chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add spaces around comparison operators.

Browse Source 
PiperOrigin-RevId: 573620198
Change-Id: Icf295cc0dd381a4a7f0e2c94f2e12b499193e862
This commit is contained in:
Yuval Tassa
2023-10-15 07:39:20 -07:00
committed by Copybara-Service
parent a1b6026b8c
commit a9ee497e33
21 changed files with 670 additions and 667 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_collision_convex.c
+19 -19
View File
@@ -39,12 +39,12 @@ void mjccd_center(const void *obj, ccd_vec3_t *center) {
int v = ccd->vert;
// return geom position
if (g>=0) {
if (g >= 0) {
mju_copy3(center->v, ccd->data->geom_xpos + 3*g);
}
// return flex element position
else if (e>=0) {
else if (e >= 0) {
mju_copy3(center->v, ccd->data->flexelem_aabb + 6*(ccd->model->flex_elemadr[f]+e));
}
@@ -64,14 +64,14 @@ void mjccd_support(const void *obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
int g = ccd->geom;
//-------------------------- flex element or vertex -----------------------------
if (g<0) {
if (g < 0) {
int f = ccd->flex;
int dim = m->flex_dim[f];
mjtNum *res = vec->v;
const mjtNum *dir = _dir->v;
// flex element
if (ccd->elem>=0) {
if (ccd->elem >= 0) {
int e = ccd->elem;
const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
const mjtNum* vert = d->flexvert_xpos + 3*m->flex_vertadr[f];
@@ -79,11 +79,11 @@ void mjccd_support(const void *obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
// find element vertex with largest projection along dir
mju_copy3(res, vert+3*edata[0]);
mjtNum best = mju_dot3(res, dir);
for (int i=1; i<=dim; i++) {
for (int i=1; i <= dim; i++) {
mjtNum dot = mju_dot3(vert+3*edata[i], dir);
// better vertex found: assign
if (dot>best) {
if (dot > best) {
best = dot;
mju_copy3(res, vert+3*edata[i]);
}
@@ -285,7 +285,7 @@ static int mjc_MPRIteration(mjtCCD* obj1, mjtCCD* obj2, const ccd_t* ccd,
mju_zero3(con->frame+3);
// both geoms: fix contact frame normal
if (obj1->geom>=0 && obj2->geom>=0) {
if (obj1->geom >= 0 && obj2->geom >= 0) {
mjc_fixNormal(m, d, con, obj1->geom, obj2->geom);
}
@@ -1130,7 +1130,7 @@ int mjc_HFieldElem(const mjModel* m, const mjData* d, mjContact* con,
int dim = m->flex_dim[f];
const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
mjtNum* evert[4] = {NULL, NULL, NULL, NULL};
for (int i=0; i<=dim; i++) {
for (int i=0; i <= dim; i++) {
evert[i] = d->flexvert_xpos + 3*(m->flex_vertadr[f] + edata[i]);
}
mjtNum* ecenter = d->flexelem_aabb + 6*(m->flex_elemadr[f]+e);
@@ -1145,7 +1145,7 @@ int mjc_HFieldElem(const mjModel* m, const mjData* d, mjContact* con,
// save elem vertices, transform to hfield frame
mjtNum savevert[4][3];
for (int i=0; i<=dim; i++) {
for (int i=0; i <= dim; i++) {
mju_copy3(savevert[i], evert[i]);
mju_sub3(vec, evert[i], hpos);
mju_mulMatTVec(evert[i], hmat, vec, 3, 3);
@@ -1161,7 +1161,7 @@ int mjc_HFieldElem(const mjModel* m, const mjData* d, mjContact* con,
xmin = xmax = evert[0][0];
ymin = ymax = evert[0][1];
zmin = zmax = evert[0][2];
for (int i=1; i<=dim; i++) {
for (int i=1; i <= dim; i++) {
xmin = mju_min(xmin, evert[i][0]);
xmax = mju_max(xmax, evert[i][0]);
ymin = mju_min(ymin, evert[i][1]);
@@ -1175,7 +1175,7 @@ int mjc_HFieldElem(const mjModel* m, const mjData* d, mjContact* con,
(ymin-margin > hsize[1]) || (ymax+margin < -hsize[1]) ||
(zmin-margin > hsize[2]) || (zmax+margin < -hsize[3])) {
// restore vertices and center
for (int i=0; i<=dim; i++) {
for (int i=0; i <= dim; i++) {
mju_copy3(evert[i], savevert[i]);
}
mju_copy3(ecenter, savecenter);
@@ -1217,23 +1217,23 @@ int mjc_HFieldElem(const mjModel* m, const mjData* d, mjContact* con,
// process all prisms in sub-grid
cnt = 0;
for (int r=rmin; r<rmax; r++) {
for (int r=rmin; r < rmax; r++) {
int nvert = 0;
for (int c=cmin; c<=cmax; c++) {
for (int k=0; k<2; k++) {
for (int c=cmin; c <= cmax; c++) {
for (int k=0; k < 2; k++) {
// send vertex to prism constructor
addVert(&nvert, &prism, dx*c-hsize[0], dy*(r+dr[k])-hsize[1],
hdata[(r+dr[k])*ncol+c]*hsize[2]+margin);
// check for enough vertices
if (nvert>2) {
if (nvert > 2) {
// prism height test
if (prism.v[3][2]<zmin && prism.v[4][2]<zmin && prism.v[5][2]<zmin) {
if (prism.v[3][2] < zmin && prism.v[4][2] < zmin && prism.v[5][2] < zmin) {
continue;
}
// run MPR, save contact
if (ccdMPRPenetration(&prism, &obj, &ccd, &depth, &dirccd, &vecccd)==0) {
if (ccdMPRPenetration(&prism, &obj, &ccd, &depth, &dirccd, &vecccd) == 0) {
if (!ccdVec3Eq(&dirccd, ccd_vec3_origin)) {
// fill in contact data, transform to global coordinates
con[cnt].dist = -depth;
@@ -1244,7 +1244,7 @@ int mjc_HFieldElem(const mjModel* m, const mjData* d, mjContact* con,
// count, stop if max number reached
cnt++;
if (cnt>=mjMAXCONPAIR) {
if (cnt >= mjMAXCONPAIR) {
r = rmax+1;
c = cmax+1;
k = 3;
@@ -1258,7 +1258,7 @@ int mjc_HFieldElem(const mjModel* m, const mjData* d, mjContact* con,
}
// restore elem vertices and center
for (int i=0; i<=dim; i++) {
for (int i=0; i <= dim; i++) {
mju_copy3(evert[i], savevert[i]);
}
mju_copy3(ecenter, savecenter);