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_core_constraint.c
+35 -33
View File
@@ -124,11 +124,11 @@ int mj_isDual(const mjModel* m) {
// assign/clamp contact friction parameters
void mj_assignFriction(const mjModel* m, mjtNum* target, const mjtNum* source) {
if (mjENABLED(mjENBL_OVERRIDE)) {
for (int i=0; i<5; i++) {
for (int i=0; i < 5; i++) {
target[i] = mju_max(mjMINMU, m->opt.o_friction[i]);
}
} else {
for (int i=0; i<5; i++) {
for (int i=0; i < 5; i++) {
target[i] = mju_max(mjMINMU, source[i]);
}
}
@@ -181,20 +181,20 @@ static int mj_elemBodyWeight(const mjModel* m, const mjData* d, int f, int e, in
// compute inverse distances from contact point to element vertices
// save body ids, find vertex v in element
int vid = -1;
for (int i=0; i<=dim; i++) {
for (int i=0; i <= dim; i++) {
mjtNum dist = mju_dist3(point, vert+3*edata[i]);
weight[i] = 1.0/(mju_max(mjMINVAL, dist));
body[i] = m->flex_vertbodyid[m->flex_vertadr[f] + edata[i]];
// check if element vertex matches v
if (edata[i]==v) {
if (edata[i] == v) {
vid = i;
}
}
// v found in e: skip and shift remaining
if (vid>=0) {
while (vid<dim) {
if (vid >= 0) {
while (vid < dim) {
weight[vid] = weight[vid+1];
body[vid] = body[vid+1];
vid++;
@@ -242,9 +242,9 @@ int mj_addContact(const mjModel* m, mjData* d, const mjContact* con) {
// add #size rows to constraint Jacobian; set pos, margin, frictionloss, type, id
static void mj_addConstraint(const mjModel* m, mjData* d,
const mjtNum* jac, const mjtNum* pos,
const mjtNum* margin, mjtNum frictionloss,
int size, int type, int id, int NV, const int* chain) {
const mjtNum* jac, const mjtNum* pos,
const mjtNum* margin, mjtNum frictionloss,
int size, int type, int id, int NV, const int* chain) {
int empty, nv = m->nv, nefc = d->nefc;
int *nnz = d->efc_J_rownnz, *adr = d->efc_J_rowadr, *ind = d->efc_J_colind;
mjtNum *J = d->efc_J;
@@ -665,7 +665,7 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
flex_edgenum = m->flex_edgenum[id[0]];
// add one constraint per edge
for (int e=flex_edgeadr; e<flex_edgeadr+flex_edgenum; e++) {
for (int e=flex_edgeadr; e < flex_edgeadr+flex_edgenum; e++) {
// position error
cpos[0] = d->flexedge_length[e] - m->flexedge_length0[e];
@@ -930,14 +930,14 @@ void mj_instantiateContact(const mjModel* m, mjData* d) {
con->efc_address = d->nefc;
// special case: single body on each side
if ((con->geom[0]>=0 || con->vert[0]>=0) &&
(con->geom[1]>=0 || con->vert[1]>=0)) {
if ((con->geom[0] >= 0 || con->vert[0] >= 0) &&
(con->geom[1] >= 0 || con->vert[1] >= 0)) {
// get bodies
int bid[2];
for (int side=0; side < 2; side++) {
bid[side] = (con->geom[side]>=0) ?
m->geom_bodyid[con->geom[side]] :
m->flex_vertbodyid[m->flex_vertadr[con->flex[side]] + con->vert[side]];
bid[side] = (con->geom[side] >= 0) ?
