/engine_vis_init.h b/src/engine/engine_vis_init.h index 63da98bd..eb4399f6 100644 --- a/src/engine/engine_vis_init.h +++ b/src/engine/engine_vis_init.h @@ -15,7 +15,6 @@ #ifndef MUJOCO_SRC_ENGINE_ENGINE_VIS_INIT_H_ #define MUJOCO_SRC_ENGINE_ENGINE_VIS_INIT_H_ -#include #include #include #include diff --git a/src/engine/engine_vis_interact.c b/src/engine/engine_vis_interact.c index 3133ba81..09ffc7d9 100644 --- a/src/engine/engine_vis_interact.c +++ b/src/engine/engine_vis_interact.c @@ -17,16 +17,13 @@ #include #include -#include #include #include // IWYU pragma: keep #include #include "engine/engine_core_smooth.h" #include "engine/engine_core_util.h" -#include "engine/engine_io.h" #include "engine/engine_memory.h" #include "engine/engine_ray.h" -#include "engine/engine_support.h" #include "engine/engine_util_blas.h" #include "engine/engine_util_errmem.h" #include "engine/engine_util_misc.h" diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c index cd4d7e6d..13ee7eb6 100644 --- a/src/engine/engine_vis_visualize.c +++ b/src/engine/engine_vis_visualize.c @@ -14,6 +14,7 @@ #include "engine/engine_vis_visualize.h" +#include #include #include