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Format some more files in user/

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PiperOrigin-RevId: 958383817
Change-Id: I17fcdbf32967ec5a5c4d2552823ef5100faaea3b
This commit is contained in:
Yuval Tassa
2026-08-03 08:16:21 -07:00
committed by Copybara-Service
parent 7927e908a3
commit 8a643f4e2b
9 changed files with 961 additions and 1202 deletions
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src/user/user_util.h
+50 -31
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@@ -28,8 +28,8 @@
#include <mujoco/mjexport.h>
const double mjEPS = 1E-14; // minimum value in various calculations
const double mjMINMASS = 1E-6; // minimum mass allowed
const double mjEPS = 1E-14; // minimum value in various calculations
const double mjMINMASS = 1E-6; // minimum mass allowed
// check if numeric variable is defined: !_isnan(num)
bool mjuu_defined(double num);
@@ -76,7 +76,7 @@ double mjuu_L1(const double* a, const double* b, int n);
// normalize vector to unit length, return previous length
// if norm(vec)<mjEPS, return 0 and do not change vector
double mjuu_normvec(double* vec, int n);
float mjuu_normvec(float* vec, int n);
float mjuu_normvec(float* vec, int n);
// scale vector by scalar
void mjuu_scalevec(double* res, const double* vec, double s, int n);
@@ -115,8 +115,8 @@ void mjuu_localquat(double* local, const double* child, const double* parent);
void mjuu_crossvec(double* a, const double* b, const double* c);
// compute normal vector to given triangle
template<typename T> double mjuu_makenormal(double* normal, const T a[3],
const T b[3], const T c[3]);
template <typename T>
double mjuu_makenormal(double* normal, const T a[3], const T b[3], const T c[3]);
// compute quaternion corresponding to minimal rotation from [0;0;1] to vec
void mjuu_z2quat(double* quat, const double* vec);
@@ -125,20 +125,28 @@ void mjuu_z2quat(double* quat, const double* vec);
void mjuu_frame2quat(double* quat, const double* x, const double* y, const double* z);
// invert frame transformation
void mjuu_frameinvert(double newpos[3], double newquat[4],
const double oldpos[3], const double oldquat[4]);
void mjuu_frameinvert(double newpos[3],
double newquat[4],
const double oldpos[3],
const double oldquat[4]);
// accumulate frame transformation into parent frame
void mjuu_frameaccum(double pos[3], double quat[4],
const double childpos[3], const double childquat[4]);
void mjuu_frameaccum(double pos[3],
double quat[4],
const double childpos[3],
const double childquat[4]);
// accumulate frame transformation into child frame
void mjuu_frameaccumChild(const double pos[3], const double quat[4],
double childpos[3], double childquat[4]);
void mjuu_frameaccumChild(const double pos[3],
const double quat[4],
double childpos[3],
double childquat[4]);
// invert frame accumulation
void mjuu_frameaccuminv(double pos[3], double quat[4],
const double childpos[3], const double childquat[4]);
void mjuu_frameaccuminv(double pos[3],
double quat[4],
const double childpos[3],
const double childquat[4]);
// convert local_inertia[3] to global_inertia[6]
void mjuu_globalinertia(double* global, const double* local, const double* quat);
@@ -147,14 +155,18 @@ void mjuu_globalinertia(double* global, const double* local, const double* quat)
void mjuu_offcenter(double* res, double mass, const double* vec);
// compute viscosity coefficients from mass and inertia
void mjuu_visccoef(double* visccoef, double mass, const double* inertia, double scl=1);
void mjuu_visccoef(double* visccoef, double mass, const double* inertia, double scl = 1);
// rotate vector by quaternion
void mjuu_rotVecQuat(double res[3], const double vec[3], const double quat[4]);
// update moving frame along a discrete curve or initialize it, returns edge length
double mjuu_updateFrame(double quat[4], double normal[3], const double edge[3],
const double tprv[3], const double tnxt[3], int first);
double mjuu_updateFrame(double quat[4],
double normal[3],
const double edge[3],
const double tprv[3],
const double tnxt[3],
int first);
// eigenvalue decomposition of symmetric 3x3 matrix
int mjuu_eig3(double eigval[3], double eigvec[9], double quat[4], const double mat[9]);
@@ -182,10 +194,10 @@ class MJAPI FilePath {
FilePath(const std::string& str1, const std::string& str2) {
path_ = PathReduce(Combine(str1, str2));
}
FilePath(FilePath&& other) = default;
FilePath(FilePath&& other) = default;
FilePath& operator=(FilePath&& other) = default;
FilePath(const FilePath&) = default;
FilePath& operator=(const FilePath&) = default;
FilePath(const FilePath&) = default;
FilePath& operator=(const FilePath&) = default;
// return true if the path is absolute
bool IsAbs() const { return !AbsPrefix(path_).empty(); }
@@ -219,15 +231,13 @@ class MJAPI FilePath {
// C++ string methods
std::size_t size() const { return path_.size(); }
const char* c_str() const { return path_.c_str(); }
bool empty() const { return path_.empty(); }
char operator[](int i) const { return path_[i]; }
bool empty() const { return path_.empty(); }
char operator[](int i) const { return path_[i]; }
private:
static std::string AbsPrefix(const std::string& str);
static std::string PathReduce(const std::string& str);
static bool IsSeparator(char c) {
return c == '/' || c == '\\';
}
static bool IsSeparator(char c) { return c == '/' || c == '\\'; }
static std::string Combine(const std::string& s1, const std::string& s2);
// fast constructor that does not call PathReduce
@@ -249,8 +259,11 @@ class MJAPI FilePath {
// utility class for scoping resources to functions
struct Cleanup {
using Fn = std::function<void()>;
~Cleanup() { for (auto& f : cleanup) f(); }
~Cleanup() {
for (auto& f : cleanup) f();
}
void operator+=(Fn f) { cleanup.push_front(std::move(f)); }
std::deque<Fn> cleanup;
};
@@ -259,13 +272,18 @@ struct Cleanup {
std::vector<uint8_t> FileToMemory(const char* filename);
// convert vector to string separating elements by whitespace
template<typename T> MJAPI std::string VectorToString(const std::vector<T>& v);
template <typename T>
MJAPI std::string VectorToString(const std::vector<T>& v);
// convert string to vector
template<typename T> MJAPI std::vector<T> StringToVector(char *cs);
template<typename T> MJAPI std::vector<T> StringToVector(const std::string& s);
template<> MJAPI std::vector<std::string> StringToVector(char* cs);
template<> MJAPI std::vector<std::string> StringToVector(const std::string& s);
template <typename T>
MJAPI std::vector<T> StringToVector(char* cs);
template <typename T>
MJAPI std::vector<T> StringToVector(const std::string& s);
template <>
MJAPI std::vector<std::string> StringToVector(char* cs);
template <>
MJAPI std::vector<std::string> StringToVector(const std::string& s);
} // namespace mujoco::user
@@ -283,7 +301,8 @@ bool mjuu_isabspath(std::string path);
// assemble file paths
std::string mjuu_combinePaths(const std::string& path1, const std::string& path2);
std::string mjuu_combinePaths(const std::string& path1, const std::string& path2,
std::string mjuu_combinePaths(const std::string& path1,
const std::string& path2,
const std::string& path3);
// return type from content_type format {type}/{subtype}[;{parameter}={value}]