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Rename Differ to IsDifferent and tidy up its implementation.

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Startblock:
   diffbase is submitted
PiperOrigin-RevId: 526024927
Change-Id: I718f3b98539f5c33a42f6254bc817a07459f694c
This commit is contained in:
Saran Tunyasuvunakool
2023-04-21 07:13:42 -07:00
committed by Copybara-Service
parent 967b07314f
commit 94779a722a
1 changed files with 16 additions and 25 deletions
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simulate/simulate.cc
+16 -25
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@@ -54,26 +54,17 @@ using Seconds = std::chrono::duration<double>;
using Milliseconds = std::chrono::duration<double, std::milli>; using Milliseconds = std::chrono::duration<double, std::milli>;
template <typename T> template <typename T>
inline bool ScalarsDiffer(const T& a, const T& b) { inline bool IsDifferent(const T& a, const T& b) {
return a != b; if constexpr (std::is_array_v<T>) {
} static_assert(std::rank_v<T> == 1);
for (int i = 0; i < std::extent_v<T>; ++i) {
template <typename T, int N>
inline bool ArraysDiffer(const T (&a)[N], const T (&b)[N]) {
for (int i = 0; i < N; ++i) {
if (a[i] != b[i]) { if (a[i] != b[i]) {
return true; return true;
} }
} }
return false; return false;
}
template <typename T>
inline bool Differ(const T& a, const T& b) {
if constexpr (std::is_array_v<T>) {
return ArraysDiffer(a, b);
} else { } else {
return ScalarsDiffer(a, b); return a != b;
} }
} }
@@ -1616,10 +1607,10 @@ void Simulate::Sync() {
if (!fully_managed_) { if (!fully_managed_) {
// synchronize m_->opt with changes made via the UI // synchronize m_->opt with changes made via the UI
#define X(name) \ #define X(name) \
if (Differ(scnstate_.model.opt.name, mjopt_prev_.name)) { \ if (IsDifferent(scnstate_.model.opt.name, mjopt_prev_.name)) { \
pending_.ui_update_physics = true; \ pending_.ui_update_physics = true; \
Copy(m_->opt.name, scnstate_.model.opt.name); \ Copy(m_->opt.name, scnstate_.model.opt.name); \
} }
X(timestep); X(timestep);
@@ -2081,17 +2072,17 @@ void Simulate::Render() {
cam_prev_.fixedcamid != cam.fixedcamid || cam_prev_.fixedcamid != cam.fixedcamid ||
cam_prev_.trackbodyid != cam.trackbodyid || cam_prev_.trackbodyid != cam.trackbodyid ||
opt_prev_.label != opt.label || opt_prev_.frame != opt.frame || opt_prev_.label != opt.label || opt_prev_.frame != opt.frame ||
Differ(opt_prev_.flags, opt.flags))) { IsDifferent(opt_prev_.flags, opt.flags))) {
pending_.ui_update_rendering = true; pending_.ui_update_rendering = true;
} }
if (this->ui0_enable && this->ui0.sect[SECT_RENDERING].state && if (this->ui0_enable && this->ui0.sect[SECT_RENDERING].state &&
(Differ(opt_prev_.geomgroup, opt.geomgroup) || (IsDifferent(opt_prev_.geomgroup, opt.geomgroup) ||
Differ(opt_prev_.sitegroup, opt.sitegroup) || IsDifferent(opt_prev_.sitegroup, opt.sitegroup) ||
Differ(opt_prev_.jointgroup, opt.jointgroup) || IsDifferent(opt_prev_.jointgroup, opt.jointgroup) ||
Differ(opt_prev_.tendongroup, opt.tendongroup) || IsDifferent(opt_prev_.tendongroup, opt.tendongroup) ||
Differ(opt_prev_.actuatorgroup, opt.actuatorgroup) || IsDifferent(opt_prev_.actuatorgroup, opt.actuatorgroup) ||
Differ(opt_prev_.skingroup, opt.skingroup))) { IsDifferent(opt_prev_.skingroup, opt.skingroup))) {
mjui_update(SECT_GROUP, -1, &this->ui0, &this->uistate, mjui_update(SECT_GROUP, -1, &this->ui0, &this->uistate,
&this->platform_ui->mjr_context()); &this->platform_ui->mjr_context());
} }