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Avoid unnecessary copies after of mju_mulQuat.

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Since fdbbc8bbe0, mju_mulQuat allows in-place computations.
There were a few places where the result was unnecessarily assigned to a temporary variable.

PiperOrigin-RevId: 477746005
Change-Id: I7351ef4796e7d70a4a54b930037bfaadee781f12
This commit is contained in:
Nimrod Gileadi
2022-09-29 09:33:12 -07:00
committed by Copybara-Service
parent 48f2ed99a5
commit 8a8305d3ca
5 changed files with 11 additions and 15 deletions
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src/engine/engine_vis_interact.c
+4 -3
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@@ -374,7 +374,7 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
mjtNum reldy, const mjvScene* scn, mjvPerturb* pert) {
int sel = pert->select;
mjtNum forward[3], vec[3], dif[3], scl, q1[4], q2[4], xiquat[4];
mjtNum forward[3], vec[3], scl, q1[4], xiquat[4];
// get camera info and align
mjv_cameraInModel(NULL, forward, NULL, scn);
@@ -394,8 +394,7 @@ void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx
// make quaternion and apply
mju_axisAngle2Quat(q1, vec, scl*mjPI*2);
mju_mulQuat(q2, q1, pert->refquat);
mju_copy4(pert->refquat, q2);
mju_mulQuat(pert->refquat, q1, pert->refquat);
mju_normalize4(pert->refquat);
// compute xiquat
@@ -404,10 +403,12 @@ void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx
// limit rotation relative to selected body
if (sel>0 && sel<m->nbody) {
// q2 = neg(selbody) * refquat
mjtNum q2[4];
mju_negQuat(q1, xiquat);
mju_mulQuat(q2, q1, pert->refquat);
// convert q2 to axis-angle
mjtNum dif[3];
mju_quat2Vel(dif, q2, 1);
scl = mju_normalize3(dif);