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Convert clip and sign operations to branchless one-liners.

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Testing on 50 million random doubles we have branchless clip is 1.14x faster than the branched version and branchless sign is 2.27x faster than the branched version.

PiperOrigin-RevId: 943812426
Change-Id: If8003a602365601a31bec1d8b080c44d16000a4e
This commit is contained in:
Kyle Bayes
2026-07-07 04:26:42 -07:00
committed by Copybara-Service
parent ee28b334ef
commit 62e80eee38
1 changed files with 2 additions and 14 deletions
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src/engine/engine_util_misc.c
+2 -14
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@@ -1738,25 +1738,13 @@ mjtNum mju_max(mjtNum a, mjtNum b) {
// clip x to the range [min, max] // clip x to the range [min, max]
mjtNum mju_clip(mjtNum x, mjtNum min, mjtNum max) { mjtNum mju_clip(mjtNum x, mjtNum min, mjtNum max) {
if (x < min) { return x < min ? min : (x > max ? max : x);
return min;
} else if (x > max) {
return max;
} else {
return x;
}
} }
// sign function // sign function
mjtNum mju_sign(mjtNum x) { mjtNum mju_sign(mjtNum x) {
if (x < 0) { return (x > 0.0) - (x < 0.0);
return -1;
} else if (x > 0) {
return 1;
} else {
return 0;
}
} }