Refactor a loop in engine_solver.c

PiperOrigin-RevId: 560997065
Change-Id: I26540e4f750eb18d9497bf35396adbb15cc3a122

src/engine/engine_solver.c

@@ -929,13 +929,17 @@ static void CGeval(const mjModel* m, mjData* d, mjCGContext* ctx, mjCGPnt* p) {
   mjtNum quadTotal[3];
   mju_copy3(quadTotal, ctx->quadGauss);
 
+  // process constraints
+  for (int i=0; i < nefc; i++) {
     // equality
-  for (int i=0; i < ne; i++) {
+    if (i < ne) {
       mju_addTo3(quadTotal, ctx->quad+3*i);
+      continue;
     }
 
+
     // friction
-  for (int i=ne; i < ne+nf; i++) {
+    if (i < ne + nf) {
       // search point, friction loss, bound (Rf)
       mjtNum start = ctx->Jaref[i], dir = ctx->Jv[i];
       mjtNum x = start + alpha*dir;
@@ -958,10 +962,10 @@ static void CGeval(const mjModel* m, mjData* d, mjCGContext* ctx, mjCGPnt* p) {
         mjtNum qf[3] = {f*(-0.5*Rf+start), f*dir, 0};
         mju_addTo3(quadTotal, qf);
       }
+      continue;
     }
 
     // limit and contact
-  for (int i=ne+nf; i < nefc; i++) {
     if (d->efc_type[i] == mjCNSTR_CONTACT_ELLIPTIC) {         // elliptic cone
       // extract contact info
       mjContact* con = d->contact + d->efc_id[i];