m->geom_bodyid[con->geom[side]] :
m->flex_vertbodyid[m->flex_vertadr[con->flex[side]] + con->vert[side]];
}
// compute Jacobian differences
@@ -956,16 +956,16 @@ void mj_instantiateContact(const mjModel* m, mjData* d) {
int nb = 0;
int bid[8];
mjtNum bweight[8];
for (int side=0; side<2; side++) {
for (int side=0; side < 2; side++) {
// geom
if (con->geom[side]>=0) {
if (con->geom[side] >= 0) {
bid[nb] = m->geom_bodyid[con->geom[side]];
bweight[nb] = side ? +1 : -1;
nb++;
}
// flex vert
else if (con->vert[side]>=0) {
else if (con->vert[side] >= 0) {
bid[nb] = m->flex_vertbodyid[m->flex_vertadr[con->flex[side]] + con->vert[side]];
bweight[nb] = side ? +1 : -1;
nb++;
@@ -977,7 +977,7 @@ void mj_instantiateContact(const mjModel* m, mjData* d) {
con->vert[1-side], con->pos, bid+nb, bweight+nb);
// negative sign for first side of contact
if (side==0) {
if (side == 0) {
mju_scl(bweight+nb, bweight+nb, -1, nw);
}
@@ -986,7 +986,7 @@ void mj_instantiateContact(const mjModel* m, mjData* d) {
}
// combine weighted Jacobians
NV = mj_jacSum(m, d, chain, nb, bid, bweight, con->pos, jacdif, dim>3);
NV = mj_jacSum(m, d, chain, nb, bid, bweight, con->pos, jacdif, dim > 3);
}
// skip contact if no DOFs affected
@@ -1068,7 +1068,7 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
id = d->efc_id[i];
// clear edge counter
if (d->efc_type[i]!=mjEQ_FLEX) {
if (d->efc_type[i] != mjEQ_FLEX) {
edgecnt = 0;
}
@@ -1139,31 +1139,33 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
// add the average translation and rotation components from both sides
tran = rot = 0;
for (int side=0; side<2; side++) {
for (int side=0; side < 2; side++) {
// get bodies and weights
int nb, bid[4];
mjtNum bweight[4];
// geom
if (con->geom[side]>=0) {
if (con->geom[side] >= 0) {
bid[0] = m->geom_bodyid[con->geom[side]];
bweight[0] = 1;
nb = 1;
}
// flex vert
} else if (con->vert[side]>=0) {
else if (con->vert[side] >= 0) {
bid[0] = m->flex_vertbodyid[m->flex_vertadr[con->flex[side]] + con->vert[side]];
bweight[0] = 1;
nb = 1;
}
// flex elem
} else {
else {
nb = mj_elemBodyWeight(m, d, con->flex[side], con->elem[side],
con->vert[1-side], con->pos, bid, bweight);
}
// add weighted average over bodies
for (int k=0; k<nb; k++) {
for (int k=0; k < nb; k++) {
tran += m->body_invweight0[2*bid[k]] * bweight[k];
rot += m->body_invweight0[2*bid[k]+1] * bweight[k];
}
@@ -1188,7 +1190,7 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
else {
for (int j=0; j < dim-1; j++) {
fri = con->friction[j];
dA[i+2*j] = dA[i+2*j+1] = tran + fri*fri*(j<2 ? tran : rot);
dA[i+2*j] = dA[i+2*j+1] = tran + fri*fri*(j < 2 ? tran : rot);
}
// processed 2*dim-2 elements in one i-loop iteration; advance counter
@@ -1401,7 +1403,7 @@ void mj_makeImpedance(const mjModel* m, mjData* d) {
// elliptic contacts use solreffriction in non-normal directions, if non-zero
int elliptic_friction = (tp == mjCNSTR_CONTACT_ELLIPTIC) && (j > 0);
mjtNum* ref = elliptic_friction && (solreffriction[0] || solreffriction[1]) ?
solreffriction : solref;
solreffriction : solref;
// friction: K = 0
if (tp == mjCNSTR_FRICTION_DOF || tp == mjCNSTR_FRICTION_TENDON || elliptic_friction) {
@@ -1526,7 +1528,7 @@ static int mj_jacSumCount(const mjModel* m, mjData* d, int* chain,
NV = mj_bodyChain(m, body[0], chain);
// accumulate remaining
for (int i=1; i<n; i++) {
for (int i=1; i < n; i++) {
// get body chain
int bodyNV = mj_bodyChain(m, body[i], bodychain);
if (!bodyNV) {
@@ -1649,7 +1651,7 @@ static int mj_ne(const mjModel* m, mjData* d, int* nnz) {
flex_edgenum = m->flex_edgenum[id[0]];
// process edges of this flex
for (int e=flex_edgeadr; e<flex_edgeadr+flex_edgenum; e++) {
for (int e=flex_edgeadr; e < flex_edgeadr+flex_edgenum; e++) {
int b1 = m->flex_vertbodyid[m->flex_vertadr[id[0]] + m->flex_edge[2*e]];
int b2 = m->flex_vertbodyid[m->flex_vertadr[id[0]] + m->flex_edge[2*e+1]];
@@ -1665,7 +1667,7 @@ static int mj_ne(const mjModel* m, mjData* d, int* nnz) {
// accumulate counts; flex NV already accumulated
ne += mj_addConstraintCount(m, size, NV);
nnze += (m->eq_type[i]==mjEQ_FLEX) ? NV : size*NV;
nnze += (m->eq_type[i] == mjEQ_FLEX) ? NV : size*NV;
}
}
@@ -1805,7 +1807,7 @@ static int mj_nc(const mjModel* m, mjData* d, int* nnz) {
int nb = 0, bid[8];
for (int side=0; side < 2; side++) {
// geom
if (con->geom[side]>=0) {
if (con->geom[side] >= 0) {
bid[nb++] = m->geom_bodyid[con->geom[side]];
}
@@ -1819,7 +1821,7 @@ static int mj_nc(const mjModel* m, mjData* d, int* nnz) {
int f = con->flex[side];
int fdim = m->flex_dim[f];
const int* edata = m->flex_elem + m->flex_elemdataadr[f] + con->elem[side]*(fdim+1);
for (int k=0; k<=fdim; k++) {
for (int k=0; k <= fdim; k++) {
bid[nb++] = m->flex_vertbodyid[m->flex_vertadr[f] + edata[k]];
}
}